DE102013019226A1 - Device for camera-based environmental detection for a vehicle - Google Patents

Abstract

The invention relates to a device (2) for camera - based environmental detection for a vehicle (1) and for determining the distance of an approaching object (O1 to O4), at least two cameras (2.1, 2.2) arranged on the vehicle (1) for determining a position of the vehicle Object (O1 to O4) are provided at two defined recording times and an evaluation unit (2.3) for determining the distance and speed of the object (O1 to O4) based on the position and a time period between the recording times. According to the invention, the cameras (2.1, 2.2) have a detection range of 360 °, one of the cameras (2.2) being integrated in a roof antenna (1.1) of the vehicle (1). The invention further relates to a vehicle (1) comprising such a device (2).

Description

The invention relates to a device for camera-based environmental detection for a vehicle and for determining the distance of an approaching object, wherein at least two cameras arranged on the vehicle for determining a position of the object at two defined recording times and an evaluation unit for distance and speed determination of the object based on the position and a period of time between the recording times are provided.

The invention further relates to a vehicle comprising such a device.

From the DE 10 2010 064 080 A1 A driver assistance system is known for a vehicle with a camera integrated into a roof antenna of the vehicle, the camera comprising a wide-angle lens.

Furthermore, from the DE 101 31 196 A1 a device for detecting objects, persons or the like in the environment of a vehicle with a stereosensitive image recording unit comprising at least two image sensors, and an evaluation unit for evaluating the signals supplied by the image sensors known. In this case, optical axes of the image sensors relative to each other and relative to the vehicle are changeable alignable. The image recording unit is arranged in, on or on a roof area of the vehicle.

The EP 1 245 443 B1 describes a vehicle surroundings monitoring system for monitoring an outside environment in the vicinity of a vehicle and detecting an object existing in the outside environment of the vehicle from an image obtained by means of imaging means mounted on the vehicle. The vehicle surroundings monitoring system includes vehicle speed detecting means for detecting a traveling speed of the vehicle, distance calculating means for calculating a distance between the object and the vehicle based on the image obtained by the imaging means, calculating means for calculating a relative speed between the object and the vehicle according to the distance calculating means calculated distance and a probability determining means for determining whether or not there is a significant probability that the vehicle may collide with the object. The determination of the likelihood is based on the traveling speed of the vehicle and the distance calculated by the distance calculating means. The determination of the relative speed is effected by temporal derivation of the distance of the object to the vehicle.

The EP 1 375 253 B1 describes a vehicle with a first sensor, which is formed by a formed from two panoramic cameras stereo still camera in the interior of the vehicle whose field of view includes the interior or an exterior of the vehicle at least partially. Furthermore, a second sensor with limited spatial detection range is provided, which is controllable in dependence on the first sensor in its orientation. The second sensor is arranged in the edge region of a vehicle roof.

The object of the invention is to provide a device which is improved over the prior art and an improved vehicle comprising such a device.

With regard to the device, the object is achieved by the features specified in claim 1 and in terms of the vehicle by the features specified in claim 7.

Advantageous embodiments of the invention are the subject of the dependent claims.

The camera-based environmental detection device for a vehicle and the distance determination of an approaching object comprises at least two cameras arranged on the vehicle for determining a position of the object at two defined recording times and an evaluation unit for determining the distance and speed of the object based on the position and a time duration between the objects recording times.

According to the invention, the cameras have a detection range of 360 °, one of the cameras being integrated in a roof antenna of the vehicle.

The inventive device allows due to the detection range of the cameras and their arrangement, the realization of the distance and speed determination with a very small number of cameras, especially two cameras, at the same time a complete visibility is ensured, so that a reliable environment detection for accident prediction can be realized , Due to the small number of cameras, the device is still feasible at low cost.

Embodiments of the invention are explained in more detail below with reference to drawings.

Showing:

1 schematically an overtaking operation of a vehicle according to the invention,

2 FIG. 2 schematically a perspective view of a section of a body of a vehicle according to the invention, FIG.

3 1 schematically shows a vehicle according to the invention and an object approaching the vehicle at a first time,

4 schematically the vehicle according to the invention and the object according to 3 at a second time following the first time,

5 schematically a first embodiment of a in a roof antenna of the vehicle according to 2 integrated camera,

6 schematically a first embodiment of a camera arranged in a front region of a roof of the vehicle,

7 schematically a second embodiment of a in a roof antenna of the vehicle according to 2 integrated camera in a first state,

8th schematically the second embodiment of the camera according to 2 in a second state,

9 schematically a third embodiment of a in a roof antenna of the vehicle according to 2 integrated camera,

10 schematically a second embodiment of a arranged in a front region of a roof of the vehicle camera, and

11 schematically a side view of a detail of the body of the vehicle according to the invention 2 ,

Corresponding parts are provided in all figures with the same reference numerals.

In 1 is an overtaking process of a possible embodiment of a vehicle according to the invention 1 shown on a road surface, which move on the roadway designed as vehicles other objects O1 to O4. The vehicle 1 includes a device 2 for camera-based environmental detection and for determining the distance of an approaching object O1 to O4, wherein the device 2 in the illustrated embodiment, two on a roof of the vehicle 1 arranged cameras 2.1 . 2.2 includes, which are provided for a stereoscopic environment detection.

This is a first camera 2.1 in a front area of the roof and a second camera 2.2 in a rear area spaced from the first camera 2.1 arranged.

By means of the cameras 2.1 . 2.2 detected image data, a position of the corresponding object O1 to O4 is determined at two defined recording times. This is an evaluation unit 2.3 provided by means of which further on the basis of the position of the object O1 to O4 and a time duration between the recording times, a distance A1 of the object O1 to O4 and a speed v thereof is determined. The evaluation unit 2.3 According to a possible embodiment, it is designed in such a way that individual images or image sequences two-dimensionally, three-dimensionally and as stereoscopic representations are possible on the basis of the acquired image data.

In the illustrated embodiment, the distance A1 of the vehicle 1 oncoming object O4 and its speed v and a distance AL1 of the vehicle 1 to a first gap between the objects O1, O2 and a distance AL2 of the vehicle 1 to a second gap between the objects O2, O3 determined from the captured image data.

From these distances A1, AL1, AL2, the speed v of the oncoming object O4 and an airspeed ve of the vehicle 1 is a time of overtaking until the vehicle is scrapped 1 in the first gap and in the second gap by means of the evaluation unit 2.3 calculated and a driver of the vehicle 1 is based on a in the interior of the vehicle 1 arranged display unit 2.4 Depending on a feasibility determined from the determined data, an optical recommendation for shearing in or continuing the overtaking process is issued. Alternatively or additionally, the driver by means of the display unit 2.4 the speed v of the object O4 is optically output.

Furthermore, an unspecified distance of a camera channel is determined to a guard rail, also not shown, taking into account a tolerance.

Furthermore, with the evaluation 2.3 an output unit 2.5 for outputting an optical and / or acoustic warning signal to the corresponding object O1 to O4, wherein the output takes place when exceeding a predetermined risk of collision, in particular when falling below the determined distance A1 and the distance to the guardrail of, for example, less than 30 cm. This is the evaluation unit 2.3 formed such that based on the determined distance and Speed values a risk of collision of the vehicle 1 is determined with the corresponding object O1 to O4.

Furthermore, an emergency call for recognition of objects O1 to O4 can automatically be triggered depending on the distance definition and / or calibration if a predetermined minimum distance is undershot. The emergency call is transmitted in particular together with an own vehicle position, which is determined in particular by means of a satellite-based position detection system.

To realize an optimal capture of the environment both cameras have 2.1 . 2.2 a detection range of 360 ° and arranged in the rear of the roof second camera 2.2 is in a roof antenna 1.1 of the vehicle 1 integrated.

This arrangement is in 2 in a perspective view of a detail of a body of the vehicle 1 shown in more detail.

In addition, other cameras may be provided in a manner not shown, which, for example, in a spoiler and / or a roof rail at the roof of the vehicle 1 are arranged.

In the 3 and 4 is a determination of a speed v of the vehicle 1 approaching object O1 at two times. This is done at both times by means of the evaluation 2.3 a position of the object O1 and a distance A1, A2 to the vehicle 1 certainly.

From a change in the distance A1, A2 between the two times, the speed v of the object O1 is determined, with which this the vehicle 1 approaches.

In 5 is a first embodiment of the in a roof antenna 1.1 of the vehicle 1 integrated camera 2.2 shown, with the camera 2.2 to realize the detection range of 360 ° has four image sensing sensors.

6 shows a first embodiment of the front of the roof of the vehicle 1 arranged camera 2.1 , this analogous to the in 5 illustrated camera 2.2 to realize the detection range of 360 ° has four image sensing sensors.

In the 7 and 8th is a second embodiment of the roof antenna 1.1 of the vehicle 1 integrated camera 2.2 shown in different states.

In addition to the in 5 the first embodiment shown is the camera 2.2 Here, by means of a movement device, not shown, mechanically or electrically extendable, for which purpose a cover is first opened ( 7 ) and then the four sensors of the camera 2.2 be extended in a vertical direction upwards. This training is particularly for applications of the camera 2.2 in an automatic parking space detection or at jam ends advantageous and not shown in detail on the first camera 2.1 transferable.

9 shows a third embodiment of the roof antenna 1.1 of the vehicle 1 integrated camera 2.2 , Which is rotatable about a vertical axis by means of the movement unit, not shown. This may be the camera 2.2 have one or more image sensors and additionally according to the 7 and 8th be formed extendable. A rotation speed of the cameras 2.1 . 2.2 is for example at a speed of a drive unit of the vehicle 1 coupled.

In 10 is a second embodiment of the front of the roof of the vehicle 1 arranged camera 2.1 represented, this analogous to the in 9 illustrated camera 2.2 is formed and in addition can also be designed extendable.

11 shows a side view of a section of the body of the vehicle 1 , due to the illustrated arrangement of the cameras 2.1 . 2.2 a mutual identification and consequently a simple calibration of the cameras 2.1 . 2.2 is possible. For this purpose, the detection ranges of both cameras 2.1 . 2.2 aligned with each other. In this as parking position of the cameras 2.1 . 2.2 Calibrated trained position and / or adjust the cameras 2.1 . 2.2 to each other. In this parking position is the vehicle 1 in particular also at a standstill, wherein, for example, when approaching a person by means of a motion detector, not shown, this approach is detected and the cameras 2.1 . 2.2 to be activated. After activating the cameras 2.1 . 2.2 These are rotated about the vertical axis. In such an orientation are both cameras 2.1 . 2.2 in addition to a recognition of an authorized person in a so-called keyless go function of the vehicle used.

All illustrated embodiments of the device 2 and their cameras 2.1 . 2.2 are in addition to the application already mentioned in overtaking to implement their own so-called street-view records for night driving, current obstacles, detours, etc. to prevent accidents, for distance measurements Guard rails and other lanes to an automatic toe correction, distance determination to other vehicles, lane markings and crash barriers, for detection of traffic signs, an oncoming lane, to assist in parking operations, to control a hazard warning lights, a traffic jam, an accident detection device and / or a device for detecting persons used , Furthermore, a use for a parking space detection and / or for the detection of indicative of parking traffic signs is possible.

• – Spurwechsel,
• – Einparkvorgänge – vorwärts und rückwärts,
• – Ausparkvorgänge,
• – Spurhaltung,
• – Einhaltung von Verkehrsregeln – beispielsweise der so genannten Rechts-vor-Links-Regel,
• – Rückwärtsfahrten,
• – Einhalten eines konstanten Abstands zwischen 2 Fahrzeugen,
• – Auf- und Abfahren von Autobahnen oder Schnellstraßen,
• – Früherkennung von Geisterfahrern,
• – vorrausschauendes Fahren,
• – Erkennung von Bremslichtern,
• – Auffinden von Notfallsäulen,
• – Erkennung von Lichtzeichen, beispielsweise Ampelerkennung,
• – Erkennung von Verkehrsüberwachungsanlagen, so genannte Blitzererkennung,
• – Erkennung von Fahrbahn Unebenheiten und Schlaglöchern,
• – Erkennung von Gegenständen auf der Fahrbahn,
• – automatisches Absetzen eines Notrufs bei einem Unfall,
• – automatisches Einschalten der Warnblinkanlage bei einem Unfall,
• – so genanntes Scanning oder Streaming mit einer Aufzeichnung von Unfallsituationen,
• – Steuerung einer Notbeleuchtung.

Further application possibilities arise for driver assistance devices, which support the driver in the following operations:

• - lane change,
• - Parking operations - forward and backward,
• - Ausparkvorgänge,
• - Tracking,
• - compliance with traffic rules - for example, the so-called right-to-left rule,
• - reversing,
• Maintaining a constant distance between 2 vehicles,
• - access to and from motorways or expressways,
• - early detection of ghost drivers,
• - looking ahead,
• - Detection of brake lights,
• - finding emergency posts,
• Detection of light signals, for example traffic light recognition,
• - Detection of traffic surveillance systems, so-called speed camera recognition,
• - Detection of road surface bumps and potholes,
• - detection of objects on the road,
• - automatic transmission of an emergency call in the event of an accident,
• Automatic switching on of the hazard warning lights in an accident,
• - so-called scanning or streaming with a record of accident situations,
• - Control of emergency lighting.

Due to the three-dimensional detection with the 360 ° all-round view, a particularly accurate and reliable detection and detection of objects O1 to O4, in particular obstacles, in a particularly large detection range is possible.

To ensure object recognition and distance measurement even in darkness and poor visibility, the cameras can 2.1 . 2.2 According to a further embodiment, not shown, also include ultrasonic and / or infrared sensors.

For a picture capture in a particularly high quality have the cameras 2.1 . 2.2 preferably a multiple, for example, a tenfold optical zoom. Alternatively or additionally, the cameras 2.1 . 2.2 also stored vibration-free to increase a quality of image capture and / or have a self-cleaning element. Data transmission in the case of optical object recognition takes place in particular via a serial bus system, for example a so-called MOST bus (MOST = Media Oriented Systems Transport) or other generally known bus systems or transmission standards.

Furthermore, a communication between the cameras 2.1 . 2.2 and with other components via wireless data connections, for example using a so-called Kleer protocol, and / or via wired data connections to other bus systems, for example CAN bus systems or LIN bus systems.

For easy maintenance of the cameras 2.1 . 2.2 To enable these include in a possible embodiment of an energy storage unit, so that an uninterrupted operation possible. For electrical supply, solar modules can alternatively or additionally be provided.

LIST OF REFERENCE NUMBERS

1

vehicle

1.1

roof antenna

2

contraption

2.1

camera

2.2

camera

2.3

evaluation

2.4

display unit

2.5

output unit

AL1

distance

AL2

distance

A1

distance

A2

distance

O1 to O4

object

v

speed

ve

airspeed

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102010064080 A1 [0003]
• DE 10131196 A1 [0004]
• EP 1245443 B1 [0005]
• EP 1375253 B1 [0006]

Claims (7)

Contraption ( 2 ) for camera-based environmental detection for a vehicle ( 1 ) and for determining the distance of an approaching object (O1 to O4), wherein at least two on the vehicle ( 1 ) arranged cameras ( 2.1 . 2.2 ) for determining a position of the object (O1 to O4) at two defined recording times and an evaluation unit ( 2.3 ) are provided for determining the distance and speed of the object (O1 to O4) on the basis of the position and a time duration between the recording times, characterized in that the cameras ( 2.1 . 2.2 ) have a detection range of 360 °, wherein one of the cameras ( 2.2 ) in a roof antenna ( 1.1 ) of the vehicle ( 1 ) is integrated. Contraption ( 2 ) according to claim 1, characterized in that a first camera ( 2.1 ) in a front area of a roof of the vehicle ( 1 ) and a second camera ( 2.2 ) in a rear area spaced from the first camera ( 2.1 ) is arranged. Contraption ( 2 ) according to claim 1 or 2, characterized in that the cameras ( 2.1 . 2.2 ) are provided for stereoscopic environmental detection. Contraption ( 2 ) according to one of the preceding claims, characterized in that the cameras ( 2.1 . 2.2 ) are mechanically or electrically extendable by means of a movement device and / or are rotatable about a vertical axis. Contraption ( 2 ) according to one of the preceding claims, characterized in that in the interior of the vehicle ( 1 ) a display unit ( 2.4 ) for optically displaying the speed (v) of the object (O1 to O4). Contraption ( 2 ) according to one of the preceding claims, characterized in that the evaluation unit ( 2.3 ) is designed such that on the basis of the determined distance and speed values a risk of collision of the vehicle ( 1 ) with the object (O1 to O4) can be determined, wherein one with the evaluation unit ( 2.3 ) coupled output unit ( 2.5 ) is provided for the output of an optical and / or acoustic warning signal to the object (O1 to O4) when exceeding a predetermined risk of collision. Vehicle ( 1 ), comprising a device ( 2 ) according to any one of the preceding claims.

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