Method and device for projecting a laser light image into an environment around a vehicle

Abstract

A method for projecting a laser light image into an environment around a vehicle, comprising: Capturing an image in a predetermined environment around the vehicle; evaluating a captured image Manipulating any content of the captured image; and Projecting a manipulated content of the captured image by means of laser light beams to a location in the predetermined environment around the vehicle that has a predetermined relationship to a location of the capture of the image in the predetermined environment around the vehicle, characterized in that at locations in the predetermined environment around the vehicle to which no manipulated content of the captured image is projected, laser light beams are emitted to illuminate the predetermined environment around the vehicle.

Description

[0001] The invention relates to a method and a device for projecting a laser light image into an environment around a vehicle according to the preamble of claim 1 or according to the preamble of claim 6.

[0002] It is known in the art for vehicle headlights to illuminate the area surrounding the vehicle using light beams emitted from the headlight. This basic principle applies regardless of the light source technology used in the headlight, such as a halogen lamp, a xenon lamp, or LEDs.

[0003] The low beam used when driving a vehicle represents a compromise that takes various aspects into account. It is limited in height to avoid dazzling oncoming traffic. However, this limitation of the low beam height also significantly limits the illumination of the vehicle's surroundings.

[0004] However, many drivers do not use the high beams that are also available in vehicles because they fear that they will not be able to react in time, especially when there is oncoming traffic, and that they will dazzle other road users.

[0005] Against this background, the adaptive high beam was developed, which uses a camera to detect oncoming or preceding illuminated vehicles and automatically adjusts the range of the headlights to the distance of the vehicle from these vehicles so that the headlight cone ends in front of these vehicles.

[0006] The adaptive partial high beam system goes a step further. With this system, the high beam remains permanently switched on. If the system detects oncoming or preceding traffic with the help of a camera, it automatically adjusts the light distribution accordingly. In these traffic situations, the headlight range is no longer changed; instead, the oncoming or preceding vehicle is masked out using a shading element in the headlight. The area to the right and left of the vehicle remains illuminated, and visibility is not reduced.

[0007] Further refinement of the light distribution can be achieved with appropriate assistance systems. For example, if an infrared camera of a night vision assistant detects wildlife or people on the road in the distance, they can be briefly illuminated beyond the high beam range (marker light). This alerts the driver to a potential hazard without having to take their eyes off the road.

[0008] An additional improvement in the recognition of dangerous situations is achieved when, for example, in a foggy situation, obstacles on the road are detected by means of a radar device and either shown on a display device in the area of the dashboard or reflected in the windshield of the vehicle using a head-up display.

[0009] In all state-of-the-art vehicle headlight systems, regardless of the refinements and improvements they have in terms of light distribution, the contrast and sharpness of the field of vision are not optimal due to the diffuse light beams from the headlights.

[0010] With adaptive low beam, there is also the possibility that the dimming process takes too long depending on the traffic situation, the dimming process is not precise enough, or the dimming is not tilted far enough, which can lead to glare conflicts.

[0011] In foggy conditions, the beams of conventional vehicle headlights create poor contrast with obstacles, making them difficult to perceive. Displaying obstacles on a display, for example, in the dashboard area, requires repeatedly switching your gaze from the traffic situation to the display and back, which can lead to distraction from the traffic situation. Reflecting images onto the windshield can cause double vision in the driver with binocular vision and places high demands on the optical system and eye positioning.

[0012] Furthermore, the headlight systems described above often have a large number of individual components and systems, and often a number of electromechanical components must be driven and controlled. For example, in the adaptive high beam, a roller of a VarioX is driven by a stepper motor. ® The module is rotated into the required position within a few milliseconds. In LED headlights, the often more than 100 LEDs in a headlight must be individually addressable and dimmable to achieve the desired light distribution.

[0013] From DE 101 34 594 A1 a method according to the preamble of claim 1 and a device according to the preamble of claim 7 are known.

[0014] From DE 10 2005 051 049 A1 and DE 10 2006 050 546 A1, methods and devices are known which project objects into an environment around the vehicle by means of laser projection.

[0015] It is therefore the object of the present invention to provide a method and a system that illuminates the environment around a vehicle in a way that is clearly visible to a driver and at the same time provides additional information about the environment around the vehicle.

[0016] The problem is solved by the measures specified in the independent claims.

[0017] Further advantageous embodiments of the present invention are the subject of the dependent claims.

[0018] The present invention is explained in more detail below using an embodiment with reference to the accompanying drawings.

[0019] It shows: Fig. 1 is a schematic diagram of an apparatus for projecting a laser light image into an environment around a vehicle according to the embodiment of the present invention; Fig. 2a is a schematic representation of an environment with a country road and a pedestrian in a nighttime fog situation with normal low beam according to the embodiment of the present invention; Fig. 2b is a schematic representation of the surroundings with the country road and the pedestrian in the nighttime fog situation with a projected laser light image according to the embodiment of the present invention; Fig. 2c shows a schematic representation of an environment with the country road and the pedestrian in the nighttime fog situation with a projected laser light image and an additionally projected navigation instruction according to the embodiment of the present invention; and Fig. 3 a schematic representation of an environment with a country road at night with projected, pictogram-like animals according to the embodiment of the present invention.

[0020] The following is a description of an embodiment of the present invention.

[0021] Fig. 1 shows a schematic representation of an apparatus for projecting a laser light image into an environment around a vehicle according to the embodiment of the present invention.

[0022] In Fig. 1, reference numeral 1 denotes a laser light image projection system, reference numeral 2 denotes a camera device, reference numeral 3 denotes a laser device, and reference numeral 4 denotes a vehicle.

[0023] According to the present example, the camera device 2 serving as the detection device takes images of a predetermined vehicle environment within the area designated as the "camera recording area." The images, optimized by a processing device (not shown), are projected into the predetermined vehicle environment using a projection device (not shown), in the illustrated example using a laser light image projection with a line-by-line structure.

[0024] The laser light image projection system 1 is mounted in the vehicle such that both the camera device 2 and the laser device 3 are located approximately at the driver's eye level. This captures images and projects optimized images that correspond as closely as possible to the driver's viewing angle of the vehicle's surroundings, thus providing a correctly reproduced vehicle or traffic environment from the driver's perspective.

[0025] To ensure that projected image sequences produce a "film-like," i.e., natural-looking, continuous illumination of the specified vehicle surroundings from the driver's perspective, the optimized projected images must be projected at a required refresh rate. A refresh rate of approximately 50 frames / second represents the lower limit (for a stationary vehicle). Preferably, the refresh rate is appropriately adjusted according to the speed being traveled and thus the distance traveled per second, so that the image sequences can be projected, for example, at a refresh rate of 50, 75, 100, 150, 200, 300, 500, 1000, 1500, 3000, 5000 or more frames / second, or any intermediate value.

[0026] Preferably, 1000 images per second and more can be recorded, processed and projected. Particularly preferred are images in the microsecond range (ie between 10 3 up to 10 6 images / seconds) are recorded, processed / optimized and projected.

[0027] To achieve this, the system must be designed to meet the required performance criteria. The camera device must be capable of capturing images at the specified frequency, the processing device evaluates and optimizes the captured images at the required speed (real time), and the projection device projects the optimized images at the required frequency.

[0028] More than one camera device and more than one processing device may be present, and the multiple devices may each perform specific subtasks in parallel. A first camera device can capture images of a first section of the specified vehicle environment, and a first processing device can only evaluate / optimize the images from the first camera device. In such a case, images of the further section or sections of the specified vehicle environment are captured by one or more additional camera devices and evaluated / optimized by one or more additional processing devices. Likewise, multiple laser devices may be present.

[0029] The camera device can function as a normal camera, a night vision camera, and / or a fog vision camera. Such a multifunctional camera can capture sufficiently high-quality images of the vehicle's surroundings in all lighting conditions (day / twilight / night) and in virtually all weather conditions. By using an (additional) infrared camera device, people and animals, for example, can be detected early on based on their heat radiation and highlighted in projected images.

[0030] The processing device is configured such that, in addition to images captured by the camera device, it can also process data from a radar device and / or other internal or external devices. By means of a radar device (e.g. Distronic ®), for example, in foggy conditions, obstacles on or at the edge of the road that would otherwise be invisible to a driver can be detected. An example of an internal device is a navigation system, and an example of an external device is a traffic information system. The data from these additional devices is taken into account by the processing device when evaluating / optimizing the images captured by the camera device or is incorporated into the processing process.

[0031] The processing device optimizes all captured images with regard to contrast, color and luminance, and the optimized images are projected into the vehicle environment.

[0032] The optimization of the images is carried out in such a way that individual picture elements in a projected image are displayed with a higher or lower luminance and / or a higher or lower contrast compared to a recorded image, individual picture elements in a projected image are displayed in a different color compared to the recorded image, at least one picture element of a recorded image is displayed in a pictogram-like manner in a projected image, and / or at least one additional picture element that is not contained in the recorded image is inserted into a projected image.

[0033] During the processing process, the processing device reduces luminance in identified glare-sensitive areas (e.g., vehicles, pedestrians, windows, traffic signs) and highlights hazardous situations (e.g., obstacles, pedestrians, children playing, animals) for the driver. Such highlighting can be achieved, for example, in the form of color, contrast, and / or luminance-enhancing processing.

[0034] Conversely, an image element in a captured image that exhibits excessive contrast and / or luminance can be optimized to correct its contrast and / or luminance accordingly. Any combination is also possible, for example, reducing the luminance of an image element and increasing its contrast and color.

[0035] The processing device can modify the recorded images in such a way that individual image elements in a projected image are displayed in a different color than the recorded images. For example, game detected at the side of the road can be displayed in a red warning color in the projected images, thus converting the natural color of the game to red and projecting it in this color.

[0036] Furthermore, at least one image element of a recorded image can be represented in a pictogram-like manner in a projected image. This can be particularly helpful for minimizing the time required for processing a recorded image. For example, if the processing device detects a pedestrian or another vehicle on the roadway in a recorded image, the pictogram of a pedestrian or vehicle can be projected onto the location in the projected image where the pedestrian or vehicle is located. This can save computing time that would otherwise be required for the processing device to realistically optimize these elements in terms of color, contrast, and / or luminance enhancement.

[0037] The processing device can also advantageously insert at least one additional image element into a projected image that is not contained in the recorded image. Such image elements, which are based, for example, on data from internal and / or external devices (e.g., assistance, navigation, and information systems) (e.g., a turn-off arrow triggered by a navigation device, the display of a speed limit, or a marker arrow pointing to a hazard that the driver should be aware of), are projected into the vehicle's surroundings in a way that is clearly visible to the driver, allowing the driver to focus their attention on the vehicle or traffic surroundings and avoiding distraction, for example, by switching their gaze to a display inside the vehicle.

[0038] The laser device is advantageously configured for emitting laser light beams line by line and pixel by pixel into the predeterminable vehicle environment, has a diode-pumped solid-state laser for generating laser light in the colors red, green and blue, and / or has a projection head with a two-axis mirror scanner for deflecting the laser beam vertically and horizontally.

[0039] A laser device based on laser display technology (LDT) can be advantageously used as the laser device. With LDT, the image is written line by line onto a projection surface. Deflection is achieved by a special scanner with a facet mirror (line build-up) and a tilting mirror (line feed). The laser beam is pre-modulated, which defines the brightness and color of each pixel. The advantages of LDT are that projection surfaces of almost any shape can be used, no focusing is required (lenses serve only to expand the beam, not to produce the image), very high contrast can be achieved, and a large gamut is possible through the mixing of pure primary colors (RGB), i.e., monochromatic light.

[0040] Using LDT, for example, it is possible to project virtual images of the vehicle's surroundings onto the "fog screen" in a foggy situation, giving the driver the impression of a "clear view." Water droplets in fog are particularly well-suited as a "projection surface" due to their spherical shape.

[0041] With LDT, unevenness of the projection surface, be it the vehicle surroundings and / or the "fog screen," or the distance between the projection aperture and the projection surface, has virtually no influence on the depth of field of images and does not cause distortion. With the achievable luminance levels, clearly visible images can be displayed even in daylight.

[0042] The actual laser source and the laser light exit aperture can be separate from each other. For example, the laser source can be located at a predefined location in a vehicle, and the generated laser beams can be guided to the exit aperture using a fiber optic cable.

[0043] To achieve the best possible display of the projected images for the driver, the exit opening for the laser light is positioned in the vehicle approximately at the driver's eye level. For example, the exit opening for the laser light can be located in a container near the rearview mirror. The camera device can also be housed in this container.

[0044] Instead of the LDT, any other suitable laser device can be used, such as a laser device based on the Grating Light Valve System (from Silicon Light Machines) or the Digital Micromirror Device System (from Texas Instruments).

[0045] The laser light used is designed to be as close to daylight as possible. This accommodates human visual habits. Artificial light is less stressful on the human eye the closer its color is to daylight (6,500 K). The luminance of the laser light is selected between 4,000 and 100,000 lux, which corresponds to the luminance of the natural environment. This prevents harm to other road users or animals from the emitted laser light.

[0046] This enables balanced, high-contrast, and glare-reduced illumination of an extended vehicle or traffic environment. This ensures that the driver always sees the vehicle or traffic environment in an optimally balanced, high-contrast, and glare-reduced manner, and can receive additional information projected into the vehicle's surroundings if necessary, without having to shift their gaze from the traffic environment to a display device, for example, located in the vehicle.

[0047] If the brightness is insufficient before the camera device takes the first image, the laser device can be used to illuminate the specified vehicle surroundings for the first image with laser light of sufficient brightness and, if necessary, a color similar to daylight. The aforementioned limits are adhered to to reliably prevent harm to other road users or animals from the emitted laser light. For subsequent images, the light emitted by the laser device from the projected optimized images is sufficient.

[0048] In addition, a variety of integrated lighting functions are easily implemented, such as low beam, high beam, adaptive high beam, adaptive partial high beam, adaptive cut-off line, vertical cut-off line, hazard marker light, directional headlights, country road light, motorway light, extended fog light, bad weather light, city light, active or dynamic curve light, cornering light, virtual vision through fog, “photo shopping”, manipulation, signal runtime adjustment, accentuation, contrast optimization, brightness adjustment, color enhancement, light color selection, symbol, text and information display.

[0049] The present invention achieves the following advantages in particular: the vehicle or traffic environment is illuminated over a large area, a contrast and luminance-optimised illumination of the vehicle or traffic environment is achieved, contrasts are increased or reduced, luminances are optimized, the vehicle or traffic environment is displayed in a color-enhanced / changed manner, the lighting system consists of only a single laser light projection system, many lighting functions are integrated in one system, the depth of field is noticeably improved, reflections e.g.from traffic signs are reduced without glare, dazzling of other road users is avoided by selective luminance reduction, separate functions such as curve and cornering lights are not required, there is no need to “dim and brighten”, dipped beam can be minimized (side light / bad weather light), the frequency of changing glances, e.g. changing glances to internal displays is reduced, a virtual view through the fog in real time with a “fog screen” as a projection surface is possible, information is projected directly into the vehicle’s surroundings, including “hazard markings” and assistance, navigation and information instructions, light quality / quality characteristics are improved, high precision of the lighting functions is achieved, great speed of the lighting functions is achieved.

[0050] Fig. 2a shows a schematic representation of an environment with a country road and a pedestrian in a nighttime fog situation with normal low beam according to the embodiment of the present invention.

[0051] Due to the reflection of light rays by fog droplets, a driver's view in a foggy situation often ends very close to his vehicle and a driver can only see a few elements located shortly in front of his vehicle, for example road markings or road boundaries 5.

[0052] Fig. 2b shows a schematic representation of the environment with the country road and the pedestrian in the nighttime fog situation with projected laser light image according to the embodiment of the present invention.

[0053] As in Fig. As shown schematically in Figure 2b, optimized images with information useful for a driver can be projected onto a fog screen. Fig. 2b purely schematically shown example, these are lane boundaries or markings 5 over a significantly longer distance than in Fig. 2a and a pedestrian 6, located on the right side of the road as seen from the driver.

[0054] Fig. 2c shows a schematic representation of an environment with the country road and the pedestrian in the nighttime fog situation with a projected laser light image and an additionally projected navigation instruction according to the embodiment of the present invention.

[0055] Additional data and information from internal or external devices can also be inserted into the projected images. As in Fig. 2c purely schematically, the projected images can, for example, contain navigation instructions 7.

[0056] Fig. 3 shows a schematic representation of an environment with a country road at night with projected, pictogram-like animals according to the embodiment of the present invention.

[0057] In the event of a recognized potential or actual dangerous situation, as described in Fig. 3, the projected images also include pictogram-like representations 8 that alert a driver to the hazardous situation. These pictogram-like representations can be displayed in a signal color (e.g., red or yellow) and / or in another mode that increases the driver's attention (e.g., flashing). Fig. 2b, Fig. 2c and Fig.The images shown in Figure 3 are purely schematic representations. It is also possible to project more detailed images of the given vehicle environment, ranging from realistic to fully realistic, with the required color, brightness, and contrast ranges.

[0058] Although the present invention has been described above with reference to an embodiment, it is to be understood that various changes and modifications can be made without departing from the scope of the present invention as defined in the appended claims.

[0059] With regard to further features and advantages of the present invention, express reference is made to the disclosure of the drawing.

Claims

[1] A method for projecting a laser light image into an environment around a vehicle, comprising: Capturing an image in a predetermined environment around the vehicle; evaluating a captured image Manipulating any content of the captured image; and Projecting a manipulated content of the captured image by means of laser light beams to a location in the predetermined environment around the vehicle that has a predetermined relationship to a location of the capture of the image in the predetermined environment around the vehicle, characterized by , that at locations in the predetermined environment around the vehicle to which no manipulated content of the captured image is projected, laser light beams are emitted to illuminate the predetermined environment around the vehicle. [2] Method according to claim 1, characterized bythat images are captured in the predetermined environment around the vehicle at a predetermined frequency and the evaluation, manipulation and projection are carried out for the captured images. [3] Method according to claim 1 or 2, characterized by that data from internal and external vehicle sensors are used in the evaluation and manipulation. [4] Method according to one of claims 1 to 3, characterized by that the projection is carried out by horizontally and vertically deflecting the laser light beams to radiate the laser light beams image element by image element and line by line into the predetermined environment around the vehicle. [5] Method according to one of claims 1 to 4, characterized by that the brightness and color of image elements to be projected are determined by modulating the laser light beams. [6] A device for projecting a laser light image into an environment around a vehicle, comprising: a detection device for detecting an image in a predetermined environment around the vehicle; a processing device for evaluating a captured image, characterized by , that the processing device manipulates a content of the captured image; and the device further comprises a projection device for projecting a manipulated content of the captured image by means of laser light beams to a location present in the predetermined environment around the vehicle, which location has a predetermined relationship to a location of the capture of the image in the predetermined environment around the vehicle, characterized by , that the projection device at locations in the predetermined environment around the vehicle to which no manipulated content of the captured image is projected, Emits laser light beams to illuminate the predetermined area around the vehicle. [7] Device according to claim 6, characterized by that the detection device detects images in the predetermined environment around the vehicle at a predetermined frequency and processing of the processing device and the projection device is carried out for the detected images. [8] Device according to claim 6 or 7, characterized by that the processing device uses data from on-board and off-board sensors. [9] Device according to one of claims 6 to 8, characterized by that the projection device carries out the projecting by horizontally and vertically deflecting the laser light beams in order to radiate the laser light beams image element by image element and line by line into the predetermined environment around the vehicle. [10] Device according to one of claims 6 to 9, characterized bythat a modulation device determines a brightness and a color of image elements to be projected by modulating the laser light beams.

Images