Monitoring of the compliance of the functionality of a vehicle image acquisition device

Abstract

The present disclosure relates to a method performed by a luminance evaluation system (1) of a vehicle (2) for monitoring the compliance of a vehicle on-board vehicle image acquisition device functionality with a predefinable requirement level. The vehicle comprises two or more image acquisition devices (3) adapted to acquire images of the vehicle's surroundings, wherein a first image acquisition device (31) has a first field of view (41) and a second image acquisition device (32) has a second field of view (42), a main area (421) of the second field of view (42) at least partially overlapping the first field of view. The luminance evaluation system acquires (1001) at a respective one or more time instances (t1, t2, t3) a respective first image (311, 312, 313) with the support of the first image acquisition device and a respective second image (321, 322, 323) with the support of the second image acquisition device, wherein a first section (310) of the respective first image and a second section (320) of the respective second image respectively cover the main area. The luminance evaluation system further measures (1003) for the respective first image a respective first luminance value (3111, 3121, 3131) of the first section and for the respective second image a respective second luminance value (3211, 3221, 3231) of the second section. Furthermore, the luminance evaluation system determines (1005) a luminance deviation based on comparing at least one of the respective first luminance values with at least one of the respective second luminance values. Moreover, the luminance evaluation system further determines (1010) that the first image acquisition device or the second image acquisition device is not operating in accordance with the requirement level, if the luminance deviation exceeds a deviation threshold. The present disclosure further relates to a luminance evaluation system of a vehicle according to the foregoing comprising such a luminance evaluation system and to a respective corresponding computer program product and non-transitory computer readable storage medium.

Description

Technical Field

[0001] This disclosure relates to monitoring the functional compliance of in-vehicle image acquisition devices with predefined required levels. Background Technology

[0002] More and more modern vehicles are equipped with Advanced Driver Assistance Systems (ADAS) to improve vehicle safety and broader road safety. ADAS (e.g., represented by lane departure avoidance, adaptive cruise control (ACC), collision avoidance systems, forward collision warning systems, etc.) are electronic systems that can be used by a second driver while the vehicle is in motion. To function as intended, ADAS can rely on inputs from multiple data sources, such as lidar, radar, ultrasonic sensors, cameras, automatic imaging, image processing, computer vision, and / or in-vehicle networks. Moreover, in the near future, automated or autonomous driving systems (ADS) will find even greater ways to enter modern vehicles. An AD system can be defined as a complex combination of various components of a system in which the vehicle's perception, decision-making, and operation are performed electronically and mechanically rather than by a human driver as an adoption of automation in road traffic. This includes the processing of vehicle, destination, and environmental awareness. However, when an automated system controls the vehicle, it allows the human operator to leave all responsibilities to the system. AD systems typically combine various sensors to perceive the vehicle's environment, such as radar, lidar, sonar, cameras, navigation and / or positioning systems (e.g., GNSS, GPS), odometers and / or inertial measurement units. Advanced control systems can interpret sensor information to identify appropriate navigation paths and obstacles and / or relevant landmarks.

[0003] In current ADAS and AD systems, the safety level of a function typically propagates from top to bottom to all components contributing to the function. For one or more in-vehicle image acquisition devices, such as cameras (e.g., included in surround-view camera systems), this usually means achieving an Automotive Safety Integrity Level (ASIL), such as ASIL B. Achieving such a functional safety target may require ensuring the proper functioning of the corresponding image acquisition device (or more precisely, the imager of the image acquisition device). Therefore, voltage and clock monitoring is typically required to detect abnormal voltages, which can cause abnormal brightness in the acquired images. This indicates a state of malfunction in the image acquisition device or imager, which in turn may lead to non-compliance with the safety target. However, such voltage monitoring is usually accomplished using dedicated integrated circuit (IC) components, which can increase complexity and / or overall system cost. Summary of the Invention

[0004] Therefore, the object of the embodiments herein is to provide a method for monitoring the functional compliance of an on-board vehicle image acquisition device with a predetermined required level in an improved and / or alternative manner. This object can be achieved through the subject matter disclosed herein. Embodiments are set forth in the appended claims, the following description, and the accompanying drawings.

[0005] The disclosed subject matter relates to a method performed by a vehicle brightness assessment system to monitor the functional compliance of an onboard vehicle image acquisition device with a predetermined required level. The vehicle includes two or more image acquisition devices adapted to acquire images of the vehicle's surrounding environment, wherein a first image acquisition device has a first field of view, and a second image acquisition device has a second field of view, the main area of ​​which at least partially overlaps with the first field of view. The brightness assessment system acquires a corresponding first image with the support of the first image acquisition device and a corresponding second image with the support of the second image acquisition device at corresponding one or more times, wherein a first segment of the corresponding first image and a second segment of the corresponding second image respectively cover the main area. The brightness assessment system also measures a corresponding first brightness value for the first segment of the corresponding first image and a corresponding second brightness value for the second segment of the corresponding second image. Furthermore, the brightness assessment system determines a brightness deviation based on comparing at least one of the corresponding first brightness values ​​with at least one of the corresponding second brightness values. Additionally, the brightness assessment system determines that either the first or second image acquisition device is not operating according to the required level when the brightness deviation exceeds a deviation threshold.

[0006] The disclosed subject matter also relates to a vehicle brightness assessment system for and / or adapted to monitor the functional compliance of an onboard vehicle image acquisition device with a predetermined required level. The vehicle includes two or more image acquisition devices adapted to acquire images of the vehicle's surrounding environment, wherein a first image acquisition device has a first field of view, and a second image acquisition device has a second field of view, the main area of ​​which at least partially overlaps with the first field of view. The brightness assessment system includes a main image acquisition unit for acquiring, at one or more corresponding moments, a corresponding first image with the support of the first image acquisition device and a corresponding second image with the support of the second image acquisition device, wherein a first segment of the corresponding first image and a second segment of the corresponding second image respectively cover the main area. The brightness assessment system also includes a main brightness measurement unit for measuring a corresponding first brightness value for the first segment of the corresponding first image and a corresponding second brightness value for the second segment of the corresponding second image. Furthermore, the brightness assessment system includes a main deviation determination unit for determining a vehicle brightness deviation based on comparing at least one of the corresponding first brightness values ​​with at least one of the corresponding second brightness values, and including secondary determination. In addition, the brightness assessment system includes a fault identification unit, which determines that either the first image acquisition device or the second image acquisition device is not operating according to the required level when the brightness deviation exceeds the deviation threshold.

[0007] Furthermore, the disclosed subject matter relates to a vehicle including the brightness assessment system described herein. Moreover, the disclosed subject matter relates to a computer program product comprising a computer program containing computer program code means arranged to cause a computer or processor to perform the steps of the brightness assessment system described herein, the computer program being stored on a computer-readable medium or carrier wave. The disclosed subject matter also relates to a non-volatile computer-readable storage medium on which the computer program product is stored.

[0008] This employs a method capable of detecting improper operation of an image acquisition device, such as the imager of the aforementioned image acquisition device, which may subsequently indicate a failure to meet a set requirement level. Specifically, since a corresponding first image is acquired with the support of a first image acquisition device and a corresponding second image is acquired with the support of a second image acquisition device at one or more corresponding moments, wherein a first segment of the corresponding first image and a second segment of the corresponding second image respectively cover a main region, one or more images, each including an overlapping region of the first and second fields of view, are derived from the corresponding first and second image acquisition devices at one or more time points. Furthermore, since a corresponding first luminance value is measured for the first segment of the corresponding first image and a corresponding second luminance value is measured for the second segment of the corresponding second image, luminance values ​​for the image region covering the main region (i.e., the segment covering the overlapping field of view of the first and second image acquisition devices) are derived for each time point. Therefore, luminance values ​​applicable to the same region, i.e., the main region, are collected not only from the images acquired by the first image acquisition device but also from the images acquired by the second image acquisition device at one or more time points. Furthermore, since the brightness deviation is determined by comparing at least one of the corresponding first brightness values ​​with at least one of the corresponding second brightness values, a potential difference between one or more brightness values ​​applicable to the overlapping main region acquired by the first image acquisition device at one end and one or more brightness values ​​applicable to the overlapping main region acquired by the second image acquisition device at the other end can be detected. Furthermore, since it is determined that the first or second image acquisition device is not operating according to the required level when the brightness deviation exceeds a deviation threshold, if the determined brightness difference (applicable to the overlapping main region) between the brightness values ​​that can be derived from the first image acquisition device and the brightness values ​​that can be derived from the second image acquisition device is greater than a predetermined limit set in view of a predetermined required level, it can be inferred that the first or second image acquisition device is not operating accordingly. That is, through the adopted concept, abnormal image brightness values ​​related to the first image acquisition device or its imager, or the second image acquisition device or its imager, which may be equal to an abnormal voltage, can be detected. Such abnormal image brightness values ​​and subsequent abnormal voltages suggest improper operation, and if a deviation threshold is exceeded, a failure to meet the set requirement level is detected, such as the well-known ASIL B level safety target. Therefore, by adopting the concept of monitoring image brightness values ​​accordingly, the well-known voltage and clock monitoring using IC components (which may increase complexity and / or overall system cost) can be omitted.

[0009] Therefore, a method is provided for monitoring the functional compliance of an on-board vehicle image acquisition device with a predetermined requirement level in an improved and / or alternative manner. The technical features and corresponding advantages of the above method will be discussed in more detail below. Attached Figure Description

[0010] Various aspects of non-limiting embodiments, including specific features and advantages, will be readily understood from the following detailed description and accompanying drawings, in which:

[0011] Figure 1 -2 shows a schematic diagram of an exemplary brightness evaluation system according to an embodiment of the present disclosure;

[0012] Figure 3 This is a schematic block diagram illustrating an exemplary brightness system according to an embodiment of the present disclosure; and

[0013] Figure 4 This is a flowchart illustrating an exemplary method performed by a brightness evaluation system according to an embodiment of the present disclosure. Detailed Implementation

[0014] Non-limiting embodiments of the present disclosure will now be described more fully below with reference to the accompanying drawings, in which presently preferred embodiments of the disclosure are illustrated. However, the present disclosure may be presented in many different forms and should not be construed as limited to the embodiments set forth herein. The same reference numerals always refer to the same elements. Dashed lines in some of the boxes in the figures indicate that these elements or actions are optional rather than mandatory. Below, according to an embodiment relating to monitoring the functional compliance of an onboard vehicle image acquisition device with a predetermined required level, a method will be disclosed capable of detecting improper operation of the image acquisition device (such as the imager of the image acquisition device), improper functioning which may subsequently indicate non-compliance with the required level.

[0015] Now refer to the attached diagram, Figure 1 Figure -2 shows a schematic diagram of an exemplary brightness evaluation system 1 according to an embodiment of the present disclosure, while Figure 3A schematic block diagram of an exemplary brightness assessment system 1 according to an embodiment of the present disclosure is shown. The brightness assessment system 1 is used to monitor the functional compliance of an onboard vehicle image acquisition device with a predefined requirement level. The predefined requirement level can be represented by any feasible functional objective and / or task, such as a safety level, for example, a known ASIL level, such as ASIL B. Furthermore, the brightness assessment system 1 may be included in, or at least partially included in, a vehicle 2 and / or mounted on the vehicle 2. The exemplary vehicle 2 can be any, for example, known, manned or unmanned vehicle, such as an engine-driven or electrically powered vehicle, such as a car, truck, van, box van, bus, and / or tractor unit. Moreover, the term "vehicle" can refer to "autonomous and / or at least partially autonomous vehicle," "unmanned and / or at least partially unmanned vehicle," and / or "autonomous and / or at least partially autonomous vehicle." The vehicle 2 can therefore include and / or be adapted to support optional ADAS and / or AD systems 21, i.e., advanced driver assistance systems and / or autonomous driving systems. This ADAS / or AD system 21 can refer to any ADAS / or AD system, such as those known in the art and / or not yet developed. Vehicle 2 and / or ADAS or AD system 21 may include, be equipped with, and / or have an onboard optional perception system 22 and / or similar systems and / or functions adapted to estimate the environment of vehicle 2, and subsequently adapted to estimate the world view of the environment with the support of, for example, a known digital map 23 (e.g., a high-definition (HD) map and / or equivalents and / or successors to said digital map 23). This exemplified perception system 22 or similar system can refer to any known system and / or function, such as those included in one or more electronic control modules (ECUs) and / or nodes of vehicle 2 and / or ADAS or AD system 21, adapted to and / or configured to interpret, driving-related, perception information of vehicle 2 to identify, for example, obstacles, lanes, relevant signs, appropriate navigation paths, etc. Therefore, the illustrated perception system 22 or similar systems (which may be adapted to support, for example, sensor fusion, tracking, localization, etc.) can be adapted to rely on perceived information. Such exemplary sensing information can be derived from one or more sensors, such as those known, included and / or mounted in, vehicle 2, adapted to sense and / or perceive the whereabouts and / or surrounding environment of vehicle 2, for example represented by a combination of one or more of the following: positioning system 24, odometer, inertial measurement unit, radar, lidar, ultrasonic, and / or ambient detection sensors such as image acquisition devices.

[0016] The phrase "brightness assessment system" can refer to "brightness monitoring system," "compliance assessment system," "abnormal brightness assessment system," and / or simply "assessment and / or monitoring system," and further, according to the example, to "abnormal voltage assessment system." On the other hand, the phrase "for monitoring" can mean "adapted for monitoring," while "for monitoring the functional compliance of an on-board vehicle image acquisition device with a predetermined requirement level" can refer to "brightness monitoring of an on-board vehicle image acquisition device," "functional monitoring of an on-board vehicle image acquisition device," "for detecting abnormal brightness of an on-board vehicle image acquisition device," "for detecting abnormal voltage of an on-board image acquisition device," and / or "for detecting improper operation of an on-board image acquisition device." Furthermore, according to the example, the phrase "for monitoring the functional compliance of an on-board vehicle image acquisition device with a predetermined requirement level" can further refer to "brightness monitoring of an on-board vehicle image acquisition device imager," "functional monitoring of an on-board vehicle image acquisition device imager," "for detecting abnormal brightness of an on-board vehicle image acquisition device imager," "for detecting abnormal voltage of an on-board image acquisition device imager," and / or "for detecting improper operation of an on-board image acquisition device imager." In addition, the phrase “requirement level” can refer to “functional requirement level” and / or “requirement objectives and / or tasks”, and, depending on the example, further to “safety requirements” and / or “requirement level such as ASIL level requirements, for example, ASIL B level”.

[0017] Vehicle 2 includes two or more image acquisition devices 3 adapted to acquire, for example, the surrounding environment of vehicle 2 at a corresponding field of view 4. The corresponding field of view 4 can have any feasible range, size, and / or extent, defined, for example by the implementation at hand and / or by the characteristics associated with the corresponding image acquisition device 3. The two or more image acquisition devices 3 can be distributed in any feasible manner, for example, to acquire sections of the surrounding environment of vehicle 2 or even up to 360 degrees, and can be represented by any, for example, known, sensor, function, and / or system adapted to acquire images of the surrounding environment of vehicle, for example, in the visible wavelength range, such as one or more cameras. Furthermore, the two or more image acquisition devices 3 can each include at least a first imager (not shown), such as an image sensor known in the art. According to an example, the two or more image acquisition devices 3 can be included in an optional surround camera system (not shown). In one or more image acquisition devices 3, the first image acquisition device 31 has a first field of view 41, and the second image acquisition device 32 has a second field of view 42, the main region 421 of the second field of view 42 at least partially overlapping with the first field of view 41. The primary region 421 can have any feasible range, size, and / or extent, defined, for example, by the position of the first image acquisition device 31 relative to the second image acquisition device 32. In the exemplary case... Figure 1In this diagram, the first image acquisition device 31 is shown positioned near and / or included in the rearview mirror, with a field of view 41 substantially in the forward direction of the vehicle 2, while the second image acquisition device 32 is shown positioned near and / or included in the right-side mirror, with a field of view 42 substantially in the right-side direction of the vehicle 2. However, it should be noted that the first image acquisition device 31 and the second image acquisition device 32 (considering a portion of the main area 421, referred to as the second field of view 42, at least partially overlaps with the first field of view 41) can be positioned in any feasible manner, such as at alternative locations and / or other locations of the vehicle 2 that cover other fields of view, for example, in the rearward and / or left-side direction of the vehicle 2. For example, during calibration, such as during factory calibration, the area constituting the main area 421 can be identified and / or determined, and / or has been identified and / or determined, in any feasible manner. "Having a first field of view" can mean "supporting and / or covering the first field of view," and correspondingly, "having a second field of view" can mean "supporting and / or covering the second field of view." Furthermore, "a second field of view whose main part at least partially overlaps with the first field of view" can refer to "a second field of view whose main part at least partially and / or to some extent coincides with the first field of view." On the other hand, the phrase "main region" can refer to "first region" and / or simply "region," and further refers to "main field," "main segment," and / or "main part."

[0018] As exemplary Figure 2a As shown, the brightness evaluation system 1, for example by means of a main image acquisition unit 101, is adapted and / or configured to acquire corresponding first images 311, 312, 313 with the support of a first image acquisition device 31 at one or more corresponding times t1, t2, t3, and to acquire corresponding second images 321, 322, 323 with the support of a second image acquisition device 32. The first segments 310 of the corresponding first images 311, 312, 313 and the second segments 320 of the corresponding second images 321, 322, 323 respectively cover the main region 421. Thus, at one or more time points t1, t2, t3, one or more images 311, 312, 313, 321, 322, 323, each including the overlapping region 421 of the first field of view 41 and the second field of view 42, are derived from the corresponding first image acquisition device 31 and second image acquisition device 32.

[0019] Acquiring corresponding first images 311, 312, 313 and corresponding second images 321, 322, 323 at one or more corresponding times t1, t2, t3 can be implemented in any feasible, such as known, manner, for example, with the support of the imagers of the image acquisition devices 31, 32. One or more times t1, t2, t3 can occur at any feasible point in time, for example, at a predetermined time interval and / or at a predetermined irregular point in time. The corresponding first images 311, 312, 313 can be represented accordingly by continuous and / or non-continuous images and / or image frames acquired by the first image acquisition device 31, and correspondingly, the corresponding second images 321, 322, 323 can be represented accordingly by continuous and / or non-continuous images and / or image frames acquired by the second image acquisition device 32. In the exemplary case... Figure 2a The diagram shows a first time point t1, a second time point t2, and a third time point t3; however, it can be noted that one or more times t1, t2, t3 can be represented by any feasible number of times. The first segments 310 of the corresponding first images 311, 312, 313 covering the main region 421, and the second segments 320 of the corresponding second images 321, 322, 323, can be represented by any feasible region and / or portion of the images 311, 312, 313, 321, 322, 323 including the main region 421, and therefore can have any size corresponding to them. For example, during calibration, such as during factory calibration, the first segments 310 and the second segments 320 can be identified and / or determined, and / or have been identified and / or determined, in any feasible manner. In the exemplary... Figure 2aIn the images, the first segment 310 and the second segment 320 are shown as rectangular shapes, but other shapes and / or sizes may also be applied. It can be noted that the positioning and size of the corresponding first segment 310 in the corresponding first images 311, 312, and 313 remain unchanged, and correspondingly, the positioning and size of the corresponding second segment 320 in the corresponding second images 321, 322, and 323 remain unchanged. The phrase "acquired at one or more corresponding moments" can mean "exported and / or acquired at one or more corresponding moments," while "one or more moments" can mean "one or more predetermined moments." On the other hand, "a corresponding first image supported by the first image acquisition device" can mean "a corresponding first image and / or image frame of the first vehicle's surrounding environment supported by the first image acquisition device" and / or "a corresponding first image obtained using and / or through input from the first image acquisition device," and correspondingly, "a corresponding second image supported by the second image acquisition device" can mean "a corresponding second image and / or image frame of the second vehicle's surrounding environment supported by the second image acquisition device" and / or "a corresponding second image obtained using and / or through input from the second image acquisition device." Furthermore, "first segment" can refer to "first overlapping segment" and / or simply "overlapping segment," and correspondingly, "second segment" can refer to "second overlapping segment" and / or simply "overlapping segment." On the other hand, the phrase "respectively covering the main regions" can mean "respectively substantially covering the main regions" and / or "respectively including, copying, and / or capturing the main regions."

[0020] Furthermore, the brightness evaluation system 1, for example by means of the main brightness measurement unit 103, is adapted and / or configured to measure the corresponding first brightness values ​​3111, 3121, 3131 of the first segment 310 for the corresponding first images 311, 312, 313, and to measure the corresponding second brightness values ​​3211, 3221, 3231 of the second segment 320 for the corresponding second images 321, 322, 323. Thus, for each time point t1, t2, t3, brightness values ​​3111, 3121, 3131, 3211, 322, 323 are derived for the regions 310, 320 of the images 311, 312, 313, 321, 322, 323 that cover the main region 421 (i.e., the segment 421 covering the overlapping fields of view 41, 42 of the first image acquisition device 31 and the second image acquisition device 32). Therefore, brightness values ​​3111, 3121, 3131, 3211, 3221, 3231 are collected at one or more time points t1, t2, t3 for the same region 421, i.e. the main region 421, not only from the images 311, 312, 313 acquired by the first image acquisition device 31, but also from the images 321, 322, 323 acquired by the second image acquisition device 32, for the same region 421, i.e. the main region 421.

[0021] The corresponding luminance values ​​3111, 3121, 3131, 3211, 3221, and 3231 can be measured in any feasible, known manner, such as with the support of image processing, and further as described in Peter D. Hiscocks and P. Eng's *Measuring Luminance with a Digital Camera*, dated February 16, 2014. Furthermore, the measurement can refer to the measurement of at least a portion of the corresponding first segment 310 and second segment 320, and / or the measurement of one or more pixels of the corresponding first segment 310 and second segment 320. The phrase "measuring the corresponding first luminance value and the corresponding second luminance value" can mean "detecting, collecting, deriving, acquiring, monitoring, and / or determining the corresponding first luminance value and the corresponding second luminance value," while "luminance value" throughout this disclosure can mean "a luminance value or a range and / or a set of luminance values," and, according to further examples, "pixel luminance value." Furthermore, "the corresponding first brightness value of the first segment" can refer to "the corresponding first brightness value of at least a portion of the first segment and / or one or more pixels," and correspondingly, "the corresponding second brightness value of the second segment" can refer to "the corresponding second brightness value of at least a portion of the second segment and / or one or more pixels." The phrase "the corresponding second brightness value of the second segment" can further refer to "the corresponding second brightness value of the corresponding second portion and / or pixels of the second segment."

[0022] Furthermore, the brightness evaluation system 1, for example by means of the main deviation determination unit 105, is adapted and / or configured to determine a brightness deviation based on comparing at least one of the corresponding first brightness values ​​3111, 3121, 3131 with at least one of the corresponding second brightness values ​​3211, 3221, 3231. Thus, a potential difference can be detected between one or more brightness values ​​3111, 3121, 3131 applicable to the overlapping main region 421 acquired by the first image acquisition device 31 at one end and one or more brightness values ​​3211, 3221, 3231 applicable to the overlapping main region 421 acquired by the second image acquisition device 32 at the other end.

[0023] To determine the brightness deviation, one or more of the corresponding first brightness values ​​3111, 3121, and 3131 can be compared with one or more of the corresponding second brightness values ​​3211, 3221, and 3231 in any feasible manner. For example, the first brightness value 3111 and / or the range of the first brightness value 3111 applicable to the first time t1 can be compared with the second brightness value 3211 and / or the range of the second brightness value 3211 applicable to the first time t1. Similarly, additionally or alternatively, for example, the first brightness value 3121 and / or the range of the first brightness value 3121 applicable to the second time t2 can be compared with the second brightness value 3221 and / or the range of the second brightness value 3221 applicable to the second time t2, and / or the first brightness value 3131 and / or the range of the first brightness value 3131 applicable to the third time t3 can be compared with the second brightness value 3231 and / or the range of the second brightness value 3231 applicable to the third time t3. However, optionally, determining the brightness deviation may include comparing the mean (e.g., median, average, and / or weighted value) of two or more of the corresponding first brightness values ​​3111, 3121, 3131 with the mean (e.g., median, average, and / or weighted value) of two or more of the corresponding second brightness values ​​3211, 3221, 3231. Thus, since smoothed and / or representative first brightness values ​​can be compared with representative and / or smoothed second brightness values, potential faults can be compensated for. The phrase "determine brightness deviation" may refer to "identifying and / or detecting brightness deviation," while "based on comparing at least one of the corresponding first brightness values ​​with at least one of the corresponding second brightness values" may refer to "by determining and / or calculating the difference between at least one of the corresponding first brightness values ​​and at least one of the corresponding second brightness values." Furthermore, the phrase "comparing at least one of the corresponding first brightness values ​​with at least one of the corresponding second brightness values" may refer to "comparing at least one of the corresponding first brightness values ​​representing the first brightness value with at least one of the corresponding second brightness values ​​representing the second brightness value."

[0024] The brightness assessment system 1 also, for example by means of a fault identification unit 110, is adapted and / or configured to determine that the first image acquisition device 31 or the second image acquisition device 32 is not operating according to the required level when the brightness deviation exceeds a deviation threshold. Thus, assuming that the determined brightness difference (applicable to the overlapping main region 421) between the brightness values ​​3111, 3121, 3131 that can be derived from the first image acquisition device 31 and the brightness values ​​3211, 3221, 3231 that can be derived from the second image acquisition device 32 is greater than a predetermined limit set in view of a predetermined required level, it is then inferred that the first image acquisition device 31 or the second image acquisition device 32 is not operating accordingly. That is, through the adopted concept, abnormal image brightness values ​​related to the first image acquisition device 31 or its imager, or the second image acquisition device 32 or its imager, which may be equal to an abnormal voltage, can be detected. Such abnormal image brightness values ​​and subsequent abnormal voltages indicate improper operation, and if the deviation threshold is exceeded, a failure to meet the set requirement level is detected, such as the well-known ASIL B level safety target. Therefore, by adopting the concept of monitoring image brightness values ​​3111, 3121, 3131, 3211, 3221, 3231 accordingly, the well-known voltage and clock monitoring relying on IC components (which may increase complexity and / or overall system cost) can be omitted.

[0025] The deviation threshold can be represented by any feasible limitation, for example, it can vary with the range of brightness, and can be further set, for example, in view of the current and / or desired implementation, for example, specified requirements and / or objectives. Furthermore, the deviation threshold can be represented in any feasible manner, for example, indicating a difference expressed in absolute value, and additionally or alternatively expressed as a percentage, such as a difference greater than, for example, 5%, 15%, 30%, or 45%. The phrase “determined that the first image acquisition device or the second image acquisition device does not” can, by example, refer to “determined that the imager of the first image acquisition device or the imager of the second image acquisition device does not.” On the other hand, throughout this disclosure, “not operating according to the required level” can mean “not performing according to the required level,” “operating and / or performing insufficiently,” and / or “presenting and / or exhibiting abnormal brightness values ​​and / or abnormal voltages.” Furthermore, "when the brightness deviation exceeds a deviation threshold" can mean "when the brightness deviation exceeds a predetermined deviation threshold" and / or "when the brightness deviation exceeds a deviation threshold set based on a predetermined requirement level, reflecting the brightness deviation and / or related to the brightness deviation," and, by example, further means "when the brightness deviation exceeds a deviation threshold set based on a predetermined functional requirement level and / or safety level (e.g., ASIL level, such as ASIL B level), reflecting and / or related to it." "Deviation threshold" can further mean "a first deviation threshold," and "when the brightness deviation exceeds a deviation threshold" can further mean "assuming, if / or if the brightness deviation exceeds the deviation threshold."

[0026] Alternatively, as exemplified Figure 1 As shown, vehicle 2 may include a third image acquisition device 33 having a third field of view 43 among one or more image acquisition devices 3, wherein a secondary region 431 of the third field of view 43 at least partially overlaps with the first field of view 41. The secondary region 431 may have any feasible range, size, and / or extent, defined, for example, by the position of the first image acquisition device 31 relative to the third image acquisition device 33. In the exemplary embodiment... Figure 1In the diagram, the third image acquisition device 33 is shown positioned near and / or included within the left-side mirror, with its field of view 43 substantially in the left-side direction of the vehicle 2. However, it should be noted that, considering the possibility that a portion of the secondary region 431, referred to as the third field of view 43, at least partially overlaps with the first field of view 41, the third image acquisition device 33 can be positioned in any feasible manner, such as at other locations on the vehicle 2 covering another field of view. For example, during calibration, such as factory calibration, the region constituting the secondary region 423 can be identified and / or determined, and / or has been identified and / or determined, in any feasible manner. "Having a third field of view" can mean "supporting and / or covering a third field of view," while "a third field of view whose secondary portion at least partially overlaps with the first field of view" can mean "a third field of view whose secondary portion at least partially and / or to some extent coincides with the first field of view." On the other hand, the phrase “secondary region” can refer to “secondary region” and / or simply “region”, and further to “secondary field”, “secondary segment” and / or “secondary part”.

[0027] As exemplary Figure 2bAs shown, optionally, the brightness evaluation system 1 can then, for example by means of an optional secondary image acquisition unit 102, be adapted and / or configured to acquire corresponding third images 331, 332, 333 at corresponding times t1, t2, t3, with the support of the third image acquisition device 33, wherein the third segment 330 of the corresponding third image and the first segment 3100 of the corresponding first image 311, 312, 313 respectively cover the secondary region 431. Thus, at one or more time points t1, t2, t3, one or more images 331, 332, 333 are further derived from the third image acquisition device 33, together with one or more images 311, 312, 313 acquired by the first image acquisition device 31, each including the second segment 431 of the overlapping third field of view 43 and the first field of view 41. Acquiring the corresponding third images 331, 332, 333 at one or more corresponding times t1, t2, t3 can be achieved in any feasible, known manner, such as with the support of one or more imagers of the image acquisition device 33. Since one or more times t1, t2, t3 can occur at any feasible point in time, such as at predetermined time intervals and / or at predetermined irregular time points, the corresponding third images 331, 332, 333 can be represented accordingly by continuous and / or non-continuous images and / or image frames acquired by the third image acquisition device 33. The first-level segments 3100 of the corresponding first images 311, 312, 313 covering the secondary region 431 and the third segments 330 of the corresponding third images 331, 332, 333 can be represented by any feasible region and / or portion of the images 311, 312, 313, 331, 332, 333 including the secondary region 431, and therefore can have any size corresponding to the images. For example, during calibration, such as factory calibration, the first stage segment 3100 and the third stage segment 330 can be identified and / or determined, and / or have been identified and / or determined, in any feasible manner. In the exemplary... Figure 2bIn the diagram, the first-level segment 3100 and the third segment 330 are shown as rectangular shapes, but other shapes and / or sizes may also be applied. It can be noted that the positioning and size of the corresponding first-level segment 3100 in the corresponding first images 311, 312, and 313 remain unchanged, and correspondingly, the positioning and size of the corresponding third segment 330 in the corresponding third images 331, 332, and 333 remain unchanged. The phrase "corresponding third image supported by the third image acquisition device" can refer to "corresponding third image and / or image frame of the third vehicle's surrounding environment supported by the third image acquisition device" and / or "corresponding third image using and / or through input from the third image acquisition device." Furthermore, "first-level segment" can refer to "first overlapping secondary segment" and / or simply "overlapping segment," and correspondingly, "third segment" can refer to "third overlapping segment" and / or simply "overlapping segment." On the other hand, the phrase "respectively cover the secondary regions" can mean "respectively substantially cover the secondary regions" and / or "respectively include, copy and / or collect the secondary regions".

[0028] Further optionally, the brightness evaluation system 1 may then be adapted and / or configured, for example by means of an optional secondary brightness measurement unit 104, to measure the corresponding third brightness values ​​3311, 3321, 3331 of the third segment 330 for the corresponding third images 331, 332, 313, and to measure the corresponding first-level brightness values ​​31110, 31210, 31310 of the first-level segment 3100 for the corresponding first images 311, 312, 323. Therefore, for each time point t1, t2, t3, brightness values ​​31110, 31210, 31310, 331, 332, 333 are derived from the regions 3100 and 330 of the images 311, 312, 313, 331, 332, 333 covering the secondary region 431 (i.e., the section 431 covering the overlapping field of view 41, 43 of the first image acquisition device 31 and the third image acquisition device 33). Thus, brightness values ​​31110, 31210, 31310, 3311, 332, 333 are collected at one or more time points t1, t2, t3 for the same region 431, i.e., the secondary region 431. The corresponding luminance values ​​31110, 31210, 31310, 3311, 3321, and 3331 can be measured in any feasible, known manner, such as, as described above, for example, with the support of image processing, and further, for example, as described in Peter D. Hiscocks and P. Eng's "Measuring Luminance with a Digital Camera" dated February 16, 2014. Furthermore, the measurement can refer to the measurement of at least a portion of the corresponding first-level segment 3100 and the third-level segment 330, and / or the measurement of one or more pixels of the corresponding first-level segment 3100 and the third-level segment 330. The phrase "measuring the corresponding third luminance value and the corresponding first-level luminance value" can mean "detecting, collecting, deriving, acquiring, monitoring, and / or determining the corresponding third luminance value and the corresponding first-level luminance value." Furthermore, "the corresponding third brightness value of the third segment" can refer to "the corresponding third brightness value of at least a portion of the third segment and / or one or more pixels," and correspondingly, "the corresponding first-level brightness value of the first-level segment" can refer to "the corresponding first-level brightness value of at least a portion of the first-level segment and / or one or more pixels." The phrase "the corresponding first-level brightness value of the first-level segment" can further refer to "the corresponding first-level brightness value of the corresponding secondary portion and / or pixel of the first-level segment."

[0029] Further optionally, the brightness evaluation system 1 can then be adapted and / or configured, for example by means of an optional secondary deviation determination unit 106, to determine a secondary brightness deviation based on comparing at least one of the corresponding third brightness values ​​3311, 3321, 3331 with at least one of the corresponding first brightness values ​​31110, 31210, 31310. Thus, a potential difference can be detected between one or more brightness values ​​31110, 31210, 31310 at one end applicable to the overlapping secondary region 431 acquired by the first image acquisition device 31 and one or more brightness values ​​3311, 3321, 3331 at the other end applicable to the overlapping secondary region 431 acquired by the third image acquisition device 33. To determine the secondary brightness deviation, one or more of the corresponding first brightness values ​​31110, 31210, 31310 can be compared with one or more of the corresponding third brightness values ​​3311, 3321, 3331 in any feasible manner. For example, the range of first-level luminance values ​​31110 and / or 31110 applicable to the first time t1 can be compared with the range of third-level luminance values ​​3311 and / or 3311 applicable to the first time t1. Similarly, additionally or alternatively, for example, the range of first-level luminance values ​​31210 and / or 31210 applicable to the second time t2 can be compared with the range of third-level luminance values ​​3321 and / or 3321 applicable to the second time t2, and / or the range of first-level luminance values ​​31310 and / or 31310 applicable to the third time t3 can be compared with the range of third-level luminance values ​​3331 and / or 3331 applicable to the third time t3. However, optionally, determining the secondary brightness deviation may include comparing the mean (e.g., median, average, and / or weighted value) of two or more of the corresponding third brightness values ​​3311, 3321, 3331 with the mean (e.g., median, average, and / or weighted value) of two or more of the corresponding first brightness values ​​31110, 31210, 31310. This can compensate for potential, for example, faults, since smoothed and / or representative third brightness values ​​3311, 3321, 3331 can be compared with representative and / or smoothed first brightness values ​​31110, 31210, 31310. The phrase "determine the secondary brightness deviation" may refer to "identifying and / or detecting the secondary brightness deviation," while "based on comparing at least one of the corresponding third brightness values ​​with at least one of the corresponding first brightness values" may refer to "determining and / or calculating the difference between at least one of the corresponding third brightness values ​​and at least one of the corresponding first brightness values."Furthermore, the phrase "compare at least one of the corresponding third luminance values ​​with at least one of the corresponding first-level luminance values" can mean "compare at least one of the corresponding third luminance values ​​representing the third luminance value with at least one of the corresponding first-level luminance values ​​representing the second luminance value".

[0030] Optionally, the brightness assessment system 1 can then, by means of an optional device identification unit 111, be adapted and / or configured to identify that the first image acquisition device 31 is not operating according to the required level when the secondary brightness deviation exceeds a secondary deviation threshold, and / or to identify that the second image acquisition device 32 is not operating according to the required level when the secondary brightness deviation does not exceed the secondary deviation threshold. Thus, assuming that the determined brightness difference (applicable to the overlapping secondary region 431) between the brightness values ​​31110, 31210, 31310 that can be derived from the first image acquisition device 31 and the brightness values ​​3311, 3321, 3331 that can be derived from the third image acquisition device 33 is greater than a predetermined second limit (which may potentially be equal to the deviation threshold discussed above and / or set in view of the predetermined required level), it is then deduced that the first image acquisition device 31 is the device among the first image acquisition device 31 and the second image acquisition device 32 that is not operating according to the required level. In other words, since the first image acquisition device 31 involves comparing brightness values ​​based on a deviation threshold (i.e., considering the overlapping primary region 421 and the subsequent second image acquisition device 32) and a secondary deviation threshold (i.e., considering the overlapping secondary region 431 and the subsequent third image acquisition device 33), and since it is thus established that these two thresholds are exceeded, it can be inferred that the first image acquisition device 31 or its imager exhibits abnormal brightness values ​​3111, 3121, 3131, 31110, 31210, and 31310. On the other hand, assuming that the secondary determined brightness difference is not greater than the predetermined second limit, it is inferred that the second image acquisition device 32 is the device among the first image acquisition device 31 and the second image acquisition device 32 that is not operating according to the required level. In other words, since the first image acquisition device 31, as described above, involves a comparison of brightness values ​​based on both a deviation threshold and a secondary deviation threshold, and since it is determined that the secondary deviation threshold is not exceeded, it means that the first image acquisition device 31 or its imager does not exhibit abnormal brightness values ​​31110, 31210, and 31310. Compared with the brightness values ​​3311, 3321, and 3331 of the third image acquisition device 33, it can be inferred that it is the second image acquisition device 32 or its imager, rather than the first image acquisition device 31, that exhibits abnormal brightness values ​​3211, 3221, and 3231.

[0031] The secondary deviation threshold can potentially (though not necessarily) be set equal to (or at least partially equal to) the deviation threshold discussed above for the second primary region 241. Therefore, the secondary deviation threshold can be represented by any feasible limitation, such as one that can vary with the range of brightness, and can be further set, for example, in view of the current and / or desired implementation, such as specified requirements and / or objectives. Furthermore, the secondary deviation threshold can be represented in any feasible manner, such as indicating a difference in absolute value, or additionally or alternatively, as a percentage, such as a difference greater than, for example, 5%, 15%, 30%, or 45%. The phrase “identified is” can mean “determined and / or inferred is”. On the other hand, the phrase “is not present in the first image acquisition device” can mean “is not present in the imager of the first image acquisition device”, and correspondingly, the phrase “is not present in the second image acquisition device” can mean “is not present in the imager of the second image acquisition device”. Furthermore, the phrase "when the secondary brightness deviation exceeds the secondary deviation threshold" can mean "when the secondary brightness deviation exceeds a predetermined secondary deviation threshold" and / or "when the secondary brightness deviation exceeds a secondary deviation threshold set, reflected, and / or associated with a predetermined requirement level," and, by example, further means "when the secondary brightness deviation exceeds a secondary deviation threshold set, reflected, and / or associated with a predetermined requirement level based on a predetermined functional requirement level and / or safety level (e.g., ASIL level, such as ASIL B level)." Additionally, "when the secondary brightness deviation exceeds the secondary deviation threshold" can further mean "assuming, if, and / or if the secondary brightness deviation exceeds the secondary deviation threshold." "Secondary deviation threshold" can further mean "a second deviation threshold," and "when the secondary brightness deviation does not exceed the secondary deviation threshold" can further mean "assuming, if, and / or if the secondary brightness deviation does not exceed the secondary deviation threshold." On the other hand, the phrase "and / or when the secondary brightness deviation does not exceed the secondary deviation threshold, the second image acquisition device is not operating according to the required level" can mean "otherwise, the second image acquisition device is not operating according to the required level".

[0032] It can be noted that vehicle 2 may include any additional image acquisition devices 3, such as those exemplified. Figure 1 As shown, a fourth image acquisition device 34 has a fourth field of view 44. In an exemplary embodiment... Figure 1In this embodiment, the fourth field of view 44, combined with the first field of view 41, the second field of view 42, and the third field of view 43, can cover a 360-degree view of the vehicle's surrounding environment. However, it can be noted that the same or similar effect can be achieved using any other combination and / or number of image acquisition devices 3. It can also be noted that the optional fourth image acquisition device 34 and / or any additional image acquisition device 3, relative to the corresponding overlapping field of view areas, can contribute to and / or support the inventive concept presented herein.

[0033] Optionally, the brightness assessment system 1 may, for example by means of an optional influencing element determination unit 109, be adapted and / or configured to determine whether there are image brightness influencing elements (not shown), such as tunnels and / or overpasses, within the image acquisition range of the vehicle 2. Determining that the first image acquisition device 31 or the second image acquisition device 32 is not operating according to the required level, as described above, includes determining that the first image acquisition device 31 or the second image acquisition device 32 is not operating according to the required level when the brightness deviation exceeds a brightness deviation threshold and when it is determined that no image brightness influencing element exists. Therefore, assuming that the brightness difference (applicable to the overlapping main area 421) between the brightness values ​​3111, 3121, 3131 that can be derived from the first image acquisition device 31 and the brightness values ​​3211, 3221, 3231 that can be derived from the second image acquisition device 32 is greater than the predetermined limit set in view of the predetermined requirement level, and further assuming that there are no elements near the vehicle 2 that may potentially affect the acquired images 311, 312, 313, 321, 322, 323, it is inferred that the first image acquisition device 31 or the second image acquisition device 32 is not operating accordingly. In other words, if it is determined that an image brightness influencing element exists within the range of vehicle 2, then the image brightness influencing element (e.g., tunnels and / or overpasses) may potentially affect the measured brightness values ​​3111, 3121, 3131, 3211, 3221, 3231 in the acquired images 311, 312, 313, 3212, 322, 323, for example, by projecting shadows and / or darkness. This is possible, for example, if the image acquisition device is positioned at different locations on vehicle 2 (e.g., at different longitudinal positions on vehicle 2). Therefore, in this case, the corresponding measured first brightness values ​​3111, 3121, 3131 may potentially differ from the corresponding measured second brightness values ​​3211, 3221, 3231, to the point that the deviation threshold is exceeded due to the influence from the image brightness influencing element rather than due to the first image acquisition device 31 or the second image acquisition device 32 not operating according to the required level. Therefore, according to this embodiment, if it is determined that there are elements affecting image brightness within the range of the image acquisition device of vehicle 2, the brightness assessment system 1 will suppress the determination that the first image acquisition device 31 or the second image acquisition device 32 is not operating according to the required level, even if the brightness deviation may exceed the required level.

[0034] Image brightness influencing elements can refer to any feasible element and / or object that may potentially affect the brightness of the image acquired by image acquisition device 3, such as tunnels, overpasses, bridges, etc. Determining the existence of image brightness influencing elements can be achieved in any feasible, such as known, manner. For example, the absence or presence of said image brightness influencing elements can be determined, for example, by means of known object detection and / or image processing. However, optionally, brightness assessment system 1 can, for example, be adapted and / or configured to determine the position of vehicle 2 with the support of positioning system 24 by means of optional vehicle position determination unit 107, and further, for example, be adapted and / or configured to locate vehicle 2 based on vehicle position in reference to digital map 23. Determining the existence of image brightness influencing elements as described above includes determining whether image brightness influencing elements exist within the image acquisition device range of vehicle 2 in digital map 23. Thus, by locating vehicle 2 in reference to digital map 23 and further analyzing map data, the presence of elements considered to potentially affect image brightness in digital map 23 can be derived within the range of vehicle 2's position mapped in digital map 23. Determining the location of vehicle 2 and further locating vehicle 2 in light of digital map 23 can be achieved in any feasible, known manner, with the support of a positioning system and further, for example, with the support of optional sensing system 22 or similar systems and / or functions described above. The phrase "determining whether an image brightness influencing element exists" can mean "identifying, estimating, and / or deriving whether an image brightness influencing element exists" and / or "determining whether an image brightness influencing element exists," while "image brightness influencing element" can mean "objects affecting image brightness," "stationary and / or dynamic elements affecting image brightness," and / or "elements that potentially affect and / or impact image brightness." Furthermore, the phrase "within the image acquisition range of the vehicle" can mean "within a predetermined distance from the vehicle, such as within 100, 50, or 5 meters," "within the image acquisition range of the first image acquisition device and / or the second image acquisition device," and, according to an example, further means "within the main area." The phrase "when it is determined that no image brightness influencing element exists" can mean "assuming, if, and / or if it is determined that no image brightness influencing element exists."

[0035] like Figure 3As further shown, the brightness assessment system 1 includes a primary image acquisition unit 101, a primary brightness measurement unit 103, a primary deviation determination unit 105, a fault identification unit 110, optional secondary image acquisition units 102, optional secondary brightness measurement units 104, optional secondary deviation determination units 106, optional device identification units 111, optional vehicle position determination units 107, optional vehicle positioning units 108, and optional influence element determination units 109, all of which have been described in more detail above. Furthermore, the embodiments described herein for measuring the functional compliance of an onboard vehicle image acquisition device with a predetermined required level can be implemented by one or more processors (e.g., processor 112, denoted herein as a CPU) with computer program code for performing the functions and actions of the embodiments herein. The program code can also be provided as a computer program product, for example, in the form of a data carrier carrying computer program code for performing the embodiments herein when loaded into the brightness assessment system 1. One such carrier can be in the form of a CD-ROM and / or a hard disk drive, but other data carriers are also feasible. Furthermore, computer program code can be provided as pure program code on a server and downloaded to the brightness assessment system 1. The brightness assessment system 1 may also include a memory 113, which comprises one or more storage units. The memory 113 may be arranged to store, for example, information, and further store data, configurations, schedules, and applications to execute the methods described herein when executed in the brightness assessment system 1. For example, the computer program code may be implemented in firmware, stored in the flash memory 113 of the embedded processor 112, and / or downloaded wirelessly, for example, from an external server. Furthermore, the units 101-111, the optional processor 112, and / or the optional memory 113 may be at least partially included in one or more nodes 114, such as the ECU of the vehicle 2, for example, in an optional ADAS or ADS system 21 and / or one or more image acquisition devices 3, and / or associated with the aforementioned system 21 and / or devices 3. Those skilled in the art will also understand that the aforementioned units 101-111 and any other units, interfaces, systems, controllers, modules, devices, elements, features, etc., can refer to, include, contain, and / or be implemented as or implement a combination of analog and digital circuitry and / or configured with software and / or firmware, such as stored in memory (e.g., memory 113) and executed as described herein when executed by one or more processors (e.g., processor 112). One or more of these processors, along with other digital hardware, may be included in a single application-specific integrated circuit (ASIC) or several processors, and the various digital hardware components may be distributed among several separate parts (whether individually packaged or assembled into a system-on-a-chip (SoC)).

[0036] Figure 4 This is a flowchart illustrating an exemplary method performed by a brightness evaluation system 1 according to an embodiment of the present disclosure. The method is used to monitor the functional compliance of an on-board vehicle image acquisition device with a predetermined required level. Exemplary methods that can be repeated continuously include... Figures 1-3 With the support of [the relevant authority], one or more of the following actions are discussed. Furthermore, where applicable, actions may be taken in any suitable order and / or one or more actions may be performed simultaneously and / or in an alternating order. For example, action 1001 and optional action 1002 may be performed simultaneously and / or in an alternating order. Similarly, action 1003 and optional actions 1004 and / or action 1005 and optional action 1006 may be performed simultaneously and / or in an alternating order, while optional actions 1007-1009 and one or more of actions 1001-1006 may be performed simultaneously and / or in an alternating order in a similar manner.

[0037] Action 1001

[0038] In action 1001, the brightness evaluation system 1, for example with the support of the main image acquisition unit 101, acquires corresponding first images 311, 312, 313 with the support of the first image acquisition device 31 at one or more corresponding times t1, t2, t3, and acquires corresponding second images 321, 322, 323 with the support of the second image acquisition device 32. The first segment 310 of the corresponding first images 311, 312, 313 and the second segment 320 of the corresponding second images 321, 322, 323 respectively cover the main area 421.

[0039] Action 1002

[0040] Optionally, the third image acquisition device 33 has a third field of view 43, and the secondary region 431 of the third field of view 43 at least partially overlaps with the first field of view 41. Therefore, in the optional operation 1002, the brightness evaluation system 1 can, for example with the support of the optional secondary image acquisition unit 102, acquire corresponding third images 331, 332, 333 at corresponding times t1, t2, t3 with the support of the third image acquisition device 33, wherein the third segment 330 of the corresponding third image and the first segment 3100 of the corresponding first image 311, 312, 313 respectively cover the secondary region 431.

[0041] Action 1003

[0042] In action 1003, the brightness evaluation system 1, for example with the support of the main brightness measurement unit 103, measures the corresponding first brightness values ​​3111, 3121, and 3131 of the first segment 310 for the corresponding first images 311, 312, and 313, and measures the corresponding second brightness values ​​3211, 3221, and 3231 of the second segment 320 for the corresponding second images 321, 322, and 323.

[0043] Action 1004

[0044] In optional action 1004 following optional action 1002, the brightness evaluation system 1 may, for example with the support of optional secondary brightness measurement unit 104, measure the corresponding third brightness values ​​3311, 3321, 3331 of the third segment 330 for the corresponding third images 331, 332, 333, and measure the corresponding first-level brightness values ​​31110, 31210, 31310 of the first-level segment 3100 for the corresponding first images 311, 312, 313.

[0045] Action 1005

[0046] In action 1005, the brightness evaluation system 1, for example with the support of the main deviation determination unit 105, determines the brightness deviation by comparing at least one of the corresponding first brightness values ​​3111, 3121, 3131 with at least one of the corresponding second brightness values ​​3211, 3221, 3231.

[0047] Optionally, the action 1005 for determining the brightness deviation may include, and / or the main deviation determination unit 105 may be adapted and / or configured to compare the mean of two or more of the corresponding first brightness values ​​3111, 3121, 3131 with the mean of two or more of the corresponding second brightness values ​​3211, 3221, 3231.

[0048] Action 1006

[0049] In optional action 1006 following optional action 1004, the brightness evaluation system 1 may, for example with the support of optional secondary deviation determination unit 106, determine the secondary brightness deviation by comparing at least one of the corresponding third brightness values ​​3311, 3321, 3331 with at least one of the corresponding first brightness values ​​31110, 31210, 31310.

[0050] Optionally, the action 1006 for determining the secondary brightness deviation may include, and / or the optional secondary deviation determining unit 106 may be adapted and / or configured to compare the mean of two or more of the corresponding third brightness values ​​3311, 3321, 3331 with the mean of two or more of the corresponding first brightness values ​​31110, 31210, 31310.

[0051] Action 1007

[0052] In optional action 1007, the brightness assessment system 1 can, for example, determine the position of the vehicle 2 with the support of the positioning system 24 and the optional vehicle position determination unit 107.

[0053] Action 1008

[0054] In optional action 1008 following optional action 1007, the brightness assessment system 1 may, for example with the support of optional vehicle positioning unit 108, locate vehicle 2 based on vehicle position given digital map 23.

[0055] Action 1009

[0056] In optional action 1009, the brightness evaluation system 1 may, for example with the support of optional influencing element determination unit 109, determine whether there are image brightness influencing elements, such as tunnels and / or overpasses, within the range of the image acquisition device of vehicle 2.

[0057] Optionally, if action 1009 follows action 1008 which locates vehicle 2 based on digital map 23, action 1009 may include, and / or optionally include an influence element determination unit 109, which may be adapted and / or configured to determine whether there are image brightness influence elements within the image acquisition device range of vehicle 2 in digital map 23.

[0058] Action 1010

[0059] In action 1010, the brightness assessment system 1, for example with the support of the fault identification unit 110, determines that the first image acquisition device 31 or the second image acquisition device 32 is not operating according to the required level when the brightness deviation exceeds the deviation threshold.

[0060] Optionally, if action 1010 follows action 1009 which determines whether an image brightness-affecting element exists, the determination of action 1010 may include, and / or the fault identification unit 110 may be adapted to and / or configured to determine that the first image acquisition device 31 or the second image acquisition device 32 is not operating according to the required level when the brightness deviation exceeds a brightness deviation threshold and when it is determined that no image brightness-affecting element exists.

[0061] Action 1011

[0062] In optional action 1011 following optional action 1006, the brightness assessment system 1 may, for example with the support of optional device identification unit 111, determine that the first image acquisition device 31 is not operating according to the required level when the secondary brightness deviation exceeds the secondary deviation threshold, and / or determine that the second image acquisition device 32 is not operating according to the required level when the secondary brightness deviation does not exceed the secondary deviation threshold.

[0063] Those skilled in the art will recognize that this disclosure is by no means limited to the preferred embodiments described above. Rather, many modifications and variations are possible within the scope of the appended claims. Furthermore, it should be noted that the drawings are not necessarily drawn to scale, and the dimensions of certain features may be enlarged for clarity. Instead, the focus is on illustrating the principles of the embodiments described herein. Additionally, in the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality.

Claims

1. A method performed by a luminance assessment system (1) of a vehicle (2) to monitor the functional compliance of a vehicle on-board image acquisition device with a predefinable requirement level, the vehicle (2) comprising two or more image acquisition devices (3) adapted to acquire the surroundings of the vehicle (2), a first image acquisition device (31) having a first field of view (41) and a second image acquisition device (32) having a second field of view (42), a main area (421) of the second field of view (42) at least partially overlapping the first field of view (41), the method comprising: acquiring (1001) at a respective one or more time instants (tl, t2, t3) a respective first image (311, 312, 313) with the support of the first image acquisition device (31) and a respective second image (321, 322, 323) with the support of the second image acquisition device (32), a first section (310) of the respective first image (311, 312, 313) and a second section (320) of the respective second image (321, 322, 323) covering the main area (421) respectively; measuring (1003) a respective first luminance value (3111, 3121, 3131) of the first section (310) for the respective first image (311, 312, 313) and a respective second luminance value (3211, 3221, 3231) of the second section (320) for the respective second image (321, 322, 323); determining (1005) a luminance deviation based on comparing at least one of the respective first luminance values (3111, 3121, 3131) with at least one of the respective second luminance values (3211, 3221, 3231); determining (1007) a position of the vehicle (2) with the support of a positioning system (24); locating (1008) the vehicle (2) in view of a digital map (23) based on the vehicle position; determining (1009) whether there is an image luminance influencing element within the image acquisition device range of the vehicle (2) in the digital map (23); and determining (1010) that the first image acquisition device (31) or the second image acquisition device (32) is not operating according to the requirement level when the luminance deviation exceeds a deviation threshold and when it is determined that there is no image luminance influencing element.

2. The method of claim 1, wherein, The step of determining (1005) a luminance deviation comprises comparing a mean of two or more of the respective first luminance values (3111, 3121, 3131) with a mean of two or more of the respective second luminance values (3211, 3221, 3231).

3. The method of claim 1 or 2, wherein, a third image acquisition device (33) having a third field of view (43), a secondary area (431) of the third field of view (43) at least partially overlapping the first field of view (41), the method further comprising: at a respective one or more time instants (t1, t2, t3), a respective third image (331, 332, 333) is acquired (1002) under the support of the third image acquisition device (33), a third section (330) of the respective third image (331, 332, 333) and a first secondary section (3100) of the respective first image (311, 312, 313) respectively cover the secondary area (431); a respective third luminance value (3311, 3321, 3331) of the third section (330) is measured (1004) for the respective third image (331, 332, 333) and a respective first secondary luminance value (31110, 31210, 31310) of the first secondary section (3100) is measured (1004) for the respective first image (311, 312, 313); a secondary luminance deviation is determined (1006) based on comparing at least one of the respective third luminance values (3311, 3321, 3331) with at least one of the respective first secondary luminance values (31110, 31210, 31310); and when the secondary luminance deviation exceeds a secondary deviation threshold, it is identified (1011) that the first image acquisition device (31) is not operating according to the required grade, and / or when the secondary luminance deviation does not exceed the secondary deviation threshold, it is identified (1011) that the second image acquisition device (32) is not operating according to the required grade.

4. The method of claim 3, wherein, The step of determining (1006) the secondary luminance deviation comprises comparing a mean of two or more of the respective third luminance values (3311, 3321, 3331) with a mean of two or more of the respective first secondary luminance values (31110, 31210, 31310).

5. A luminance assessment system (1) for a vehicle (2) for monitoring the functional compliance of on-board vehicle image acquisition devices to a predefinable required grade, the vehicle (2) comprising two or more image acquisition devices (3) adapted to acquire the surroundings of the vehicle (2), a first image acquisition device (31) having a first field of view (41) and a second image acquisition device (32) having a second field of view (42), a main area (421) of the second field of view (42) at least partially overlapping the first field of view (41), the luminance assessment system (1) comprising: a primary image acquisition unit (101) for acquiring (1001) a respective first image (311, 312, 313) under support of the first image capturing device (31) and a respective second image (321, 322, 323) under support of the second image capturing device (32) at a respective one or more time instances (t1, t2, t3), a first section (310) of the respective first image (311, 312, 313) and a second section (320) of the respective second image (321, 322, 323) covering the primary area (421) each; a primary brightness measurement unit (103) for measuring (1003) a respective first brightness value (3111, 3121, 3131) of the first section (310) for the respective first image (311, 312, 313) and a respective second brightness value (3211, 3221, 3231) of the second section (320) for the respective second image (321, 322, 323); a primary deviation determination unit (105) for determining (1005) a brightness deviation based on comparing at least one of the respective first brightness values (3111, 3121, 3131) with at least one of the respective second brightness values (3211, 3221, 3231); a vehicle position determination unit (107) for determining (1007) a position of the vehicle (2) under support of a positioning system (24); a vehicle localization unit (108) for localizing (1008) the vehicle (2) in view of a digital map (23) based on the vehicle position; an influencing element determination unit (109) for determining (1009) whether an image brightness influencing element within an image capturing device range of the vehicle (2) exists in the digital map (23); and a fault recognition unit (110) for determining (1010) that the first image capturing device (31) or the second image capturing device (32) is not operating according to the requirement level when the brightness deviation exceeds a deviation threshold and when it is determined that no image brightness influencing element exists. The primary deviation determination unit (105) is adapted to compare a mean of two or more of the respective first brightness values (3111, 3121, 3131) with a mean of two or more of the respective second brightness values (3211, 3221, 3231).

6. The brightness assessment system (1) according to claim 5, wherein The third image capturing device (33) has a third field of view (43), a secondary area (431) of the third field of view (43) at least partially overlapping the first field of view (41), the brightness evaluation system (1) further comprising:

7. The brightness assessment system (1) according to claim 5 or 6, wherein a secondary image acquisition unit (102) for acquiring (1002) a respective third image (331, 332, 333) under support of the third image capturing device (33) at the respective one or more time instances (t1, t2, t3), a third section (330) of the respective third image (331, 332, 333) covering the primary area (421); a secondary image acquisition unit (102) for acquiring (1002) a respective third image (331, 332, 333) at a respective one or more time instances (t1, t2, t3) under support of the third image capturing device (33), a third section (330) of the respective third image (331, 332, 333) and a first secondary section (3100) of the respective first image (311, 312, 313) each covering the secondary area (431); a secondary brightness measurement unit (104) for measuring (1004) a respective third brightness value (3311, 3321, 3331) of the third section (330) for the respective third image (331, 332, 333) and a respective first secondary brightness value (31110, 31210, 31310) of the first secondary section (3100) for the respective first image (311, 312, 313); a secondary deviation determination unit (106) for determining (1006) a secondary brightness deviation based on comparing at least one of the respective third brightness values (3311, 3321, 3331) with at least one of the respective first secondary brightness values (31110, 31210, 31310); and a device identification unit (111) for identifying (1011) that the first image capturing device (31) is not operated according to the requirement level if the secondary brightness deviation exceeds a secondary deviation threshold value and / or identifying (1011) that the second image capturing device (32) is not operated according to the requirement level if the secondary brightness deviation does not exceed the secondary deviation threshold value.

8. The brightness assessment system (1) according to claim 7, wherein The secondary deviation determination unit (106) is adapted to compare a mean of two or more of the respective third brightness values (3311, 3321, 3331) with a mean of two or more of the respective first secondary brightness values (31110, 31210, 31310).

9. A vehicle (2) comprising the brightness assessment system (1) according to any one of claims 5-8.

10. A computer program product comprising a computer program containing computer program code arranged to cause a computer or a processor to perform the steps of the method according to any one of claims 1-4, the computer program being stored on a computer-readable medium.

11. A non-volatile computer-readable storage medium having stored thereon the computer program product according to claim 10.

12. A computer program comprising computer program code arranged to cause a computer or a processor to perform the steps of the method according to any one of claims 1-4 when said computer program is loaded into the computer or processor.

13. A computer program comprising computer program code arranged to cause a computer or a processor to perform the steps of the method according to any one of claims 5-8 when said computer program is loaded into the computer or processor.

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