DE102021119039A1 - Monitoring system for a vehicle - Google Patents

Abstract

A monitor system for a vehicle includes: a camera to be mounted on a side of the vehicle; a display device to be mounted inside the vehicle; wherein the display device is set up to display an image provided by the camera; wherein the camera is attached to the vehicle by a cantilever; a first actuator for pivoting the boom horizontally with respect to the vehicle; and a second actuator for panning the camera horizontally with respect to the boom.

Description

The present invention relates to a monitor system for a vehicle. In particular, the invention relates to a monitor system that is set up to replace a conventional exterior mirror.

A vehicle includes a left-hand or right-hand exterior mirror that is set up to enable a driver in the interior of the vehicle to see an area lying to the side behind the vehicle. Such an exterior mirror can be less aerodynamic and impair the lines of the vehicle. The outside mirror must have a predetermined minimum size in order to display a predetermined area relative to the vehicle completely and recognizable.

It has been proposed to replace an outside mirror with a Camera Monitor System (CMS). A camera is attached to the side of the vehicle and is set up to scan the surroundings of the vehicle. A display device is fitted in the interior and is set up to display a scan of the camera. A control device is optionally provided in order to process a scan provided by the camera in real time, for example by means of geometric equalization or a change in the color gamut. In addition, the control device can superimpose further information on the displayed image, for example a symbol if there is a vehicle in a blind spot of the camera.

Such camera monitor systems are usually permanently installed on the vehicle and optimized for a predetermined purpose. It is an object of the present invention to provide a more flexible camera monitor system for a vehicle.

According to a first aspect of the present invention, a monitor system for a vehicle comprises a camera for mounting on the side of the vehicle; a display device to be mounted inside the vehicle; wherein the display device is set up to display an image provided by the camera; wherein the camera is attached to the vehicle by a cantilever; a first actuator for pivoting the boom horizontally with respect to the vehicle; and a second actuator for panning the camera horizontally with respect to the boom.

It is generally preferred that the monitor system is set up to supplement or replace an exterior mirror of the vehicle. For this purpose, the camera is preferably mounted in an area on the side of the vehicle in which a conventional exterior mirror would be mounted. A functionality of the monitor system can go beyond the functionality of an exterior mirror. In particular, the monitor system can be set up to scan an area that is not or not completely next to and behind the vehicle in certain driving states of the vehicle.

The boom is preferably rod-shaped and comprises a first end, which is mounted on the vehicle so that it can rotate about a vertical axis, and a second end, with respect to which the camera is mounted so that it can rotate about a vertical axis. The cantilever allows the camera to be placed in different positions around the axis on the vehicle, so that it can take on different perspectives in order to better scan the surroundings of the vehicle. The orientation of the camera can be kept constant or controlled depending on the position. The alignment may relate to an angle between an optical axis of the camera and a longitudinal axis of the vehicle.

The monitor system can also have a third actuator for adjusting an effective length of the boom between the first and the second actuator. As a result, the mobility of the camera with respect to the vehicle can be further improved. For example, the camera may be positioned further forward and/or rearward relative to an anchor point where the boom is attached to the vehicle, while a lateral position may be less distant from the anchor point.

A control device for controlling a position of the camera with respect to the vehicle as a function of a driving state of the vehicle is preferably provided. The control device can determine the driving condition itself or obtain it from another device on board the vehicle. The driving state can in particular relate to a driving speed and/or a driving maneuver that has been carried out or is imminent. Other criteria can also be evaluated to determine the driving condition.

In a further embodiment, the control device is set up to control a focal length of the camera as a function of its position. In this way, not only a position, but also a focal length of the camera can be assigned to a driving state. In this way, the camera can provide optimized views of an area surrounding the vehicle for different driving conditions.

According to another aspect of the present invention, a vehicle includes a monitor system as described herein. The vehicle can in particular include a motor vehicle, preferably a motorcycle, a passenger car, a truck or a bus. Other motor vehicles are also possible, for example a construction machine or a special vehicle.

According to yet another aspect of the present invention, a method of controlling a monitor system described herein includes the steps of determining a driving condition of the vehicle; and moving the camera to a position associated with the driving condition relative to an anchor point on the vehicle.

The anchor point can be fixed in the area of the first actuator on the vehicle. In particular, the anchor point can be in the area of an axis of rotation of the boom with respect to the vehicle.

The method can be carried out partially or completely by means of a monitor system described herein and in particular a control device comprised by it. For this purpose, the control device can include a programmable microcomputer or microcontroller, and the method can be in the form of a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the monitor system or vice versa.

A first example driving condition includes an upcoming or ongoing slow forward drive. For example, the vehicle can be moved in traffic on a road that does not have the right of way, for example an intersection. In this driving state, the vehicle can also be maneuvered, for example into a parking space or a garage. An associated first position of the camera is preferably in front of the anchor point.

The camera can be rotated about a vertical axis in such a way that its optical axis is at an angle of approximately 45° to a longitudinal axis of the vehicle. A focal length of the camera can be minimal. In this way, a person on board the vehicle can be given an improved optical representation of an area relevant to the operation of the vehicle. In the constellation described, a high optical quality of the representation can be achieved from a favorable perspective.

A second exemplary driving state relates to overland driving. The cross-country trip can take place, for example, outside of a built-up area on a country road or a freeway. A journey within a built-up area can also be regarded as an overland journey if the vehicle is moving at a predetermined speed and/or is on a priority road. The predetermined speed can correspond to a standard speed outside of a hazardous area, for example approximately 50 km/h. An associated second position of the camera can also be in front of the anchor point.

The camera can be aligned in such a way that it captures an area lying laterally behind the vehicle. A focal length can correspond to a normal focal length, in which objects scanned and displayed on the display device have essentially the same size ratios to one another. By positioning the camera as far in front of the anchor point as possible, a blind spot can be reduced or even eliminated.

A third exemplary driving state can relate to reversing. An associated third position of the camera may be behind the anchor point. The camera may be oriented to scan an area to the side behind the vehicle. A focal length can correspond to a normal focal length. This camera position can also be used advantageously for another driving condition in which an improved view to the rear is required. In one embodiment, a normal driving condition (“default”) can correspond to the third driving condition. In particular, this can include driving forward at different speeds and in different environments. The camera can only leave the third position if a different driving state is assumed with a different assigned camera position.

A fourth example driving condition may relate to driving forward with a trailer or a load protruding outwards from the vehicle. The trailer can include, for example, a caravan, a cargo trailer or a boat trailer. An associated fourth position of the camera is preferably essentially to the side of the anchor point. While in the other examples mentioned above, a distance between the camera and an outer skin of the vehicle is preferably kept small, for example below about 5 cm, the fourth position is preferably set up to increase a lateral distance between the camera and the outer skin, so that the camera can still fully capture the trailer at its widest point.

The distance between the camera and the outer skin of the vehicle can depend on the width of the vehicle and the width of the trailer or its load. If the width of the trailer or its load is limited to 2.55 m, for example, the distance between the camera and a longitudinal axis of the vehicle can be approximately 1.30 m. An additional rear-view mirror with increased lateral distance, which is conventionally attached to an attached exterior mirror for operation with a trailer, may not be necessary.

• 1 ein Monitorsystem in einem Fahrzeug;
• 2 bis 5 beispielhafte Fahrzustände eines Fahrzeugs mit zugeordneten Positionen einer Kamera und exemplarischen Kamerabildern;
• 6 ein Ablaufdiagramm eines Verfahrens zum Steuern eines Monitorsystems

illustriert.The invention will now be described in more detail with reference to the accompanying drawings, in which:

• 1 a monitor system in a vehicle;
• 2 until 5 exemplary driving states of a vehicle with assigned positions of a camera and exemplary camera images;
• 6 a flowchart of a method for controlling a monitor system

illustrated.

1 shows a monitor system 100 on a vehicle 105. The monitor system 100 is preferably set up to replace a conventional exterior mirror on the vehicle 105. For this purpose, the monitor system 100 can be mounted on a right or left side of the vehicle 105 . The vehicle 105 preferably includes two monitor systems 100 which are fitted on the right and left.

Monitor system 100 includes a camera 110 and a display device 115 and preferably a control device 120. Camera 110 is mounted laterally on an outside of vehicle 105 and is set up to optically scan a section of the area surrounding vehicle 105 and to provide a camera image. Display device 115 can visually display the camera image of a person on board vehicle 105, in particular a driver.

The display device 115 can be arranged on the side in the vehicle 105 on which the camera 110 is also located. A different arrangement, for example centrally, is also possible. The control device 120 can be set up to control the camera 110, for example with regard to an exposure, a contrast or a focal length. In addition, the control device 120 can process a provided camera image, for example in order to carry out a geometric adjustment, to change a color display or to display additional information.

It is proposed that a position of the camera 110 with respect to the vehicle 105 can be changed and, in particular, can be controlled by the control device 120 . For this purpose, a boom 125 is preferably provided, which extends between a predetermined anchor point 130 on vehicle 105 and camera 110 . The anchor point 130 is usually fixed to a right or left side of the vehicle 105 on its outer skin.

A first actuator 135 can be provided at anchor point 130, which is set up to pivot boom 125 about a first axis 140, which preferably runs essentially vertically. Furthermore, a second actuator 145 can be provided between the extension arm 125 and the camera 110 , the second actuator 145 being set up to pivot the camera 110 about a second axis 150 . The second axis 150 preferably also runs essentially vertically and can run parallel to the first axis 140 . The camera 110 can be guided on a circular arc about the first axis 140 by means of the first actuator 135 . An orientation of the camera 110 about the second axis 150 can be controlled by means of the second actuator 145 .

By pivoting the two actuators 135, 145 in opposite directions, the camera 110 can be moved on the circular arc without its alignment with respect to a longitudinal axis 155 of the vehicle 105 being changed. Optionally, the length of the boom 125 between the axes 140 and 150 can be changed by means of a third actuator 165 . A radius of the circular arc around the first axis 140, on which the camera 110 can be panned, can thereby be controlled within predetermined limits.

The control device 120 is preferably set up to control the actuators 135, 145 and 165 in a coordinated manner in order to bring the camera 110 into a predetermined position. A setting of the camera 110 can also be assigned to a position, for example with regard to its focal length, an image detail, a distortion or exposure. In addition, additional information can be assigned to a position, which can be displayed by the control device 120 on the display device 115 or can be superimposed on a provided camera image.

Control device 120 is preferably set up to determine a driving state of vehicle 105 and to record a view of a section of an area surrounding vehicle 105 from a predetermined position using camera 110 and to display it using display device 115 . Optionally, the controller 120 can process a scan of the camera 110, for example with regard to an image section, a geometric adjustment or a color adjustment. The adjustment can be made depending on a specific driving condition or a camera position.

The driving state of the vehicle 105 can include, for example, a driving speed, a direction of travel with respect to the longitudinal axis 155 and/or a steering angle. The control device 120 can use an interface 170 to take over the information required for determining the driving state from another component on board the vehicle 105 .

In a further specific embodiment, a driving maneuver that is taking place or is about to take place by vehicle 105 can be used to determine the driving state. The driving maneuver can also be taken over by another component on board the vehicle 105 via the interface 170 . In yet another specific embodiment, the driving condition may be determined by the other component and made available to control device 120 via interface 170 .

2 until 5 show exemplary driving states of a vehicle 105 with assigned positions of a camera 110 and exemplary camera images.

2A shows a schematic plan view of part of a vehicle 105 with a monitor system 100. The camera 110 is in a first position, which can be assumed, for example, when a current driving condition includes slow forward travel that is taking place or is imminent. For example, the vehicle 105 may be standing still, waiting for priority traffic to break away, or entering or exiting a driveway or garage.

In the representation of 2A the camera 110 is in a position that is as far in front of the anchor point 130 as possible. For this purpose, the length of the cantilever 125 can be increased and in particular maximized by means of the third actuator 165 .

A lateral distance between camera 110 and the outer skin of vehicle 105 can be minimized. The camera 110 is preferably pivoted about the second axis 150 in such a way that its optical axis encloses an angle of approximately 45° with the longitudinal axis 155 . A focal length of the camera 110 can be minimized in order to enable the largest possible opening angle of the scan. It can be accepted that the focal length is so short that the camera image provided has distortions that can also be called fisheye.

2 B shows an exemplary first camera image 205 under the circumstances mentioned.

3A and 3B correspond to 2A and 2 B in an exemplary second driving state in which vehicle 105 is driving over land, for example on a federal highway or a freeway.

In 3A the position of the camera 110 shown as an example is in the longitudinal direction in the area of the anchor point 130. In the present case, the camera 110 is slightly in front of the anchor point 130, but it can also be to the side or slightly behind it. A lateral distance between camera 110 and an outer skin of vehicle 105 is small, but preferably not minimized. A length of the cantilever 125 can be minimized. The orientation of the camera 125 can be set slightly outwards, so that its optical axis runs away from the longitudinal axis 155 to the rear. In a variant, the camera 110 can also be behind the anchor point 130 .

3B FIG. 3 shows a second exemplary camera image 305 that can be sampled in the second position under the stated circumstances. By way of example, a silhouette of vehicle 105 is superimposed on camera image 305 .

4A and 4B correspond to the 2A and 2 B assuming a third exemplary driving condition and a third exemplary position of the camera 110. In 4B an outline of the vehicle 105 is shown with a solid line. A horizontally shifted, second line, which is shown broken, indicates a possible border to which a color or transparency gradient, a pattern, a shadow or another graphic stylistic device can be applied from the first line to limit one's own Vehicle 105 to identify optically. In an area to the right of the lines, one's own vehicle 105 can be displayed completely or partially transparently. Optionally, the area may be tinted, lightened, or otherwise identified.

In 4A the camera 110 is in front of the anchor point 130 and has a small lateral distance to the outer skin of the vehicle 105 . The length of the cantilever 125 can be reduced and in particular minimized by means of the third actuator 165 . An optical axis of the camera 110 can run parallel to the longitudinal axis 155 or can assume a small angle of, for example, a maximum of approximately 10°. The camera 110 is aligned in such a way that a person lying to the side behind the vehicle 105 is area is scanned. A focal length of the camera 110 can correspond to that of a standard lens. An associated third driving state can be associated with reversing of the vehicle 105 . Another driving condition in which an improved view to the rear is required can also be assigned to this camera position.

4B 10 shows an exemplary third camera image 405. A silhouette of vehicle 105 is displayed. Within the silhouette, the camera image 405 is tinted or partially transparent, for example. In the situation shown, the third camera image 405 shows, purely by way of example, an entrance to a freeway behind the vehicle 105 .

A camera perspective that is perceived as natural by a driver may be longitudinally located on the vehicle 105 approximately where a conventional exterior mirror would be mounted. This position can be varied in the transverse direction in order to achieve different advantages.

For example, a lateral distance between the camera 110 and the outer skin of the vehicle 105 can be minimized in order to minimize an air resistance of the camera 110 as much as possible. The camera 110 can even be partially retracted into a recess or trough in the outer skin so that only a portion of it protrudes beyond the outline of the vehicle 105 . A scanning range of the camera 110 can be reduced as a result.

The lateral distance can also be greater than on a conventional exterior mirror, in order to provide an improved overview of the traffic situation to the side of and behind vehicle 105 . A section of vehicle 105 that is visible from camera 100 can be viewed at a steeper angle, so that less disruptive light reflections can result.

The camera perspective can be adjusted depending on the driving condition, an event in the vicinity of the vehicle 105, or a driver's request. The adjustment can also be stepless. In one embodiment, several of the actuators 135, 145, 165 can also be controlled in such a way that the position of the camera 110 relative to the vehicle is changed only in the longitudinal direction or only in the transverse direction. Optionally, a camera position can be set by a person and then saved so that it can be recalled later. In this way, the person can define a driving condition himself, to which he assigns a camera position. The driving state can also be defined formally, for example with regard to a load, a driver, an area traveled over, dynamics of a route traveled over, or a driving speed. The camera position can then be assumed automatically when the defined driving condition is reached.

5A and 5B correspond to the representations of 2A or. 2 B assuming a fourth example driving condition. This driving state relates to vehicle 105 driving with a towed trailer.

In 5A the camera 110 is in an exemplary fourth position in which its lateral distance from the outer skin of the vehicle 105 is increased and preferably at a maximum. For this purpose, the boom 125 can be extended to its maximum length by means of the third actuator 165 . The boom 125 can assume an angle of approximately 90° with the longitudinal axis 155 of the vehicle 105 between the camera 110 and the anchor point 130 . An optical axis of the camera 110 can run essentially parallel to the longitudinal axis 155 or enclose a small angle of, for example, a maximum of approximately 10° with it.

5B shows an exemplary fourth camera image 505 under the stated conditions. A trailer is attached to the vehicle 105, here by way of example in the form of a mobile home. The camera 110 is offset outwards with respect to the longitudinal axis 155 of the vehicle 105 so that the trailer does not impair the rear view. Preferably, the camera 110 is in a position to view the widest part of the trailer.

6 shows a flowchart of a method 600 for controlling a monitoring system 100 described herein. In a step 605, a driving state is determined. The driving condition may be determined based on speed, acceleration, and/or steering angle, or received from another component onboard the vehicle 105 .

In a step 610, a first driving condition can be determined. The first driving condition can the comments on the 2A and 2 B correspond. Alternatively, a second driving condition can be determined in a step 615, which corresponds to the statements 3A and 3B can match. Further alternatively, a third driving condition can be determined in a step 620, which is described above with reference to FIG 4A and 4B is described. Still further alternatively, a fourth driving condition can be determined in a step 625, which is described above with reference to FIG 5A and 5B is described.

It should be noted that driving states other than those mentioned herein are also determined be able. Corresponding steps of the method 600 can be provided for this purpose. A position of the camera 110 can be determined in steps 610 to 625 as a function of the respectively determined driving state. The position can be specified geometrically with respect to the anchor point 130 or as positions of the actuators 135, 145, 165. A setting of the camera 110 can also be specified, for example with regard to its focal length or exposure.

In a step 630, the parameters assigned to the specific driving state can be converted, so that the camera 110 is placed in the predetermined position and optionally configured in the predetermined manner. In particular, the actuators 135, 145, 165 can be controlled for this purpose.

In addition, the camera 125 can be configured. Optionally, processing of the control device 120 can be adjusted or preset. In a step 635, a camera image 205, 305, 405, 505 that has been created can be displayed on the display device 115.

Reference List

100

monitor system

105

vehicle

110

camera

115

display device

120

control device

125

boom

130

anchor point

135

first actor (at the anchor point)

140

first axis

145

second actor (at the camera)

150

second axis

155

longitudinal axis

165

third actuator (in the boom)

170

interface

205

first camera picture

305

second camera picture

405

third camera image

505

fourth camera image

600

procedure

605

Capture driving condition

610

determine the first driving condition

615

determine the second driving condition

620

determine the third driving state

625

determine the fourth driving state

630

control camera

635

Show camera image on display device

Claims (10)

Monitor system (100) for a vehicle (105), the monitor system (100) comprising the following elements: - A camera (110) for attachment to the side of the vehicle (105); - A display device (115) for mounting in the interior of the vehicle (105); - wherein the display device (115) is set up to display an image provided by the camera (110); - wherein the camera (110) is attached to the vehicle (105) by means of a bracket (125); - a first actuator (135) for pivoting the boom (125) horizontally with respect to the vehicle (105); and - A second actuator (145) for horizontally pivoting the camera (110) with respect to the boom (125). Monitor system (100) after claim 1 , Further comprising a third actuator (165) for adjusting an effective length of the boom (125) between the first (135) and the second actuator (145). Monitor system (100) after claim 1 or 2 , further comprising a control device (145) for controlling a position of the camera (110) with respect to the vehicle (105) depending on a driving condition of the vehicle (105). Monitor system (100) after claim 3 , wherein the control device (145) is set up to control a focal length of the camera (110) depending on its position. Vehicle (105) comprising a monitor system (100) according to any one of the preceding claims. Method (600) for controlling a monitor system (100) according to one of the preceding claims, the method (600) comprising the following steps: - determining a driving condition of the vehicle (105); and - Moving the camera (110) in a driving condition associated position with respect to an anchor point (130) on the vehicle (105). Method (600) according to one of the preceding claims, wherein a first driving state comprises slow forward driving and the associated position of the camera (110) is in front of the anchor point (130). Method (600) according to any one of the preceding claims, wherein a second driving condition comprises a cross-country trip and the associated position of the camera (110) is in front of the anchor point (130). Method (600) according to one of the preceding claims, wherein a third driving state comprises reversing and the associated position of the camera (110) is behind the anchor point (130). Method (600) according to one of the preceding claims, wherein a fourth driving condition comprises driving forward with a trailer and the associated position of the camera (110) is laterally adjacent to the anchor point (130).

Images