阅读说明：本技术 用于确定可移动模拟元件位置的系统 (System for determining the position of a movable simulation element ) 是由 莱因哈德·哈菲琳娜 马丁·弗里茨 于 2020-06-04 设计创作，主要内容包括：本发明涉及一种用于确定可移动模拟元件在有顶的测试场地中、尤其是大厅中的位置的系统。该系统具有：摄像机,该摄像机设置成用于记录有顶的测试场地的监控区域的图像；可移动模拟元件,该可移动模拟元件移动穿过监控区域,其中,该模拟元件具有标记元件,标记元件被布置使得其在监控区域的记录图像上可见；以及位置确定单元,该位置确定单元与摄像机联接,并且被配置为基于记录图像确定标记元件在监控区域中的位置。(The invention relates to a system for determining the position of a movable simulation element in a roofed test field, in particular in a lobby. The system has: a camera arranged to record an image of a monitored area of a roofed test site; a movable simulation element which moves through the monitored area, wherein the simulation element has a marking element which is arranged such that it is visible on the recorded image of the monitored area; and a position determination unit coupled with the camera and configured to determine a position of the marking element in the monitored area based on the recorded images.)

1. A system for determining the position of a movable simulation element in a roofed test field, in particular in a lobby, comprising:

a camera arranged to record images of a monitored area of a roofed test field,

a movable simulation element that moves through the monitored area,

a marking element which moves together with the simulation element in such a way that the marking element is visible on the recorded image of the monitored area, an

A position determination unit coupled with a camera and configured to determine a position of the marker element in the monitored area based on the recorded images.

2. The system of claim 1, wherein the first and second sensors are disposed in a common housing,

wherein the marking element is arranged on the simulation element.

3. The system according to claim 1 or 2, further having:

a further marking element arranged in a stationary manner in the monitoring area such that the further marking element is visible on the recorded image of the monitoring area.

4. The system of any one of claims 1 to 3,

wherein the position determination unit is configured to place a virtual grid on the image,

wherein each grid area of the grid represents a particular location in the monitored area.

5. The system of claim 4, wherein the first and second sensors are arranged in a single package,

wherein the grid area is less than 9cm²And in particular less than 4cm²And in particular less than 2cm²。

6. The system of any one of claims 1 to 5,

wherein the camera is arranged to capture further images at determined time intervals after an image,

wherein the position determination unit is configured to: determining a moving speed and a moving direction of the marking element based on the recorded image and the further image.

7. The system of any of claims 1 to 6, further comprising:

a further camera arranged to record images of a further monitored area of the roofed test site,

wherein the position determination unit is coupled with the further camera and is configured to determine the position of the marking element in the further monitoring area based on the recorded images of the further camera.

8. The system of claim 7, wherein the first and second sensors are arranged in a single package,

wherein the further monitoring area is located beside the monitoring area,

wherein at least one edge region of the monitoring region overlaps a further edge region of the further monitoring region.

9. The system of any of claims 1 to 8, further comprising:

a further movable simulation element which is moved through the monitoring area and/or the further monitoring area,

a further marking element which is moved together with the simulation element in such a way that the further marking element is visible on the recorded image of the monitored area or on the image of the further monitored area.

10. The system of claim 9, wherein the first and second sensors are configured to sense the temperature of the fluid,

wherein the position determination unit is configured to determine a collision point of the simulation element with the further simulation element.

11. The system of any one of claims 1 to 10,

wherein the simulation element is a two-wheeled vehicle, a motorcycle or a bicycle, a motor vehicle, in particular a car or a truck, a human simulation element or an animal simulation element.

12. The system of any of claims 1 to 10, further comprising:

the movable platform can move along the direction of the platform,

wherein the simulation element is disposed on the movable platform.

13. The system as set forth in claim 12, wherein,

wherein the marking element is arranged on the platform.

14. The system of any one of claims 1 to 13, comprising

At least one lighting device for illuminating a monitored area with electromagnetic radiation,

wherein the camera is arranged to record in the image the electromagnetic radiation by means of which the illumination device illuminates the monitored area.

15. The system of claim 14, wherein the first and second sensors are configured to sense the temperature of the fluid,

wherein the electromagnetic radiation is generated by the visible spectrum with a wavelength of 380 to 750nm, or

Wherein the electromagnetic radiation is generated by non-visible light spectrum, in particular by infrared radiation, ultraviolet radiation or terahertz radiation.

16. The system of any one of claims 1 to 15,

wherein the labeling element is fluorescent.

17. The system of any one of claims 1 to 16,

wherein the marking element has a light-emitting device, in particular an LED, which generates visible or invisible light which is recorded by a camera.

18. The system of any one of claims 1 to 17,

wherein the pixels of the camera are smaller than 10 megapixels,

the camera is designed in particular to record images in a 4:3 format.

19. The system of any one of claims 1 to 18,

wherein the marker element has a circular or rectangular outer periphery,

wherein the marking element has two color regions, in particular white and black.

20. The system of any one of claims 1 to 19,

wherein the marker element has a direction indicator indicating an orientation of the object.

21. The system of claim 20, wherein the first and second components are selected from the group consisting of,

wherein the direction indicator is an arrow with an arrangement of at least two, in particular three, dots or with a specific arrangement of at least 2 color patterns for defining the direction of movement.

22. The system of any one of claims 1 to 21,

wherein the marking element has an information area which is arranged in such a way that the information area is visible on the recorded image of the monitoring area,

wherein the information area is configured such that specific data, in particular of the simulation element, are read by means of a projection of the information area on the recorded image,

wherein the information area has, in particular, a bar code or an identification code.

Technical Field

More particularly, the present invention relates to a system for determining the position of a movable simulation element in a roofed test field.

Background

Nowadays, in order to test driver assistance systems, complex traffic situations need to be mapped and simulated, especially from the point of view of autonomous driving. In this case, a large number of different analog elements are moved relative to one another and are controlled in particular on the basis of GPS data. Therefore, the test process must be performed outdoors in order to receive GIS data.

Disclosure of Invention

The object of the invention is to perform position determination in a roofed test field.

This object is achieved by the features of the independent claims.

According to a first aspect, a system for determining the position of a movable simulation element in a roofed test field, in particular in a lobby, is proposed. The system has: a camera configured to record an image of a monitored area of a roofed test site; and a movable simulation element movable across the monitored area. Further, the system has: a marking element which moves together with the simulation element in such a way that the marking element is visible on the recorded image of the monitored area; and a position determination unit coupled with the camera and configured to determine a position of the marking element in the monitored area based on the recorded images.

According to another exemplary embodiment, a method for operating the above-described system for determining the position of a movable simulation element in a roofed test field, in particular in a lobby, is described. According to the method, the position of the marking element in the monitored area is determined on the basis of the recorded image.

According to an exemplary embodiment, the marking element is arranged on the simulation element. The marking element is arranged on the simulation element in such a way that the marking element is visible on the recorded image of the monitored area.

According to an exemplary embodiment, the system further has a further (stationary and immovable) marking element which is arranged in a stationary manner in the monitoring area such that the further marking element is visible on the recorded image of the monitoring area. The position of the stationary marking element is predefined and known, so that, for example, the recorded image of the monitored area can be calibrated by means of the stationary marking element.

According to an exemplary embodiment, the location determination unit is configured to place a virtual grid on the image, wherein each grid area of the grid represents a specific location in the monitored area.

According to an exemplary embodiment, the grid area is less than 9cm²And in particular less than 4cm²And in particular less than 2cm². Thus, if the simulation element is located in a grid point, the position of the simulation element can be determined inferentially in the reverse direction from the identification of the grid point.

According to an exemplary embodiment, the camera is arranged to take a further image after the image has passed a determined time interval, wherein the position determination unit is configured to: the speed and direction of movement of the marking element are determined on the basis of the recorded image and the further image.

According to an exemplary embodiment, the system has a further camera which is provided for recording images of a further monitored area of the roofed test field, wherein the position determination unit is coupled to the further camera and is configured to determine the position of the marking element in the further monitored area on the basis of the recorded images of the further camera.

According to an exemplary embodiment, the further monitoring area is located beside the monitoring area, wherein at least one edge region of the monitoring area overlaps with a further edge region of the further monitoring area.

According to an exemplary embodiment, the system has a further movable simulation element which can be moved through the monitoring area and/or a further monitoring area, wherein the further simulation element has a further marking element which is arranged in such a way that the further marking element is visible on the recorded image of the monitoring area or on the image of the further monitoring area.

According to an exemplary embodiment, the position determination unit is configured to determine a collision point of the simulation element with the further simulation element.

According to an exemplary embodiment, the simulation element is a two-wheeled vehicle, a motorcycle or a bicycle, a motor vehicle, in particular a car or a truck, a human simulation element or an animal simulation element.

According to an exemplary embodiment, the system has a movable platform, wherein the simulation element is arranged on the movable platform.

According to another exemplary embodiment, the marking element is arranged on the movable platform.

According to an exemplary embodiment, the system has at least one lighting device for illuminating the monitored area with electromagnetic radiation, wherein the camera is arranged to record in the image the electromagnetic radiation by means of which the monitoring area is illuminated by the lighting device.

According to an exemplary embodiment, the electromagnetic radiation is generated by the visible spectrum with a wavelength of 380 to 750nm, or the electromagnetic radiation is generated by the invisible spectrum, in particular by infrared radiation, ultraviolet radiation or terahertz radiation.

According to an exemplary embodiment, the marker element is fluorescent.

According to an exemplary embodiment, the marking element has a light-emitting device, in particular an LED, which generates visible or invisible light that can be recorded by the camera.

In particular, the marking elements are arranged: producing or reflecting visible and/or invisible light. The camera is arranged to measure visible or invisible light so that it can be presented in the image, in particular in transformed form. Thus, for example, a roofed test site may be darkened so that nighttime testing may be conducted.

According to a further exemplary embodiment, the camera has a resolution of less than 10 megapixels, wherein the camera is configured in particular to record images in 4:3 format. The smaller the number of pixels, the simpler the format, and the smaller the amount of data that must be processed. A smaller amount of data is advantageous for the speed of image processing and, in turn, for position determination.

In other words, a resolution with a short latency is sought in order to calculate the position and to deliver the control signal. For example, the camera has a 10 megapixel, 4:3 format, and a resolution of 3651 × 2739. Approximately 10 cameras are required for a lobby having a floor area of 160mx50m (10MP ═ 36 mx 27m ═ >5x 2).

For a full high-definition format 1280 × 720 cameras and for a lobby of one floor (10MP ═ 12m × 7m ═ 13x8), 104 cameras are distributed, for example, on the lobby ceiling. Cameras with short response times and low resolution are applied. Furthermore, different types of cameras may be used, such as a first camera for fast initial recognition of the location and a second camera showing the exact position.

According to an exemplary embodiment, it is thus possible to record images of a common monitored area using a camera with a higher resolution and a camera with a lower resolution. For example, a second camera of high resolution may be used to capture a resolvable image to determine the exact location of the simulation element. Meanwhile, a low-resolution image may be photographed at a shorter interval using a first camera having a lower resolution to obtain the direction and movement information of the analog component. Therefore, the position determination unit can quickly process accurate position data as well as direction and movement information, so that an accurate movement trajectory of the simulation element can be calculated without delay. In particular, since the amount of data generated by a low-resolution image is small, a large number of such low-resolution images can be quickly photographed and quickly processed. Thus, the direction change or speed change of the analog component can be quickly identified and measured.

According to an exemplary embodiment, the marking element has a circular or rectangular circumference, the marking element having two specific color regions, in particular white and black.

According to an exemplary embodiment, the marker element has a direction indicator indicating the orientation of the object. For example, the defined orientation of the object indicates the front direction of the simulation element (front or face of the human body simulation element or front end of the vehicle simulation element). For example, the orientation of the object may indicate a predetermined direction of movement, in particular a direction of forward movement.

Thus, the direction vector of the simulation element can be determined based on the single image taken.

According to an exemplary embodiment, the direction indicator is an arrow with an arrangement of at least two, in particular three, dots or with a specific arrangement of at least 2-color patterns for defining the direction of movement.

For example, two points of the marking element may indicate direction information or an orientation of the marking element and the corresponding simulation element based on their spacing direction.

According to an exemplary embodiment, the marking element has an information area which is arranged in a visible manner on the recorded image of the monitoring area, wherein the information area is configured to: the specific data, in particular of the analog component, can be read out by means of a projection of an information field onto the recorded image, wherein the information field has, in particular, a bar code or an identification code.

For example, the information field may have information about the type of simulation element, e.g. whether the simulation element is a vehicle or a pedestrian. Furthermore, the information area has information about the geometry or the speed of the simulation element.

The present invention may be used to determine the position of a movable simulation element within a roofed test field (i.e., without receiving GPS data). According to the system of the invention, it is possible, in particular, to determine the position of the simulation element and to determine the speed and direction of the simulation element.

For the position determination, for example, a captured image of the monitored area may be sufficient to determine the exact position of the simulation element in the monitored area. For this purpose, the position determination unit identifies the position of the simulation element in the monitored area on the basis of an analysis of the recorded image and the marking elements identifiable thereon. For the analysis, for example, a virtual grid from the position-determining unit can be placed on the image of the monitored area, so that the position of the simulation element can be inferred from the marking elements present in the first grid region.

Furthermore, a further stationary marking element, which is also recognizable in the recorded image, can be arranged in the monitoring region. The position can also be determined on the basis of the distance and the direction of the distance of the marking element moving together with the simulation element to the stationary further marking element. Furthermore, using the speed data of the simulation element, which may be obtained from the control unit, for example, the future position at a particular point in time may also be deduced. Furthermore, as described above, the marking element itself may have a direction indicator which indicates the orientation of the object or a predetermined direction of movement of the marking element, so that the respective direction of movement may also be determined on the basis of the image acquisition. Furthermore, the direction of movement and the speed of movement of the simulation element can be determined, for example, on the basis of a plurality of images of the monitored area taken at specific times or time intervals, without further measurement parameters.

Thus, for example, only one marking element is required for determining the position of the simulation element.

It should be noted that the embodiments described herein represent only a limited selection of possible embodiment variants of the invention. The features of the various embodiments can thus be combined with one another in a suitable manner so that a person skilled in the art can clearly learn a large number of different embodiments using the embodiment variants explicitly disclosed herein. In particular, some embodiments of the invention are described by the product claims, while other embodiments of the invention are described by the method claims. However, it will be apparent to those skilled in the art when reading this disclosure that not only one type of feature of the inventive subject matter may be combined with each other, but different types of features of the inventive subject matter may also be combined with each other, unless explicitly stated otherwise.

Drawings

In the following, for further explanation and better understanding of the present invention, exemplary embodiments will be described in more detail with reference to the accompanying drawings. Wherein:

fig. 1A to 2B show schematic views of a lobby as a roofed test site of a system according to an exemplary embodiment of the invention, wherein fig. 1A and 2A show side views and fig. 1B and 2B show plan views of the lobby;

fig. 3 to 15 show schematic views of a marking element according to an exemplary embodiment of the present invention;

FIGS. 16-25 show schematic diagrams of a simulation element having a marker element according to an exemplary embodiment of the present invention;

Detailed Description

The same or similar parts in different figures have the same reference numerals. The representation in the figures is schematic.

Fig. 1A-2B show schematic views of a lobby as a roofed test site of a system 100 according to an exemplary embodiment of the present invention, wherein fig. 1A and 2A show side views and fig. 1B and 2B show plan views of the lobby.

The system 100 has: a camera 101 arranged to record an image of a monitored area 103 of a roofed test site 130; a movable simulation element 110 that can move through the monitoring area 103; wherein the simulation element 110 has a marking element 120, the marking element 120 being arranged such that the marking element 120 is visible on the recorded image of the monitored area 103; and a position determination unit 106 coupled with the camera 101 and configured such that the position of the marking element 120 in the monitored area 102 can be determined on the basis of the recorded images.

The system 100 has a further camera 102 which is provided to record images of a further monitored area 104 of the roofed test field 130, wherein the position determination unit 106 is coupled to the further camera 102 and is configured such that the position of the marking element 130 in the further monitored area is determined on the basis of the recorded images of the further camera 102.

The cameras 101, 102 are arranged in such a way that at least one edge region of the monitoring region 103 and a further edge region of the further monitoring region 104 overlap in an overlap region 105.

As shown, a plurality of different simulation elements 110 with corresponding marking elements 120 may be present in a roofed test field 130 and may be moved accordingly along their movement path 111. The respective positions of the individual simulation elements 110 are determined on the basis of the recorded images.

According to an exemplary embodiment, the position determination unit is configured to determine a collision point of the simulation element with the further simulation element.

Furthermore, the system 100 has an illumination device 107 for illuminating the monitoring areas 103, 104 with electromagnetic radiation, wherein the cameras 101, 102 are arranged to record in the image the electromagnetic radiation by means of which the monitoring areas 103, 104 are illuminated by the illumination device 107.

Fig. 3 to 15 show schematic views of a marking element according to an exemplary embodiment of the present invention.

The marking element 120 may have a circular or rectangular circumference, wherein the marking element 120 has in particular two color regions, in particular white and black.

The information area showing the marker elements is shown as a bar code in fig. 9.

In fig. 10, a marking element is shown, which additionally has a directional indicator, as an arrow 1001, the arrow 1001 indicating the orientation of the object.

In addition to the direction indicator as arrow 1001, a direction indicator consisting of three dots 1101 is shown in fig. 11. Further, the moving direction may be defined using a specific arrangement 1201 of patterns having at least 2 colors (see fig. 12).

Fig. 16 to 25 show schematic views of a simulation element 110 with different marker elements 120 according to an exemplary embodiment of the present invention.

Furthermore, it is pointed out that "comprising" does not exclude other elements or steps, and that the word "a" or "an" does not exclude a general meaning. It should also be pointed out that characteristics or steps which have been described with reference to one of the above exemplary embodiments can also be used in combination with other characteristics or steps of other exemplary embodiments described above. Reference signs in the claims shall not be construed as limiting.

List of reference numerals

100 system

101 vidicon

102 additional cameras

103 monitoring area

104 additional monitoring area

105 overlap region

106 position determination unit

107 lighting device

110 analog element

111 moving path

120 marking element

901 information area

1001 arrow head

1101 three-point arrangement

12012 color pattern arrangement