DE102012024289A1 - Method for switching a camera system into a support mode, camera system and motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a camera system (2) of a motor vehicle (1) when approaching the motor vehicle (1) to a carriageway (31) running transversely to the longitudinal axis (x) of the motor vehicle (1), wherein the camera system (2) a support mode is switched, in which on a display device (16) of the camera system (2) an image (18 ') of the roadway (31) is displayed, which is detected by the camera system (2) from a viewpoint (17), which is arranged on the motor vehicle (1) and lies closer to the roadway (31) than a driver's point of view of the motor vehicle (1), characterized by detecting the approach to the roadway (31) by means of a detection device (15) of the motor vehicle (1) and autonomous switching of the camera system (2) in the support mode by means of a control device (15) due to the detection.

Description

The invention relates to a method for operating a camera system of a motor vehicle when approaching the motor vehicle to a running transversely to the longitudinal axis of the motor vehicle roadway, wherein the camera system is switched to a support mode. In the assist mode, an image of the lane is displayed on a display device of the camera system from a viewpoint which is arranged on the motor vehicle and is closer to the lane than a driver's point of view. The invention also relates to a camera system for carrying out such a method and to a motor vehicle having a camera system.

In the present case, the interest applies to the so-called junction view, which can be displayed on a display in the interior of a motor vehicle. It is already state of the art to switch a camera system of a motor vehicle into a support mode in which such an intersection diagram is displayed. These are images which are provided by means of a camera of the camera system, which is arranged on the front, in particular on the front bumper. Here, for example, a camera can be mounted centrally on the front bumper, which has a very wide detection angle or opening angle of 180 ° or even 200 ° and whose camera axis is oriented in the vehicle longitudinal direction. Such a camera then detects the entire environment in front of the motor vehicle including the lateral areas on the left and on the right side of the motor vehicle. Alternatively, two cameras can be mounted on the front bumper, which are then aligned on the one hand to the left and on the other hand to the right to capture the respective front lateral surrounding areas of the motor vehicle. Regardless of the number of cameras used, the driver is assisted in the assist mode especially in situations where the vehicle is approaching a crossroads with right of way and the view of that road to the left and / or to the right through obstacles such as other vehicles. is restricted. In this case, the driver moves the motor vehicle in the direction of the cross road until the front of the motor vehicle reaches the cross street and this road falls into the field of view of the at least one camera. The images of the road can now be displayed on the screen, and the driver is assisted to see on the display whether other vehicles are coming from the left or the right.

Such a junction-view mode of the camera system can be activated in the prior art by the driver himself by the driver makes a corresponding operator input. This can be done for example by touching a touch-sensitive display. Here, the driver can usually choose between different views. For example, there is also the so-called "bird-eye view", d. H. a top view showing the motor vehicle and the environment from a bird's eye view. Such a top view representation may be generated by combining images of a plurality of cameras distributed on the motor vehicle.

It is an object of the invention to provide a solution, as in a method of the type mentioned the driver of the motor vehicle can be supported even more reliable than in the prior art in driving the motor vehicle.

This object is achieved by a method by a camera system and by a motor vehicle with the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

An inventive method is used to operate a camera system of a motor vehicle when approaching the motor vehicle to a roadway which extends transversely to the longitudinal axis of the motor vehicle. The camera system is switched to a support mode in which on a display device of the camera system, an image of the road is displayed, which is detected by the camera system from a viewpoint, which is arranged on the motor vehicle and the road is closer than a focus of the driver. The approach to the lane is detected by means of a detection device of the motor vehicle, and the camera system is switched to the assist mode autonomously by means of a control device due to the detection.

Such an approach has the advantage that the driver need not make any operator input to switch the camera system in the support mode. Namely, the switching of the camera system to the assist mode is carried out automatically by means of a control device without having to receive a corresponding operator input of the driver. The driver can thus focus on the road situation, and his attention is not distracted by the road situation. In this way, the driver is supported by the camera system even more reliable than in the prior art.

In the assist mode, an image is displayed on the display device which is detected from a viewpoint which is located on the one hand on the motor vehicle and on the other hand lies closer to the road than the driver's point of view. This means in particular that the image is detected by means of a camera which is placed on the motor vehicle at a location which is closer to the roadway (in the longitudinal direction of the vehicle) than the driver or the driver's seat or the steering wheel. The mentioned viewpoint is thus a viewpoint of a camera, by means of which the image is captured. This camera can be arranged for example on a front bumper.

The camera is preferably a CCD camera or a CMOS camera. It can be a video camera that provides a sequence of images per second. These images are thus provided in real time, so that a video of the roadway can be displayed on the display device. The camera may have a relatively wide opening angle, which may be in a value range of 120 ° to 200 °. If a single camera is attached to the front bumper, it can be arranged centrally on the bumper and can have an opening angle greater than 180 °, for example 200 °. If two cameras are placed on the bumper, they can be positioned in lateral corner areas of the bumper. In this case, a smaller opening angle can be selected.

The autonomous switching of the camera system in the support mode means that the switch to the support mode without an input of the driver and thus is independent of the driver. For this purpose, a control signal is generated by means of the control device, which then causes the image of the roadway to be superimposed on the display device from the named viewpoint.

With regard to the detection of the approach to the road, various embodiments can be provided. Preferably, a situation is detected in which the motor vehicle moves forward and approaches a road which runs transversely to the vehicle longitudinal axis and enjoys the right of way over the motor vehicle. The term "transverse" is understood to mean an angle between the longitudinal axis of the motor vehicle on the one hand and the roadway on the other hand, which is in a value range of 10 ° to 90 °, in particular in a value range of 50 ° to 90 °, preferably 90 °. This can be the case, for example, at an intersection, in which the motor vehicle must give priority to other motor vehicles. However, this can also be the case when leaving a garage if the motor vehicle is parked out of a garage and moves in the direction of a carriageway. In this case, the view of the road is restricted by the walls of the garage, and the driver can follow the images displayed on the display.

However, the invention is not limited to forward movement of the vehicle. The said viewpoint may also be at the rear of the vehicle when the vehicle is reversed and approaches a crossroads behind the vehicle. Here, for example, a rear camera can be used, which is located on the rear bumper or on a tailgate.

In one embodiment, it is provided that the approach to the roadway is detected by evaluating a current operating state of a turn signal. The changeover to the assist mode is then performed in consideration of the current operating state of the turn signal. As a result, a situation can be reliably detected in which the motor vehicle is located in front of an intersection or else is parked out of a garage. The activation of the turn signal indicates namely that the motor vehicle is approaching a crossroads and the driver wants to turn left or right. Especially in such situations, the support mode proves to be particularly advantageous.

The consideration of the current operating mode of the turn signal may be as follows: On the one hand, it may be provided that the changeover to the assist mode always takes place when the turn signal is switched to the active operating state and thus activated. This means that the activation of the assist mode is timed with the activation of the turn signal, and without additional requirements must be met. On the other hand, however, it can also be provided that the activation of the turn signal represents at least one prerequisite under which a switching of the camera system into the assistance mode can take place. Optionally, further prerequisites can be defined here, which, for example, are linked to other parameters.

Additionally or alternatively it can be provided that the approach to the roadway is detected by evaluating the current speed of the motor vehicle. Switching to assist mode is then performed taking into account the current speed. This embodiment is based on the finding that switching to the assist mode is basically advantageous only at a low speed. A low speed or a deceleration of the motor vehicle namely point out that the driver of the motor vehicle other Right of way for road users. Taking into account the current speed of the motor vehicle switching to the support mode can thus be made even more precise and needs-based.

Two alternative embodiments can also be provided with regard to the current speed: On the one hand, switching to the assist mode can always take place when the current speed falls below a predetermined limit value. Regardless of other parameters, the camera system is thus always switched to support mode if the current speed falls below the specified limit value. Alternatively, however, it can also be provided that falling below the predetermined limit value is only a precondition for the switching of the camera system into the assist mode. Optionally, other prerequisites can also be defined here, which can be linked to other parameters. Particularly preferably, the evaluation of the current speed is combined with the evaluation of the current operating state of the turn signal. This can be such that the camera system is then switched to the support mode when, on the one hand, the turn signal is switched to the active operating state and, on the other hand, the current speed also falls below the specified limit value.

Additionally or alternatively, it may be provided that the detection of the approach comprises that an image of the camera system is subjected to pattern recognition with respect to at least one predetermined traffic sign by means of the detection device and thus a predetermined traffic sign is searched in the image of the camera system. The result of this investigation can then be taken into account when switching the camera system into the support mode. By identifying traffic signs in the images of the camera system, it is possible to reliably detect situations in which the motor vehicle approaches a crossroads and has to give priority to other road users. Especially in such situations, the assistance mode is particularly advantageous for the driver.

This may, for example, be such that switching to the assist mode always occurs when the predetermined traffic sign is identified in the image. Alternatively, the detection of the predetermined traffic sign may represent at least one condition under which the camera system is switched to the assist mode. If necessary, additional prerequisites or criteria can also be defined here. The detection of the traffic sign can therefore either lead directly to the automatic switchover to the support mode or else be used for plausibility of the decision as to whether the camera system should be switched to the assistance mode or not.

The image is preferably subjected to a pattern recognition with regard to a STOP sign and / or a drive-by sign, which indicates that the driver must give priority to other road users and the detected roadway is a street with right-of-way. Then it can be assumed that the driver will stop the motor vehicle and thus will require assistance from the display device.

As already stated, a situation can also be detected in which the motor vehicle is led out of a garage, namely directly onto a road running perpendicular to the garage or a pedestrian path. Even in such situations, the support mode proves to be particularly advantageous because the driver has only a limited view of the street or the pedestrian path. This view is restricted by the side walls of the garage. In order to detect such a situation, the detection device can evaluate distance values which are detected by means of at least one distance sensor of the motor vehicle. The switching to the assist mode can then be performed taking into account the distance values. Preferably, it may be provided that the distance values indicate a current distance to an obstacle located laterally next to the motor vehicle (walls of the garage). This distance can be measured, for example, using an ultrasonic sensor. If the measured distance remains the same over a given time interval, so that a deviation of the distance values from the time is below a predetermined limit value, the camera system can be switched to the assist mode. Such a constant distance indicates namely that the motor vehicle is guided parallel to a wall of the garage. Here, too, additional criteria for switching to support mode can optionally be defined.

Additionally or alternatively, the approach to the roadway can also be detected on the basis of position data of the motor vehicle, which are provided by means of a navigation system of the motor vehicle. The navigation system detects information about the current geographical position of the motor vehicle, and this information can be combined with stored map data. Based on this data can then be checked whether the motor vehicle is approaching a cross street and thus the support mode should be activated. Based on filed Map data can also be optionally checked as to whether the driver of the motor vehicle enjoys priority or must grant priority.

In the assist mode, therefore, an image is displayed which shows the roadway from a viewpoint located at the motor vehicle, which lies between the driver and the roadway. The displayed image preferably shows the roadway from a viewing direction which runs transversely to the longitudinal axis of the motor vehicle and thus preferably parallel to the roadway. Thus, the driver can see on the display device without much effort, whether obstacles are on the road or not.

The invention also relates to a camera system for a motor vehicle, in particular a passenger car, wherein the camera system is designed for carrying out a method according to the invention. A motor vehicle according to the invention, in particular a passenger car, comprises a camera system according to the invention.

The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the camera system according to the invention and to the motor vehicle according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All the features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively indicated combination but also in other combinations or alone.

The invention will now be described with reference to a preferred embodiment and with reference to the accompanying drawings.

Show it:

1 a schematic representation of a motor vehicle with a camera system according to an embodiment of the invention;

2 a schematic representation of an image, wherein a method according to an embodiment of the invention is explained in detail; and

3 a schematic representation of a road situation with the motor vehicle, wherein a method is explained in more detail according to an embodiment.

An in 1 illustrated motor vehicle 1 is for example a passenger car. The car 1 has a camera system 2 with for example four cameras 3 . 4 . 5 . 6 which on the motor vehicle 1 are arranged distributed. The cameras 3 . 4 . 5 . 6 Total capture the environment around the motor vehicle 1 around. It may, for example, the complete environment of the motor vehicle 1 and therefore a 360 ° image will be captured. The camera 3 is a front camera, which in the front of the vehicle 1 For example, on a front bumper 7 , is arranged. The camera 3 is thus at a front of the motor vehicle 1 arranged. The second camera 4 For example, is a backward camera, which in the rear of the vehicle 1 is attached, for example, on a rear bumper 8th or a tailgate. The side cameras 5 . 6 For example, they can be integrated in the respective exterior mirrors. The first camera 3 captures a surrounding area 9 in front of the motor vehicle 1 , The camera 3 is in the embodiment centered on the front bumper 7 arranged and has a relatively wide opening angle α, which may for example be in a range of 170 ° to 200 °. The camera axis of the camera 3 runs along a central longitudinal axis of the motor vehicle 1 and thus parallel to a vehicle longitudinal axis x. To the vehicle 1 is a vehicle coordinate system x, y defined.

The camera 3 may for example be a fisheye camera having such a wide opening angle α. The angle α is between two lines 10 . 11 Are defined. Thus, the camera captures 3 also the surrounding areas on the front side next to the motor vehicle 1 namely on the left side as well as on the right side. Alternative to the camera 3 can also have two cameras on the front bumper 7 be attached, which then in the respective corner areas of the bumper 7 can be placed. These cameras can then be aligned at an angle to the vehicle longitudinal axis x. If two cameras are used, then the respective opening angle can then also be chosen to be smaller and, for example, in a value range of 100 ° to 180 °.

Accordingly, the second camera detected 4 a surrounding area 12 behind the motor vehicle 1 , Also this camera 4 Can be centered on the rear bumper 8th be arranged. The camera 4 may also have an opening angle which is relatively wide and, for example, in a range of 160 ° to 200 °. Also the camera 4 can thus be a fisheye camera.

The side cameras 5 . 6 each capture a surrounding area 13 respectively 14 laterally next to the motor vehicle 1 ,

The number and arrangement of the cameras 3 . 4 . 5 . 6 are in 1 merely exemplified and may vary depending on the embodiment.

The cameras 3 . 4 . 5 . 6 may be, for example, CCD cameras or CMOS cameras. The cameras 3 . 4 . 5 . 6 are detection devices which can detect light in the visible spectral range and thus provide images. The cameras 3 . 4 . 5 . 6 can be video cameras, each of which can provide a variety of frames per second. The images are sent to a central control device 15 which transmits the images of all cameras 3 . 4 . 5 . 6 processed.

The control device 15 is with an optical display device 16 coupled, which may be for example an LCD display. On the display 16 Different views can be displayed, which can be selected depending on the driving situation.

For example, the control device 15 from the pictures of all cameras 3 . 4 . 5 . 6 produce an overall representation of what the motor vehicle 1 and its surroundings 9 . 12 . 13 . 14 from a bird's-eye view and thus from a viewpoint pointing over the motor vehicle 1 located. Such a bird-eye view is already state of the art and can be achieved by image processing by means of the control device 15 be generated.

The camera system 2 can also be switched to a support mode in which on the display 16 the images or at least image areas of the camera 3 being represented. Because the camera 3 on the front bumper 7 is arranged, is also the viewpoint from which the images are captured on the bumper 7 , and at the point where the camera 3 is placed. The in 1 With 17 designated viewpoint is thus located directly on the front of the vehicle 1 ,

One by means of the camera 3 captured image 18 is in schematic and abstract representation in 2 shown. For the support mode are in particular lateral edge areas 19 . 20 of interest, which respective edge regions α1, α2 of the opening angle α according to 1 correspond. The border area 19 shows the environment area 9 in front and at the side next to the motor vehicle 1 from a viewing direction which runs essentially parallel to the vehicle transverse axis y. The border area shows accordingly 20 of the picture 18 the surrounding area 9 before and on the right side next to the motor vehicle 1 , Here, too, the viewing direction is oriented substantially along the vehicle transverse axis y. In support mode, these margins can 19 . 20 of the picture 18 together next to each other on the display 16 are displayed as shown schematically in 2 is shown. This can be an image area 21 between the border areas 19 . 20 partially cut out so that in the displayed image 18 ' the two border areas 19 . 20 as well as a section 21 ' of the middle area 21 are included. Be on the front bumper 7 attached two separate cameras, so the pictures of these cameras can side by side on the display 16 are displayed.

In support mode will thus be on display 16 images 18 ' displayed to the driver of the motor vehicle 1 allow him to recognize objects that he himself can not see due to limited visibility.

With renewed reference to 1 can the controller 15 with a communication bus 22 of the motor vehicle 1 coupled to which other components of the motor vehicle 1 may be connected, such as a navigation system 23 and / or a tachometer 24 and / or a turn signal control unit 25 and / or a sensor control device 26 , The navigation system 23 transmitted to the communication bus 22 current position data of the motor vehicle 1 ; the speedometer 24 transmits the current speed of the motor vehicle 1 ; the turn signal control unit 25 transmits information about the current operating state of the turn signals of the motor vehicle 1 ; the sensor control unit 26 transmits current distance values, which by means of at least one distance sensor 27 . 28 be measured. There may be ultrasonic sensors 27 . 28 used, which in each corner of the front bumper 7 are arranged and detect distances to obstacles along the vehicle transverse axis y.

• – wenn die aktuelle Geschwindigkeit des Kraftfahrzeugs 1 einen vorgegebenen Grenzwert unterschreitet, beispielsweise 20 km/h oder 15 km/h oder 10 km/h; und/oder
• – wenn zumindest einer der Blinker aktiviert wird; und/oder
• – wenn in den Bildern der Kamera 3 oder der anderen Kameras 5, 6, 4 ein vorgegebenes Verkehrszeichen identifiziert wird; und/oder wenn für ein vorgegebenes Zeitintervall die gemessenen Abstandswerte zumindest eines der Sensoren 28, 27 konstant bleiben und hierbei eine Abweichung (Standardabweichung) dieser Abstandswerte über der Zeit kleiner als ein vorgegebener Grenzwert ist; und/oder
• – wenn anhand der Positionsdaten des Navigationssystems 23 erkannt wird, dass sich das Kraftfahrzeug 1 einer Kreuzung annähert, bei welcher der Fahrer des Kraftfahrzeugs 1 Vorfahrt gewährten muss.

The control device 15 also represents a detection device which stores the information on the communication bus 22 picks up and can detect a situation in which the motor vehicle 1 a roadway that runs transversely to the vehicle longitudinal direction x. The control device 15 then activates the aforementioned junction view if any combination of the following criteria is met:

• - if the current speed of the motor vehicle 1 falls below a predetermined limit, for example 20 km / h or 15 km / h or 10 km / h; and or
• - if at least one of the turn signals is activated; and or
• - if in the pictures of the camera 3 or the other cameras 5 . 6 . 4 a given traffic sign is identified; and / or if for a given time interval the measured distance values of at least one of the sensors 28 . 27 remain constant and in this case a deviation (standard deviation) of these distance values over time is smaller than a predetermined limit value; and or
• - if based on the position data of the navigation system 23 it is recognized that the motor vehicle 1 approaching an intersection at which the driver of the motor vehicle 1 Granted right of way.

These criteria can now be combined with each other. For example, the assist mode can already be activated if one of the criteria is met. However, a plausibility check can also be carried out so that, for example, two criteria are combined with one another. For example, it can be provided that the criterion relating to the speed and the criterion with regard to the activated turn signal are combined with one another. The assist mode can then be activated automatically in this case if the current speed of the motor vehicle 1 falls below the limit and additionally a turn signal is activated.

An exemplary road situation with the motor vehicle 1 is in 3 shown. The car 1 moves on a street 29 towards a crossroads 30 at which the road 29 with another lane 31 is merged. The street 29 is perpendicular and thus at a right angle to the road 31 arranged. Thus, the road runs 31 also perpendicular to the vehicle longitudinal direction x. In the situation according to 3 recognizes the controller 15 in that on the one hand the driver reduces the speed and on the other hand a turn signal 32 is activated. If this is detected, the control device activates 15 automatically the support mode in which on the display 16 the pictures 18 ' according to 2 being represented. For plausibility, the control device 15 also the pictures of the camera 3 subject to a pattern recognition and this a Vorfahrtszeichen 33 identify, which indicates that the driver of the motor vehicle 1 give the other road users right of way. The control device 15 can also traffic signs in the pictures 34 identify that on the street 29 themselves are upset. In the example according to 3 becomes the STOP character 34 identified. This makes the switch to support mode plausible.

Is the motor vehicle 1 right at the crossroads 30 so the view is on the roadway 31 through obstacles 35 limited. The driver can, however, in the pictures shown 18 ' reliably detect if there are other vehicles on the road 31 and come from the right side.

Claims (14)

Method for operating a camera system ( 2 ) of a motor vehicle ( 1 ) when approaching the motor vehicle ( 1 ) to a transverse to the longitudinal axis (x) of the motor vehicle ( 1 ) running road ( 31 ), whereby the camera system ( 2 ) is switched to a support mode in which on a display device ( 16 ) of the camera system ( 2 ) a picture ( 18 ' ) of the roadway ( 31 ) displayed by the camera system ( 2 ) from a viewpoint ( 17 ) is detected from, which on the motor vehicle ( 1 ) and the roadway ( 31 ) closer than a viewpoint of a driver of the motor vehicle ( 1 ), characterized by - detecting the approach to the roadway ( 31 ) by means of a detection device ( 15 ) of the motor vehicle ( 1 ) and - autonomous switching of the camera system ( 2 ) in the assist mode by means of a control device ( 15 ) due to the detection. A method according to claim 1, characterized in that the approach to the road ( 31 ) by evaluating a current operating state of a turn signal ( 32 ) is detected and switching to the assist mode taking into account the current operating state of the turn signal ( 32 ) is carried out. A method according to claim 2, characterized in that - the switching to the support mode takes place at least on the premise that the turn signal ( 32 ) is switched to an active operating state, or - the switching to the support mode always takes place when the turn signal ( 32 ) is switched to the active operating state. Method according to one of the preceding claims, characterized in that the approach to the roadway ( 31 ) by evaluating the current speed of the motor vehicle ( 1 ) is detected and the switching to the assist mode is performed taking into account the current speed. A method according to claim 4, characterized in that - the switching to the support mode is at least under the condition that the current speed falls below a predetermined limit, or - the switching to the support mode always takes place when the current speed falls below the predetermined limit. Method according to one of the preceding claims, characterized in that the Detecting the approach comprises that by means of the detection device ( 15 ) a picture ( 18 ) of the camera system ( 2 ) a pattern recognition with regard to at least one predetermined traffic sign ( 33 . 34 ). A method according to claim 6, characterized in that - the switching to the support mode is at least on the premise that the predetermined traffic sign ( 33 . 34 ) in the picture ( 18 ), or - the switching to the support mode always takes place when the predetermined traffic sign ( 33 . 34 ) in the picture ( 18 ) is identified. Method according to claim 6 or 7, characterized in that the image ( 18 ) a pattern recognition with respect to a stop character ( 34 ) and / or a right of way ( 33 ) indicating that the roadway ( 31 ) is a carriageway with right of way. Method according to one of the preceding claims, characterized in that the approach to the roadway ( 31 ) is detected by evaluating distance values which are determined by means of at least one distance sensor ( 27 . 28 ) of the motor vehicle ( 1 ), wherein the switching to the assist mode is performed in consideration of the distance values. A method according to claim 9, characterized in that the distance values a current distance to a side next to the motor vehicle ( 1 Specify the obstacle, wherein switching to the support mode always takes place when a deviation of the distance values from one another below a predefined limit value over a given time interval, or switching to the support mode takes place at least on condition that over the predetermined time interval the deviation of the distance values below one another is below the specified limit value. Method according to one of the preceding claims, characterized in that the approach to the roadway ( 31 ) by evaluating position data of the motor vehicle ( 1 ) is detected, which by means of a navigation system ( 23 ) of the motor vehicle ( 1 ) to be provided. Method according to one of the preceding claims, characterized in that in the assist mode on the display device ( 16 ) image ( 18 ' ) the roadway ( 31 ) is shown from a viewing direction, which transverse to the longitudinal axis (x) of the motor vehicle ( 1 ) runs. Camera system ( 2 ) for a motor vehicle ( 1 ), whereby the camera system ( 2 ) is designed for carrying out a method according to one of the preceding claims. Motor vehicle ( 1 ) with a camera system ( 2 ) according to claim 13.

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