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    • 专利摘要:
    Environment capture system (100) for capturing the environment of a vehicle having: - a sensor (102) provided with a photosensitive capture surface (104), and - an imaging device (106) for generating a distorted image of the environment on the sensor surface (104). The image has at least two distortion areas each associated with another environment capture area (100). The environment is represented on another image scale in the distortion zone.
    公开号:FR3087275A1
    申请号:FR1859547
    申请日:2018-10-16
    公开日:2020-04-17
    发明作者:Peter Liebetraut；Marc Geese；Ulrich Seger
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The subject of the present invention is a system for capturing the environment of a vehicle as well as a method for capturing this environment and a computer program implementing the method.
    State of the art
    Up to now, in the field of image processing by machine for applications for capturing the environment, camera systems or optics have been used, which are particularly advantageous solutions allowing an equidistant representation as far as possible corresponding to a gnomonic projection. This projection keeps the angles. In particular, for a wide angle lens, other types of projection are also known.
    Purpose of the invention
    In this context, the present invention aims to develop an environment capture system for capturing the environment of a vehicle as well as a method for capturing the environment of a vehicle using an environment capture system and a computer program that applies it and improves visual impression.
    Presentation and advantages of the invention
    To this end, the subject of the invention is an environment capture system for capturing the environment of a vehicle, the environment capture system having: a sensor provided with a photosensitive surface and a device for imagery to generate an image representative of the environment on the sensor surface, the image having at least two distortion zones each associated with another input zone of the input system of the environment capture system, zones of distortions in which the environment is represented on another scale of images.
    The invention is based on the fact that an environment capture system produced with an optical system for a multimorphic image of the environment and in which the environment is represented with distortions. This makes it possible to generate, on a single sensor, several zones with different image properties which allow better recognition of objects in machine image processing installations.
    The environmental capture systems for the driver assistance functions or the autonomous driving systems must meet specific conditions because for the control of the vehicle very different objects must be registered, for example other participants in the traffic, traffic lane characteristics or optical indications. In particular, these applications partly require different image scales in the different viewing directions.
    Interventions on vehicle control depend on different perceptions, depending on the driving situation. Representing the environment using a monomorphic image on a video sensor that responds to all situations and applications, imposes conditions on the components that can only be met with difficulty.
    To allow secure capture of characteristic objects, several cameras are used with specialized functional properties, which are, for example, oriented in different viewing directions such as to the left, right, up, down, front and rear, with different angles of view such as telephoto, standard or wide angle with different focus ranges such as close or far focus or resolution, that is to say say detection values or spectral input ranges.
    To ensure signal integrity, you must correlate such images from multiple sources, with each other and in space. This can result in a very great complexity and a significant cost, in particular if it is necessary to compare or compensate between them signals coming from several physical recording units having bases of detection time, deviations of direction of sight, with tolerances, different and intrinsic and extrinsic calibrations. The object of the invention is to resolve this complexity problem and reduce costs.
    For image processing, in principle, gnomonic projection is preferred, but this type of projection requires projection optics with a greatly increasing image height for large viewing angles. To take account of the ever increasing input range for sensor resolutions which increase only moderately, one can seek solutions already known for cinematographic shooting and the projection technique of the 20 th century and allowing an anamorphic image with targeted, symmetrical distortion optics. An example of application is the compression of scenes with a high aspect ratio, for example, 2.55: 1 on 35mm film. An anamorphic projection makes it possible to have the same viewing angles of the image on the image plane with a particular aspect ratio.
    In addition, surveillance systems can use variable radial projection optics. On the image sensor, it is thus possible to form particularly detailed surveillance zones when they are large (low density of isoclines) while viewing angles which correspond to less information, can be represented compressed (high density of 'isoclines).
    Such projections have either a radial symmetry with respect to the optical axis of the system, or at least one element of symmetry, for example, a plane of symmetry in the case of an elliptical projection. The different projections are carried out using a distortion lens, that is to say that the distortion of the lens is used as a shaping characteristic. In certain applications such as panoramic photography or cinematography, this behavior is used in a targeted way to achieve efficient use of recording systems. The desired distortion is produced using aspherical elements such as, for example, prisms, toric lenses rotated 90 ° to each other or cylindrical lenses. For distortion with radial symmetry, polished or aspherical pressed lenses can also be used.
    Depending on the characteristic objects to be grasped, driving assistance systems can have a field of vision with one or more more or less strongly symmetrical distortions. For example, the use of three image sensors and three optics allows good coverage of the surveillance zone. However, this corresponds to a larger bulk in the vehicle and increases the power used and the cost of the system. For image processing, we can use a rectification to do a reverse calculation in central perspective projection and simplify object recognition.
    In applications in the field of driving assistance, very different needs regarding the opening angle or the resolution can be covered by parallel cameras or camera heads having a different angular resolution and different sensors.
    The solution of the invention is essentially based on the imaging properties of a freely designed optical path, not necessarily with a radial or symmetrical point. The properties can be adjusted by design, statically, with the aid of planned adjustment devices, or dynamically. For this, such imagery can be called multiform because the local differences in the scale of representation can lead to the shape of an object appearing different depending on the angle of view of the object.
    The solution according to the invention is based on the consideration that all the viewing angles do not have the same information content for a driving assistance system. By the targeted distortion of the field of view, it is possible to generate, on the image sensor, a more regular density of information in that, for example, aiming ranges having a significant information content take up a larger area of the image area and vice versa, the smaller viewing ranges will be compressed on the image area. The distribution of the image distortion is thus not necessarily radial or axially symmetrical. For the axially symmetrical design of isoclines, one can have a central input area having, for example, a high degree of detail, that is to say with a lot of pixels per degree and a low density of isoclines.
    The area with the highest information content in the sense of automatic image processing is not necessarily symmetrical to the optical axis or to the sensor. In an object called multiform, the range of the highest pixel density is also shifted up.
    The representation with an optical system having free design zones with different representation scales is particularly advantageous for saving resources because the surface of the sensor is thus used in an efficient manner and the subsequent treatment, necessary, benefits because the mass less data to process since redundancies are minimized.
    The important advantages of the solution of the invention are that the representation of the environment is designed by zones according to the needs of local resolution of the system for capturing the environment without using several imaging systems or images or sensors and the association of objects captured in different viewing directions is obtained by a single optical system forming the image on a sensor. Thus, after the installation, there will be a particularly good association because it avoids paths strongly marred by tolerances such as those of several cameras or different optical paths which must be adjusted mechanically for each other.
    The subject of the invention is therefore an environmental capture system for capturing the environment of a vehicle, having the following characteristics: a sensor provided with a captured photosensitive surface and an imaging device for generating an image at environmental distortions on the sensor surface, the image having at least two distortion zones each associated with another input zone of the capture system of the environment capture system, distortion zones in which the environment is represented on another scale of images.
    The sensor is an image sensor, for example a CMOS sensor or other photosensitive component. An imaging device is an optical device formed by one or more optical components such as mirrors or lenses. An entry area corresponds to a certain viewing angle of the environment entry system for a partial area of an object space to be entered. A distortion is, for example, an optical distortion in the sense of a local modification of an image scale in a projection. An image scale is the ratio of the image size of the optical representation of an object to its actual size.
    According to one development, the imaging device can modify the distortion zones.
    According to another embodiment, the imaging device is produced so as to modify the distortion zones. This allows the environment entry system to work as efficiently as possible. For this, the imaging device is designed to receive an appropriate control signal, to modify at least one of the distortion zones. Such a control signal produces, for example, a modification of the input zone which is associated with the distortion zone and / or a modification of the scale of representation of the distortion zone. The control signal is, for example, received via an interface with the assistance system which uses images from the environment capture system or the environment capture system generates the images by the environment capture system, for example, using snapshot images. Currently, the control signal can be received by an interface to configure the environment capture system. Thus, the environment capture system is, for example, adapted to the characteristic of a vehicle equipped with the environment capture system or which will be equipped with this system. The modification signal is, for example, an analog or digital electrical signal.
    According to one embodiment, the environment capture system comprises a control device designed to modify the distortion zones by controlling the imaging device using an image signal supplied by the sensor, according to the content in respective information of the input zones. The control device is an electrical device which processes the sensor signals and supplies, depending on them, control and / or data signals. The control device may include an interface in the form of a circuit and / or a program. In the case of an embodiment in the form of a circuit, the interfaces are, for example, part of an ASIC system which contains the various functions of the control unit. But it is also possible that the interfaces have their own integrated circuits and / or are made at least partially of discrete components. In the case of implementation in the form of a program, the interfaces can be program modules present, for example, on a microcontroller, alongside other program modules. This embodiment makes it possible to compress, for example, input areas with low information content and input areas with high information content. For example, compress entry areas with low information content and enlarge entry areas with high information content. This results in a particularly high efficiency for capturing the environment.
    It is also advantageous that the imaging device is produced so as to generate the representation with non-symmetrical distortion zones. A non-symmetric distortion area can be a distortion area that has neither radial nor axial symmetry. This allows the most different scenes in the environment to be captured efficiently and precisely.
    According to another embodiment, the imaging device is at least one free-form optical element and / or applied to the windshield of the vehicle and / or the optical properties of which can be modified to generate the distortion zones. This allows the imaging device to be integrated relatively easily into the vehicle.
    The optical element is produced as a lens element and / or as a mirror element and / or as a hybrid element. A hybrid element is an optical element made up of different materials. For example, a functional optical structure can be applied to the hybrid element. By this embodiment, an environmental capture system is obtained in an economical manner.
    It is also advantageous for the optical element to have a microstructure for generating the distortion zones. A microstructure is a structure with a targeted distortion of the representation of the environment. This makes it possible to modify the optical properties of the optical element with a relatively reduced additional implementation.
    The subject of the invention also relates to a method for capturing the environment of a vehicle using an environment capturing system, this system for capturing the environment comprises a sensor with a photosensitive surface and an imaging device applying the method with the following steps consisting in: generating a distortion representation, generating a distortion image of the environment on the surface of the sensor using the imaging device, this image having at at least two distortion zones respectively associated with another input zone of the environment capture system, distortion zones in which the environment is represented with, each time, another scale of representation.
    According to one embodiment, the method comprises a step of controlling the imaging device using an image signal supplied by the sensor to modify the distortion zones as a function of the respective information content of the input zones.
    This method can be implemented, for example, in the form of a program or a circuit or in a mixed form composed of a program and a circuit, for example, in a control device.
    The invention also advantageously relates to a computer program product or a computer program with a program code recorded on a machine-readable medium or a memory medium such as a semiconductor memory, a hard disk or an optical memory and which executes, applies and / or controls the steps of the method according to any of the embodiments developed above, in particular when the program product or the program as such are executed by a computer or device.
    Drawings
    The present invention will be described below, in more detail, with the aid of exemplary embodiments represented in the appended drawings in which:
    Figure 1 is a schematic representation of an environment capture system according to an exemplary embodiment, Figure 2 is a schematic representation of an environment capture system according to an exemplary embodiment, Figure 3 a schematic representation of an environment capture system according to an exemplary embodiment, FIG. 4 a schematic representation of an environment capture system according to an exemplary embodiment, FIG. 5 a schematic representation of a system of capturing environment according to an exemplary embodiment, Figure 6 is a top view of the lens system of Figure 5, Figure 7 is a top view of the lens system of Figure 5, Figure 8 is a top view of an exemplary embodiment of a sensor, FIG. 9 is a section view of the sensor of FIG. 8, FIG. 10 is a bottom view of the sensor of FIG. 8, FIG. 11 is a section view of an exemplary embodiment of a sensor, FIG. 12 is a schematic representation of an image supplied by a sensor according to an exemplary embodiment, FIG. 13 is a schematic representation of the distribution of the distortion zones of an imaging device according to an exemplary embodiment, FIG. 14 is a schematic representation of a symmetrical multimorphic image generated by an imaging device according to an exemplary embodiment, FIG. 15 is a schematic representation of a symmetrical image multimorph generated by an imaging device according to an exemplary embodiment, FIG. 16 is a schematic representation of a non-symmetrical image multimorph generated by an imaging device according to an exemplary embodiment, FIG. 17 shows a flowchart of a exemplary embodiment of a method, FIG. 18 is a schematic representation of an exemplary embodiment ion of a control device, FIG. 19 is a schematic representation of an architecture of an environment capture system according to an exemplary embodiment, and FIG. 20 shows a highly simplified example of a projection with high distortions of a scene in the image plane by the imaging device corresponding to an exemplary embodiment.
    Description of embodiments of the invention
    FIG. 1 is a schematic representation of an environment capture system 100 corresponding to an exemplary embodiment. The environment capture system 100 for capturing the environment of a vehicle comprises a sensor 102 provided with a photosensitive surface 104; this surface projects, by an imaging device 106, a distorted image of the environment. The imaging device 106 generates the image so that it comprises at least two distortion zones in which the environment is represented on a different scale. For example, in the same single image, we compress the environmental capture areas and in other environmental capture areas we expand them. According to the exemplary embodiment, the distortion zones can be of different dimensions, overlap, be delimited with respect to each other or join continuously. The distortion zones can be symmetrical or non-symmetrical with respect to the optical axis 108 of the sensor 106.
    According to this exemplary embodiment, the imaging device 106 consists of several optical elements; here there is, for example, a field lens element 110 installed on the windshield 109 of the vehicle and a hybrid or free-form element 112 with a distortion effect, also carried by the windshield, this element is adjacent to an edge of the field lens element 110. In addition, the imaging device 106 has imaging optics installed in the path of the light beam between the field lens element 110 and the sensor 102; this optic consists of three lens elements 114, one behind the other. The ray path is represented by three continuous lines.
    FIG. 2 is a schematic representation of an environment capture system 100 corresponding to an exemplary embodiment. Unlike FIG. 1, the environment capture system 100 here comprises a camera support 200 fixed to the windshield to hold a camera 202 comprising the sensor 102. The field lens element 110 is an element of free form, integrated in the camera support 200 and which thus forms part of the camera support 200.
    FIG. 3 is a schematic representation of an environment capture system 100 according to an exemplary embodiment. The figure shows the camera support 200 of Figure 2; this camera support 200 according to this exemplary embodiment, comprises a curved mirror element 300 for deflecting the incident light rays passing through the windshield 109 and causing them to arrive on the lens element 114 of the upstream imaging optics of the camera 202. The mirror element 300 is also part of the imaging device of the environment capture system 100. For example, the mirror element 300 is installed on the interior wall of the camera support 200. The lens elements 114 are held by a lens support 302 fixed in the camera support 200.
    FIG. 4 is a schematic representation of an environment capture system 100 corresponding to an exemplary embodiment. The environment capture system 100 corresponds essentially to the environment capture system described above using FIG. 3, with the difference that the mirror element 300 is not produced here on the interior wall of the camera support 200 but at a distance from the interior wall, in the form of a reflective surface of the mirror support 400. The mirror support 400 according to this exemplary embodiment, forms part of the lens support 302.
    FIG. 5 shows a schematic representation of an imaging device 106 corresponding to an exemplary embodiment. The figure shows an imaging optic comprising three lens elements 114 like those described above with the aid of FIGS. 1 to 4. According to this embodiment, the intermediate lens element among the three lens elements 114 carries a microstructure 500 to produce a representation of the imagery of the environment. The lens elements 114 are, for example, plastic lenses. According to an exemplary embodiment, the microstructure 500 is applied to the entire passage surface or only to a part of the passage surface as shown in FIGS. 6 and 7.
    FIGS. 6 and 7 each show a top view of the intermediate lens element 114 with the microstructure 500 of FIG. 5.
    FIG. 8 is a top view of a sensor 102 corresponding to an exemplary embodiment. According to this exemplary embodiment, the sensor 102 is in the form of a chip connected to a field lens 800; the field lens 800 is a component of the imaging device of the environment capture system. In the top view, four areas of distortion 802, 804, 806, 808 of the field lens 800 have been drawn, by way of example, using broken lines which represent the environment with a scale each time. of different representation on the sensitive surface of the sensor 102.
    Figure 9 shows a sectional view of the sensor 102 of Figure 8. It appears a sensor chip 900 and the field lens 800 in the form of an optical effect layer applied to the sensor chip 900. The effect optics results, for example, from the spherical or aspherical shaping or from the free shaping of the field lens 800, from the variation of the refractive index by a doped material or also from a microstructure of the area.
    According to an exemplary embodiment, the optical effect can be modified and thus adjusted by using a control signal.
    FIG. 10 is a top view of the sensor 102 in FIG. 8. The sensor 102 is, for example, in the form of a CSP package with a shaped glass or plastic cover.
    Figure 11 is a sectional view of a sensor 102 according to an exemplary embodiment. Unlike Figures 8 to 10, the sensor chip 900 here comprises a covering material, overall, transparent 1100 (also called Glob-top) for the representation of the image. The top material, overall 1100 and the sensor chip 900 are connected respectively by a support substrate 1102.
    FIG. 12 is a schematic representation of an image 1200 provided by a sensor according to an exemplary embodiment. As an example, distortion imagery corresponds to an entrance portal on a mirror forming part of the imaging device; this portal corresponds to the shape of a leaning rectangular pyramid. The representation of the image 1200 makes it possible, for example, to represent, on an enlarged scale, details of the grid of this portal and of the objects represented on a reduced scale at the upper edge of the image.
    FIG. 13 shows a schematic representation of the distribution of the distortion zones 802, 804, 806, 808 of an imaging device according to an exemplary embodiment. The distortion zones are each delimited by a line. For reasons of readability, Figure 13 shows only four areas of distortion each provided with a reference.
    FIG. 14 is a schematic representation of the multifaceted symmetrical image 1400 generated by an imaging device according to an exemplary embodiment.
    FIG. 15 is a schematic representation of a symmetrical, multiform image 1500, generated by an imaging device corresponding to an exemplary embodiment.
    FIG. 16 is a schematic representation of a symmetrical, multiform image 1600, generated by an imaging device corresponding to an exemplary embodiment.
    The distortion zones are identified in Figures 14-16 by a multiplicity of isocline lines which represent the position of identical sight angle in the image plane on the sensor surface.
    The dense line groups correspond to a larger range of viewing angles.
    Figure 17 shows a very simplified flowchart of a 1700 process according to an exemplary embodiment. The method 1700 for entering the environment of a vehicle is executed, for example, using an environment capture system like that described above with the aid of FIGS. 1 to 16. In step 1710, a distortion image of the environment is generated on the surface of the sensor using the imaging device. In the optional step 1720, which precedes, for example, the step 1710, the imaging device is controlled by using an image signal supplied by the sensor to modify the zones of distortions according to the content of information, respective to the input zones of the environment input system. In this case, the image signal is considered as a control signal or even by using the image signal, for example, based on the processing of the image, a control signal is generated which makes it possible to modify distortion areas by appropriate control of the imaging device. As a variant, step 1720 is executed in parallel with step 1710 or after step 1710.
    FIG. 18 shows a schematic representation of a control unit 1800 corresponding to an exemplary embodiment. Using an image signal 1802 from the environment capture system sensor, the controller 1800 provides a control signal 1804 to control the imaging device. By controlling the imaging device, we adapt, for example, the shape or the distribution of the distortion zones of the imaging device into different image zones adapted to the information content of the image of the environment represented by the image signal 1802.
    FIG. 19 is a schematic representation of the architecture of the environment capture system according to an exemplary embodiment. Thus, a first block 1910 represents an object space; a second block 1920 represents the entry window of the environment capture system, for example, the windshield with a hybrid element; a third block 1930 represents a first imagery element such as a free-form mirror or prisms; a fourth block 1940 represents a second imaging element, for example, a lens element; a fifth block 1950 represents a field lens combined with the sensor; a sixth block 1960 represents the sensor of the environment capture system.
    FIG. 20 shows an example of a highly distorted projection of a scene 2000 in the image plane by an imaging device according to an exemplary embodiment. On the left, the scene 2000 is represented and on the right the 2002 image of the scene 2000 as it is provided by the sensor of the environment capture installation.
    The following different examples of the invention will be described again in other words. The proposed solution includes a system intended in particular to capture the environment of the vehicle which is a vehicle traveling in automatic or partially automatic mode or in a vehicle with safety or comfort installations in active or passive mode.
    The environmental capture system can be linked to the vehicle or have the power of recognition by an external infrastructure such as drones or portable or fixed installations, which are linked by a local data transmission network. The environment entry system can also provide data for ordering vehicles. In the ray path of the environment capture system, at least one free-form optical element has been integrated, for example, to generate, by its shaping, variations of the imagery depending on the local image field. .
    Particularly advantageously, the variation of the imaging ratio makes it possible to achieve, in different viewing directions, a resolution adapted to the recognition function. For this, the control signal already mentioned is used.
    Thus, for certain missions, it may be interesting to compress or strongly relax a scene on the sensor as indicated in Figure 20. This representation can be optimized to facilitate certain reconnaissance missions, even if it can no longer be captured by the human observer. The highly distorted image 2002 in Figure 20 shows, for example, some areas required for specific reconnaissance missions and which are therefore very detailed. The 2002 image is, for example, obtained by the reverse transformation of parts or all of the image which can be transformed back into a rectified image allowing a particularly high resolution of the objects in places highlighted.
    For machine recognition missions, in particular for the use of classification methods or expert networks, one can use an image thus distorted, directly without transformation in return and apply it in an image processing system. downstream for resource-saving recognition because the optical image information has thus been distributed so as to have the maximum recognition power with as few drop-off points as possible.
    The environmental capture system is made up of one or more optical effect elements which, taken separately or in combination, make it possible to carry out the imagery mentioned above. The use of one or more boundary surfaces, optical, having a free-form surface is a particularly effective solution.
    This makes it possible to generate fields of distortions with or without symmetry, that is to say distortions without radial symmetry or symmetry with respect to a point. We can thus adapt the position of the isomorphic zones in the image field and the local representation scale to different applications or situations. The environmental capture system is made up, depending on the embodiment, of all or some of the following components:
    a) the windshield, a deflector window, the camera entry window or the transparent protective dome,
    b) the hybrid optical elements from the elements under point a),
    c) free-form, spherical or aspherical mirrors,
    d) hybrid optical elements composed of one or more mirrors,
    e) spherical or aspherical lenses,
    f) hybrid optical structures on the aspherical lenses,
    g) free-form, spherical or aspherical field lenses, for example, in the form of a sensor covering window or a protective layer of a sensor chip such as a Glob-Top covering in LSR (silicone rubber; liquid silicone),
    h) hybrid optical layers, in particular microstructured layers on the protective layer of the sensor chip or the surface of the top of the sensor.
    A particularly effective application of the idea of the invention consists in using a free-form deflection mirror, installed in the optical path of the environment capture system; this mirror allows, for example, to form the image of objects from different directions. This element can be installed in a particularly effective way directly after the entry window as it appears in figure 19. But it is also possible to change the position of the elements and to reverse, for example, the first and the second system image imaging element.
    The solution according to the invention is suitable, for example, for producing an environment capture system with different projection and imagery properties which combine different functions in an application, for example, by providing:
    a) an area for entering a high resolution central area, of around +/- 30 °,
    b) an area for entering a high resolution range, for example 50 ° to the left and to the right to recognize cross traffic,
    c) input zones with lower resolution of the peripheral environment,
    d) areas in which a part of the surface of the windshield is projected onto the sensor, for example, to analyze icing or the presence of raindrops or even dirt,
    e) an image of the full value of the exterior lighting.
    The optical system is, in general, distorted by the presence of the lens or by other essential elements such as the windshield or other elements decisively added. By properly balancing the whole design, less processing will be required for less transfer bandwidth, less memory, less sensor area, and less structural and footprint. In addition, it reduces costs.
    Image distortion can be adapted to the requirements of machine vision algorithms. The representation can be considered as corresponding to a division by zones. The transition between the different distortions can be done discreetly, for example, using prisms or folded plane mirrors or continuously, for example, with a free-form mirror or aspherical lenses or toric lenses or again adaptively by the situation, for example, by a zoom lens.
    To achieve the distortions, the following elements are used, for example:
    a) mirrors (spherical, parabolic, ellipsoidal, free-form, for example non-uniform rational B-splines NURBS) such as continuous mirror surfaces or with discontinuity zones (two or more mirror elements inclined relative to each other to others),
    b) prisms and one or more surfaces of the prism can be equipped in addition to lenses or hybrid structures,
    c) aspherical lenses, toric lenses, cylindrical lenses, zonal lenses (multi-focus) which have different imaging scales,
    d) hybrid structures installed on one or both sides of one or more optical elements,
    e) adaptive optical elements such as LCoS adaptive mirrors (SLM, reflective membrane or film), adaptive lenses (liquid lenses, membrane lenses, elastomer lenses, LC lenses, glass membrane lenses,
    f) combinations of the different optical elements mentioned above.
    The various structural elements are, for example, mirrors, glass panels, crystals, plastic or metal. Reflection properties result, for example, from metallic coating or thin film coating (Bragg film).
    Mirrors are, for example, made to obtain desired advantageous image distortions, aberrations and degrees of distortion of the other components installed in the optical path such as the distortion component of the windshield as a window for transmission of radiation. infrared so that the sensor and the other components of the camera are not exposed to solar radiation or to perform functions other than representing the environment. Specialized areas of the mirror do not directly participate in the image of the environment and can be used for other capture missions. For example, areas of the mirror can be formed to represent parts of the windshield directly in a specific area of the sensor. This area can, for example, be used as a rain sensor. If the mirrors are made in the form of a prism, the prism surfaces are optionally provided with additional functions.
    The lenses are, for example, glass, crystal or plastics, such as thermoplastics, thermosets or elastomers.
    The adaptive optical elements are, for example, refractive membrane lenses or liquid lenses. The optical properties of such optical elements can be adjusted, for example, using a control signal. In the case of a membrane lens, the liquid is separated from the environment by a membrane. The liquid and the membranes are absorbent in certain spectral ranges to perform a filter function. In the case of a liquid lens, the liquid is surrounded by another fluid, a gas or a vacuum. Mirrors are, for example, membrane mirrors formed of a thin elastic membrane with reflective properties. The embodiment may be such that the incident light passes through the liquid before being reflected or is reflected directly by the reflecting surface. Film mirrors with a thin film, for example metallic, are formed indirectly or by individual actuators. Other examples of a mirror are deformable mirrors formed by a solid body with actuated segments or liquid mirrors based on metallic liquid or by a total reflection on a liquid lens. It is also possible to envisage a combination of several adaptive elements, for example, an achromatic element, formed of three membrane lenses, that is to say adaptive optical elements, directly juxtaposed or else of an optical zoom system. composed of several adaptive optical elements which can be purely reflecting, purely refracting or combine these two functions, that is to say be catadioptric.
    The hybrid optical elements are, for example, lenses or mirrors made of glass, plastic or else elastomers, crystals or metals applied to functional structures. Hybrid structures are also formed from these materials. The functional structures can be in one or more layers provided with optical elements with openings or windows, such as diaphragms to reduce stray light or diffraction grids or refraction lenses. The diffraction elements can be modulated in amplitude or in phase. The hybrid refracting elements can be produced in any way, for example, as spherical surfaces, Fresnel structures, aspherical surfaces or free-form surfaces. The camera entry window is, for example, the windshield, the projector or a camera dome which can also be a hybrid element.
    In the case of fixed elements, the field of vision is represented, for example, with one or more mirrors. By using a mirror, we reduce the complexity of the lens; the camera system may have a better thermal function and a catadioptric lens with additional functionality such as that of an infrared bandpass filter.
    The distortion of the field of vision can also be achieved with one or more spherical or toric lenses, tilted and / or off-centered spherical lenses or prisms.
    The use of a mirror or a return prism makes it possible to reduce the dimensions of the exit window even for large viewing angles and thus reduce the overall dimensions.
    In particular, for entrance windows which are, for example, a component such as the windshield, the housing of a projector or the dome of a camera, the hybrid structure is designed to completely or partially correct the intrinsic aberrations of this component such as distortion of the windshield. For example, the hybrid element ensures the leveling of variations in type or variations in manufacturing of the component. This makes it possible to compensate for variations in distortion by the different variants of the component (example: siloxane on the windshield). The hybrid structure is alternately produced to generate an additional, desired aberration, such as additional distortion at the edge of the field of vision.
    The sensor input window is, for example, made as a hybrid element. This element can, at the same time serve as a field lens. The combination of a field lens with a microlens array on the sensor allows the shape of the field lens to be freely chosen with an additional degree of freedom for optical design. The element can be obtained from a cast mass such as siloxane. In the case of siloxane, it is also possible to form a macroscopic structure (spherical, aspherical, free-form surface) such as microstructures such as, for example, fly-eye structures to obtain an anti-reflective vision in wide bands or even prismatic or diffracting structures to make an optical anti-deformation filter. The siloxane can also be formed so as to avoid the microlens structure of the sensor. This element made of a cast mass also provides optical properties also advantageous mechanical properties. For example, during manufacturing, any dirt does not arrive directly on the surface of the sensor. This reduces the part disposal rate. The coefficient of thermal conduction of the material is higher than that of air so that the heat of the sensor will be distributed regularly avoiding temperature spikes. If the mass being cast is siloxane, then the electronic component, i.e. the sensor and the supply lines will be protected.
    Adaptive optical elements are used, for example, to compensate for temperature drift of the focal distance, for example, to refocus or for adaptive athermalization. This function is carried out, for example with a simple lens sliding along the optical axis or else a group of lenses or an adaptive refractive optical element or an adaptive reflecting optical element. This also makes it possible to combine several adaptive optical elements in a zoom optic. This adapts the camera input range according to the situation (a large range at high speed, a large angle for low speeds). The representativeness of the field of vision depending on the situation is, for example, achieved by an adaptive mirror.
    The system for capturing the environment with the optical imaging device combines, synchronously, that is to say in real time video, several different imaging properties. The environmental capture system comprises, according to the embodiment, an element which allows a representation with point symmetry or non-radial symmetry of the environment or at least one element that can be variably adjusted for adaptation to the situation. In addition, the environment capture system with an optical element connected to the windshield and which has a spherical or aspherical distortion or which has a free-form surface, has a distortion field as shown in Figure 1. In alternatively, the environment capture system comprises a field lens connected to a camera support which has at least one spherical or aspherical surface or a free-form surface and generates a field of distortions as shown in FIG. 2. In variant, the environment capture system comprises a mirror connected to the camera support and which has a spherical or aspherical surface or a free-form surface and which generates a representative field as shown in FIG. 3. The camera support is , for example, in the form of a fixing plate.
    According to another embodiment, the environment capture system has a mirror element integrated in a lens holder or a camera housing with a spherical or aspherical surface or a free-form surface and which generates a field of distortions as shown in Figure 4.
    Optionally, the environmental capture system has at least one lens with a microstructure to generate a field of spatially distributed distortions as shown in Figure 5.
    According to another exemplary embodiment, the environment capture system has at least one field lens connected to the packaging of the sensor, having a spherical or aspherical surface or a free-form surface which generates a field of distortions distributed in the space as shown in Figures 8 to 10.
    According to another embodiment, the environment capture system has a transparent sensor chip encapsulation, functioning as a field lens and a spherical or aspherical surface or a free-form surface or a microstructure generating a field. distortions distributed in space as shown in Figure 11.
    It is also possible to envisage combinations of several of the elements mentioned above in an appropriate optical system.
    NOMENCLATURE OF MAIN ELEMENTS 12100102104106109110114200202300302400500800 Hybrid or free form elementEnvironmental capture systemSensorInput areaImaging deviceWindshieldField lens elementLens elementCamera supportCameraCurved mirror elementLens holderMirror supportMicrostructureField lens
    802, 804, 806, 808 Distortion zones
    806, 8089001100110212001400150016001700 Sensor chipGlob-Top materialSubstrate of supportPictureMultiform symmetrical imageSymmetrical multiform image Symmetrical multiform image Process
    1710-1720 Process steps
    1800180218041910192019301940 Control unitImage signalControl signal First blockSecond blockThird blockFourth block
    1950196020002002 Fifth blockSixth blockScene in an image planeScene image
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1) Environment capture system (100) for capturing the environment of a vehicle, the environment capture system (100) having the following characteristics:
    a sensor (102) having a photosensitive gripping surface (104), and an imaging device (106) for generating a distorted image (1400, 1500, 1600) of the environment on the sensor surface (104 ), * the image (1400, 1500, 1600) having at least two distortion zones (802, 804, 806, 808) each associated with another input zone of the environment capture system (100), l being represented on another image scale in the distortion zones
    [2" id="c-fr-0002]
    2 °) environment capture system (100) according to claim 1, wherein the imaging device (106) is designed to modify the areas of distortion (802, 804, 806, 808).
    [3" id="c-fr-0003]
    3 °) environment capture system (100) according to claim 2, comprising a control device (1800) produced to modify the zones of distortions (802, 804, 806, 808) by controlling the imaging device ( 106) using an image signal (1802) supplied by the sensor (102) as a function of the respective information content of the input areas.
    [4" id="c-fr-0004]
    4 °) environment capture system (100) according to one of the preceding claims, in which the imaging device (106) generates the image (1400, 1500, 1600) with areas of distortion (802, 804, 806, 808) not symmetrical.
    [5" id="c-fr-0005]
    5 °) environment capture system (100) according to one of the preceding claims, in which the imaging device (106) comprises at least one variable optical element (109, 110, 112, 114, 300, 800, 1100 ), free-form and / or installed on the windshield of the vehicle and / or whose optical properties can be modified, to generate the areas of distortion (802, 804, 806, 808).
    [6" id="c-fr-0006]
    6 °) environment capture system (100) according to claim 5, wherein the optical element is a lens element (110, 114, 800, 1100) and / or a mirror element (300) and / or a hybrid element (112).
    [7" id="c-fr-0007]
    7 °) environment capture system (100) according to claim 5 or claim 6, wherein the optical element (109, 110, 112, 114; 300; 800; 1100) has a microstructure (500) for generate distortion zones (802, 804, 806, 808).
    [8" id="c-fr-0008]
    8 °) Method (1700) for capturing the environment of a vehicle using an environmental capturing system (100) according to which the environmental capturing system (100) comprises a sensor ( 102) with a photosensitive gripping surface (104) and an imaging device (106), the method (1700) comprising the following step:
    generating (1710) a distorted image (1400, 1500, 1600) of the environment on the sensor surface (104) using the imaging device (106), * the image (1400, 1500, 1600 ) having at least two distortion zones (802, 804, 806, 808) each associated with another input zone of the environment capture system (100), distortion zones in which the environment is represented by an image on another scale.
    [9" id="c-fr-0009]
    9 °) environment capture system (100) according to claim 8, comprising the step of controlling (1720) the imaging device (106) using an image signal (1802) supplied by the sensor ( 102) to modify the distortion zones (802, 804, 806, 808) according to the respective information content of the input zones.
    [10" id="c-fr-0010]
    10 °) computer program for implementing the method (1700) according to claims 8 or 9, and memory medium readable by a machine and containing the recording of the computer program.
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    同族专利:
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    法律状态:
    2019-10-22| PLFP| Fee payment|Year of fee payment: 2 |
    2020-10-20| PLFP| Fee payment|Year of fee payment: 3 |
    2021-03-19| PLSC| Publication of the preliminary search report|Effective date: 20210319 |
    2021-10-21| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102017218722.0A|DE102017218722A1|2017-10-19|2017-10-19|Environment detection system for detecting an environment of a vehicle and method for detecting an environment of a vehicle|
    DE102017218722.0|2017-10-19|
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