EP1588341A1 - Vehicle comprising a catadioptric camera - Google Patents

Vehicle comprising a catadioptric camera

Info

Publication number
EP1588341A1
EP1588341A1 EP04703156A EP04703156A EP1588341A1 EP 1588341 A1 EP1588341 A1 EP 1588341A1 EP 04703156 A EP04703156 A EP 04703156A EP 04703156 A EP04703156 A EP 04703156A EP 1588341 A1 EP1588341 A1 EP 1588341A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
camera
optical axis
catadioptric
view
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04703156A
Other languages
German (de)
French (fr)
Inventor
Uwe Franke
Alexander Würz-Wessel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of EP1588341A1 publication Critical patent/EP1588341A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic

Definitions

  • the present invention relates to a vehicle with at least one catadioptric camera attached to the vehicle.
  • This is a camera in which at least one curved mirror arranged on the optical axis of the camera is used as the imaging element.
  • the camera enables a panoramic all-round view in directions transverse to the optical axis with a related azimuth angle of up to 360 °.
  • the catadioptic camera is preferably used for monitoring the rear and front space of the vehicle.
  • the field of view of a catadi-optical camera is limited in both directions by conical dead areas.
  • the limitation of the field of view or the opening angle of such a cone results from the design of the camera itself, such as the spatial expansion and arrangement of the imaging elements.
  • EP 1 197 937 AI relates to a Rau surveillance system for a vehicle, which comprises a catadioptric camera with a vertically oriented optical axis.
  • EP 1 158 473 A2 also relates to such a room monitoring system.
  • the object of the present invention is to provide a vehicle with at least one catadioptric camera attached to the vehicle, which ensures improved room surveillance.
  • a vehicle is provided with at least one catadioptric camera attached to the vehicle, which has an optical axis and at least one first mirror arranged on the optical axis.
  • the optical axis of the camera is inclined to a vertical. This has the advantage that the camera can also observe spatial areas, in particular road surfaces in the immediate vicinity of the vehicle, which would fall into the dead areas of the camera if their optical axis were arranged vertically.
  • the inclination is preferably selected such that one of the dead areas is completely filled by the vehicle.
  • the optical axis of the catadioptric camera is inclined by an angle ⁇ to the vertical and the cone forming an upper dead region has an opening angle ⁇ , it is preferred that the angles and ⁇ satisfy the following inequality: ⁇ ⁇ 90 ° - ⁇ . This ensures that the field of view of the camera always encompasses a horizontal line, so that objects that are far away can be detected in the direction of this horizontal line.
  • the opening angle of the cone forming the second or lower dead area is designated by ⁇ .
  • This dead area is generally at least partially filled by the vehicle itself.
  • this opening angle ⁇ is preferably larger than the angle. This prevents the camera from capturing unnecessarily large areas of the vehicle that are generally not of interest to be observed.
  • angles ⁇ and ⁇ preferably satisfy the following inequality: ⁇ ⁇ + 30 °. This ensures on the one hand that the field of vision of the camera is directed far downward, so that, for example, the bumpers of the vehicle are in the field of vision of the camera, but on the other hand, as already mentioned above, it does not unnecessarily cover large areas of the vehicle, such as Front or rear surfaces are also recorded.
  • a catadioptric camera is preferably mounted on the vehicle at its bow and / or its rear. This enables the monitoring of the rear and front space of the vehicle. This is particularly important when parking the vehicle.
  • the catadioptric camera can be mounted on the engine cover, on the trunk lid, on the bumpers or on the body above the bumpers.
  • the field of vision of the catadioptric camera which is mounted on the bow or rear of the vehicle, shows both the bumper of the vehicle and a horizontal line. This enables optimal monitoring of the surroundings of a vehicle, in particular if the space in front of or behind the vehicle is to be monitored when parking.
  • the vehicle preferably has a device for retracting and extending the catadioptric camera.
  • the catadioptric camera preferably has a second mirror which is arranged on the optical axis opposite the first mirror.
  • Such a catadioptric camera with two mirror surfaces is described, for example, in WO 00/41024.
  • FIG. 1 shows a schematic side view of an embodiment of the vehicle 1 according to the invention
  • FIG. 2 shows a schematic top view of the vehicle 1 according to FIG. 1
  • 3 shows a sketch of an embodiment of a catadioptric camera 2
  • 4 shows a sketch of a further embodiment of a catadioptric camera 2
  • 5 shows a sketch to explain the field of view of the rear-side catadioptric camera 2 of FIGS. 1 and 2.
  • the vehicle 1 and 2 show a side view and a top view of an embodiment of a vehicle 1 according to the invention with an engine hood 3, a trunk lid 4 and bumpers 15.
  • the vehicle 1 has two catadioptric cameras 2.
  • One of the cameras 2 is mounted on the hood 3 of the vehicle and the other camera 2 on the trunk lid 4 of the vehicle in each case at a position close to the edge.
  • the cameras could also be attached to the bumpers 15.
  • the cameras 2 each have an optical axis 5.
  • the recordings supplied by the cameras 2 are processed and an image resulting therefrom is made available to the driver of the vehicle 1 via a screen device (not shown).
  • the recordings supplied by the cameras 2 can also be used to automatically determine the distance of the vehicle 1 from adjacent vehicles or obstacles, e.g. B. with the help of a suitably programmed microprocessor.
  • the vehicle 1 also has devices (not shown) for moving the cameras 2 in and out. If the cameras 2 are not required, they can be retracted completely so that they no longer protrude from the surfaces of the hood 3 and the trunk lid 4. A cover, not shown, protects the cameras 2 from dirt and weather influences in the retracted state.
  • the retractability of the cameras 2 also has the advantage that they are protected from the wind when driving the vehicle 1 at a higher speed. In addition, they do not disturb the aesthetic image of the vehicle when retracted. If the cameras 2 are required, for example, as an aid when parking, they can be extended using the aforementioned device.
  • FIG. 3 and 4 show a sectional view of two configurations of catadioptric cameras 2 which the vehicle according to the invention can have.
  • At least one first mirror 6 is located on the optical axis 5 of each camera 2.
  • the first mirror 6 has a hyperboloid mirror surface. However, it can also be a spherical, ellipsoid, or paraboloid mirror surface.
  • the reference number 7 designates a lens 7.
  • the camera 2 shown in FIG. 4 also has a further, second mirror 8, which lies on the optical axis 5 opposite the first mirror 6.
  • the mirror 8 also has a hyperboloid mirror surface. However, it can also be an ellipsoid, paraboloid or planar mirror surface.
  • the lens 7 is inserted into a central bore in this mirror 8.
  • the field of view captured by the camera 2 is imaged on an image plane 11.
  • a strongly distorted perspective image is obtained.
  • the distortions are calculated, e.g. B. corrected using a (not shown) microprocessor to obtain an image that the captured environment of the vehicle reproduces largely without distortion and that, displayed on a screen, enables the driver of the vehicle to intuitively assess the surroundings.
  • FIG. 5 shows a sketch which explains the field of view of the rear catadioptric camera 2.
  • the optical axis 5 of the camera 2 is inclined at an angle to a vertical 9, which is shown in broken lines.
  • the reference number 10 denotes a horizontal.
  • the field of view of the catadioptric camera 2, shown hatched in the figure, is delimited at the top by a first upper cone 12 lying on the optical axis 5. This has an opening angle ß.
  • the angles ⁇ and ß satisfy the following inequality: ß ⁇ 90 ° - ⁇ . This ensures that the field of view of the camera 2 always includes the horizontal 10.
  • the field of view of the camera 2 is limited by a second, lower cone 13. This has an opening angle ⁇ .
  • the field of view of the camera 2 extends over an angle ⁇ of 360 °, but it could also be interrupted on the side facing the vehicle, on the left in FIG. 5, without appreciably impairing the effectiveness of the camera.

Abstract

The invention relates to a vehicle (1) comprising at least one catadioptric camera (2), which is mounted on the vehicle and which has an optical axis (5) and at least one first mirror (6) that is arranged on the optical axis. The optical axis (5) of the camera (2) is slanted relative to a vertical (9).

Description

Fahrzeug mit einer katadioptrisehen Kamera Vehicle with a catadioptric camera
Die vorliegende Erfindung betrifft ein Fahrzeug mit mindestens einer an dem Fahrzeug angebrachten katadioptrischen Ka- mera. Dabei handelt es sich um eine Kamera, bei der wenigstens ein gekrümmter auf der optischen Achse der Kamera angeordneter Spiegel als bildgebendes Element eingesetzt wird. Die Kamera ermöglicht eine panoramische Rundumsicht in Richtungen quer zur optischen Achse mit einem diesbezüglichen A- zimutwinkel von bis zu 360°. Erfindungsgemäß wird die katadi- optrische Kamera vorzugsweise zur Überwachung des Rück- und Frontraumes des Fahrzeuges eingesetzt.The present invention relates to a vehicle with at least one catadioptric camera attached to the vehicle. This is a camera in which at least one curved mirror arranged on the optical axis of the camera is used as the imaging element. The camera enables a panoramic all-round view in directions transverse to the optical axis with a related azimuth angle of up to 360 °. According to the invention, the catadioptic camera is preferably used for monitoring the rear and front space of the vehicle.
Entlang der optischen Achse ist das Blickfeld einer katadi- optrischen Kamera in beide Richtungen durch kegelförmige tote Bereiche begrenzt. Die Begrenzung des Blickfeldes bzw. der Öffnungswinkel eines solchen Kegels ergibt sich durch die Ausgestaltung der Kamera selbst, wie die räumliche Ausdehnung und Anordnung der bildgebenden Elemente .Along the optical axis, the field of view of a catadi-optical camera is limited in both directions by conical dead areas. The limitation of the field of view or the opening angle of such a cone results from the design of the camera itself, such as the spatial expansion and arrangement of the imaging elements.
Die EP 1 197 937 AI bezieht sich auf ein Rau überwachungsSystem für ein Fahrzeug, das eine katadioptrische Kamera mit vertikal orientierter optischer Achse umfasst. Auf ein ebensolches Raumüberwachungssystem bezieht sich auch die EP 1 158 473 A2.EP 1 197 937 AI relates to a Rau surveillance system for a vehicle, which comprises a catadioptric camera with a vertically oriented optical axis. EP 1 158 473 A2 also relates to such a room monitoring system.
Die toten Bereiche einer katadioptrischen Kamera können nicht beliebig klein gemacht werden, so dass in unmittelbarer Nähe des Fahrzeugs Bereiche existieren, die mit diesen bekannten Raumüberwachungssystemen nicht eingesehen werden können. Die Aufgabe der vorliegenden Erfindung besteht darin, ein Fahrzeug mit mindestens einer an dem Fahrzeug angebrachten katadioptrischen Kamera bereitzustellen, das eine verbesserte Raumüberwachung gewährleistet.The dead areas of a catadioptric camera cannot be made arbitrarily small, so that there are areas in the immediate vicinity of the vehicle that cannot be viewed with these known room surveillance systems. The object of the present invention is to provide a vehicle with at least one catadioptric camera attached to the vehicle, which ensures improved room surveillance.
Diese Aufgabe wird mit einem Fahrzeug nach Anspruch 1 gelöst . Die abhängigen Ansprüche beziehen sich auf bevorzugte Ausgestaltungen des erfindungsgemäßen Fahrzeugs .This object is achieved with a vehicle according to claim 1. The dependent claims relate to preferred configurations of the vehicle according to the invention.
Demnach wird ein Fahrzeug mit mindestens einer an dem Fahrzeug angebrachten katadioptrischen Kamera bereitgestellt, welche eine optische Achse und wenigstens einen ersten auf der optischen Achse angeordneten Spiegel aufweist . Dabei ist die optische Achse der Kamera zu einer Vertikalen geneigt. Dies hat den Vorteil, dass die Kamera auch Raumbereiche, insbesondere Fahrbahnoberflächen in unmittelbarer Nähe des Fahrzeugs, beobachten kann, die bei einer vertikalen Anordnung ihrer optischen Achse in die toten Bereiche der Kamera fallen würden. Vorzugsweise ist die Schrägstellung so gewählt, dass einer der toten Bereiche vollständig von dem Fahrzeug ausgefüllt ist.Accordingly, a vehicle is provided with at least one catadioptric camera attached to the vehicle, which has an optical axis and at least one first mirror arranged on the optical axis. The optical axis of the camera is inclined to a vertical. This has the advantage that the camera can also observe spatial areas, in particular road surfaces in the immediate vicinity of the vehicle, which would fall into the dead areas of the camera if their optical axis were arranged vertically. The inclination is preferably selected such that one of the dead areas is completely filled by the vehicle.
Wenn die optische Achse der katadioptrischen Kamera um einen Winkel α zu der Vertikalen geneigt ist und der einen oberen toten bereich bildende Kegel einen Öffnungswinkel ß hat, ist bevorzugt, dass die Winkel und ß folgende Ungleichung erfüllen: ß < 90° -α. Hierdurch wird gewährleistet, dass das Blickfeld der Kamera stets eine Horizontale umfasst, so dass in Richtung dieser Horizontalen auch weit entfernte Objekte erfasst werden können.If the optical axis of the catadioptric camera is inclined by an angle α to the vertical and the cone forming an upper dead region has an opening angle β, it is preferred that the angles and β satisfy the following inequality: β <90 ° -α. This ensures that the field of view of the camera always encompasses a horizontal line, so that objects that are far away can be detected in the direction of this horizontal line.
Der Öffnungswinkel des den zweiten oder unteren toten Bereich bildenden Kegels ist mit χ bezeichnet . Dieser tote Bereich ist im Allgemeinen wenigstens zum T.eil vom Fahrzeug selbst ausgefüllt. Erfindungsgemäß ist dieser Öffnungswinkel χ vor- zugsweise größer als der Winkel . Hierdurch wird vermieden, dass die Kamera unnötig große Flächen des Fahrzeuges erfasst, die zu beobachten im allgemeinen nicht von Interesse sind.The opening angle of the cone forming the second or lower dead area is designated by χ. This dead area is generally at least partially filled by the vehicle itself. According to the invention, this opening angle χ is preferably larger than the angle. This prevents the camera from capturing unnecessarily large areas of the vehicle that are generally not of interest to be observed.
Vorzugsweise erfüllen die Winkel χ und α folgende Ungleichung: χ < α+30°. Damit wird einerseits sicher gestellt, dass das Blickfeld der Kamera weit nach unten gerichtet ist, so- dass beispielsweise die Stoßstangen des Fahrzeuges im Blickfeld der Kamera liegen, aber andererseits, wie bereits vor- stehend erwähnt, auch nicht unnötig große Flächen des Fahrzeuges, wie Front- oder Heckflächen, mit erfasst werden.The angles χ and α preferably satisfy the following inequality: χ <α + 30 °. This ensures on the one hand that the field of vision of the camera is directed far downward, so that, for example, the bumpers of the vehicle are in the field of vision of the camera, but on the other hand, as already mentioned above, it does not unnecessarily cover large areas of the vehicle, such as Front or rear surfaces are also recorded.
Vorzugsweise ist an dem Fahrzeug an seinem Bug und/oder seinem Heck eine katadioptrische Kamera montiert. Hierdurch wird die Überwachung des Rück- und Frontraumes des Fahrzeuges ermöglicht. Dies ist insbesondere beim Einparken des Fahrzeuges von Bedeutung. Die katadioptrische Kamera kann dabei an der Motorabdeckhaube, an dem Kofferraumdeckel, an den Stoßstangen oder an der Karosserie oberhalb der Stoßstangen montiert sein.A catadioptric camera is preferably mounted on the vehicle at its bow and / or its rear. This enables the monitoring of the rear and front space of the vehicle. This is particularly important when parking the vehicle. The catadioptric camera can be mounted on the engine cover, on the trunk lid, on the bumpers or on the body above the bumpers.
Werden die Winkel α, ß und χ wie angegeben gewählt, so liegt im Blickfeld der katadioptrischen Kamera, die an dem Bug oder Heck des Fahrzeuges montiert ist, einerseits die Stoßstange des Fahrzeuges als auch eine Horizontale. Damit ist eine optimale Überwachung der Umgebung eines Fahrzeuges möglich, insbesondere wenn beim Einparken der Raum vor bzw. hinter dem Fahrzeug überwacht werden soll .If the angles α, β and χ are selected as indicated, the field of vision of the catadioptric camera, which is mounted on the bow or rear of the vehicle, shows both the bumper of the vehicle and a horizontal line. This enables optimal monitoring of the surroundings of a vehicle, in particular if the space in front of or behind the vehicle is to be monitored when parking.
Es ist jedoch auch möglich, falls eine seitliche Umgebung des Fahrzeuges beobachtet werden soll, die katadioptrische Kamera an der seitlichen Karosserie des Fahrzeugs anzubringen oder beispielsweise in den äußeren Rückspiegeln zu integrieren.However, if a lateral environment of the vehicle is to be observed, it is also possible to attach the catadioptric camera to the side body of the vehicle or to integrate it, for example, in the outer rear-view mirrors.
Vorzugsweise weist das Fahrzeug eine Einrichtung zum Ein- und Ausfahren der katadioptrischen Kamera auf. Bei dem erfindungsgemäßen Fahrzeug weist die katadioptrische Kamera vorzugsweise einen zweiten Spiegel auf, der auf der optischen Achse dem ersten Spiegel gegenüberliegend angeordnet ist. Eine derartige katadioptrische Kamera mit zwei Spiegeloberflächen ist beispielsweise in der WO 00/41024 beschrieben.The vehicle preferably has a device for retracting and extending the catadioptric camera. In the vehicle according to the invention, the catadioptric camera preferably has a second mirror which is arranged on the optical axis opposite the first mirror. Such a catadioptric camera with two mirror surfaces is described, for example, in WO 00/41024.
Die vorliegenden Erfindung wird nun beispielhaft anhand der folgenden Figuren weiter erläutert. Dabei zeigen:The present invention will now be further explained by way of example with reference to the following figures. Show:
Fig. 1 eine schematische Seitenansicht einer Ausführungsform des erfindungsgemäßen Fahrzeuges 1 ; Fig. 2 eine schematische Draufsicht auf das Fahrzeug 1 nach Fig. 1; Fig. 3 eine Skizze einer Ausgestaltung einer katadioptrischen Kamera 2 ; Fig. 4 eine Skizze einer weiteren Ausgestaltung einer katadioptrischen Kamera 2 ; Fig. 5 eine Skizze zur Erläuterung des Blickfeldes der heck- seitigen katadioptrischen Kamera 2 der Fig. 1 und 2.1 shows a schematic side view of an embodiment of the vehicle 1 according to the invention; FIG. 2 shows a schematic top view of the vehicle 1 according to FIG. 1; 3 shows a sketch of an embodiment of a catadioptric camera 2; 4 shows a sketch of a further embodiment of a catadioptric camera 2; 5 shows a sketch to explain the field of view of the rear-side catadioptric camera 2 of FIGS. 1 and 2.
Fig. 1 und 2 zeigen in Seitenansicht und in Draufsicht eine Ausgestaltung eines erfindungsgemäßen Fahrzeuges 1 mit einer Motorhaube 3, einem Kofferraumdeckel 4 und Stoßstangen 15. Das Fahrzeug 1 weist zwei katadioptrische Kameras 2 auf. Eine der Kameras 2 ist an der Motorhaube 3 des Fahrzeuges und die andere Kamera 2 an dem Kofferraumdeckel 4 des Fahrzeuges jeweils an einer randnahen Position montiert. Die Kameras könnten jedoch auch an den Stoßstangen 15 angebracht sein. Die Kameras 2 weisen jeweils eine optische Achse 5 auf. Die von den Kameras 2 gelieferten Aufnahmen werden verarbeitet und ein daraus resultierendes Bild dem Fahrer des Fahrzeuges 1 ü- ber eine nicht dargestellte Bildschirmeinrichtung bereitgestellt. Die von den Kameras 2 gelieferten Aufnahmen können jedoch auch zur automatischen Bestimmung des Abstandes des Fahrzeugs 1 von benachbarten Fahrzeugen oder Hindernissen, z. B. mit Hilfe eines geeignet programmierten Mikroprozessors, verwendet werden.1 and 2 show a side view and a top view of an embodiment of a vehicle 1 according to the invention with an engine hood 3, a trunk lid 4 and bumpers 15. The vehicle 1 has two catadioptric cameras 2. One of the cameras 2 is mounted on the hood 3 of the vehicle and the other camera 2 on the trunk lid 4 of the vehicle in each case at a position close to the edge. However, the cameras could also be attached to the bumpers 15. The cameras 2 each have an optical axis 5. The recordings supplied by the cameras 2 are processed and an image resulting therefrom is made available to the driver of the vehicle 1 via a screen device (not shown). However, the recordings supplied by the cameras 2 can also be used to automatically determine the distance of the vehicle 1 from adjacent vehicles or obstacles, e.g. B. with the help of a suitably programmed microprocessor.
Das Fahrzeug 1 weist des weiteren nicht dargestellte Einrich- tungen zum Ein- und Ausfahren der Kameras 2 auf. Werden die Kameras 2 nicht benötigt, so können sie vollständig eingefahren werden, so dass sie nicht mehr von den Oberflächen der Motorhaube 3 und des Kofferraumdeckels 4 hervorragen. Durch eine nicht dargestellte Abdeckung werden die Kameras 2 im eingefahrenen Zustand vor Schmutz- und Wettereinflüssen geschützt. Die Einfahrbarkeit der Kameras 2 besitzt auch den Vorteil, dass sie beim Fahren des Fahrzeuges 1 mit höherer Geschwindigkeit vor dem Fahrtwind geschützt werden. Außerdem stören sie im eingefahrenen Zustand das ästhetische Bild des Fahrzeuges • 1 nicht. Werden die Kameras 2 beispielsweise als Hilfe beim Einparken benötigt, können diese mit Hilfe der vorgenannten Einrichtung ausgefahren werden.The vehicle 1 also has devices (not shown) for moving the cameras 2 in and out. If the cameras 2 are not required, they can be retracted completely so that they no longer protrude from the surfaces of the hood 3 and the trunk lid 4. A cover, not shown, protects the cameras 2 from dirt and weather influences in the retracted state. The retractability of the cameras 2 also has the advantage that they are protected from the wind when driving the vehicle 1 at a higher speed. In addition, they do not disturb the aesthetic image of the vehicle when retracted. If the cameras 2 are required, for example, as an aid when parking, they can be extended using the aforementioned device.
Die Fig. 3 und 4 zeigen in geschnittener Ansicht zwei Ausge- staltungen von katadioptrischen Kameras 2, die das erfindungsgemäße Fahrzeug aufweisen kann. Auf der optischen Achse 5 jeder Kamera 2 befindet sich mindestens ein erster Spiegel 6. Der erste Spiegel 6 weist eine hyperboloide Spiegelfläche auf. Es kann sich jedoch auch um eine sphärische, ellipsoide, oder paraboloide Spiegelfläche handeln. Die Bezugsziffer 7 bezeichnet eine Linse 7. Die in Fig. 4 gezeigte Kamera 2 weist noch einen weiteren, zweiten Spiegel 8 auf, der auf der optischen Achse 5 dem ersten Spiegel 6 gegenüberliegt. Der Spiegel 8 weist ebenfalls eine hyperboloide Spiegelfläche auf. Es kann sich jedoch auch um eine ellipsoide, paraboloide oder planare Spiegelfläche handeln. Die Linse 7 ist in eine zentrale Bohrung dieses Spiegels 8 eingefügt. Auf einer Bildebene 11 wird das von der Kamera 2 erfasste Blickfeld abgebildet. Dabei wird ein stark verzerrtes perspektivisches Bild erhalten. Die Verzerrungen werden rechnerisch, z. B. mit Hilfe eines (nicht gezeigten) Mikroprozessors, korrigiert, um ein Bild zu erhalten, das die erfasste Umgebung des Fahrzeugs weitgehend verzerrungsfrei wiedergibt und das, auf einem Bildschgirm angezeigt, dem Fahrer des Fahrzeugs eine intuitive Beurteilung der Umgebung ermöglicht .3 and 4 show a sectional view of two configurations of catadioptric cameras 2 which the vehicle according to the invention can have. At least one first mirror 6 is located on the optical axis 5 of each camera 2. The first mirror 6 has a hyperboloid mirror surface. However, it can also be a spherical, ellipsoid, or paraboloid mirror surface. The reference number 7 designates a lens 7. The camera 2 shown in FIG. 4 also has a further, second mirror 8, which lies on the optical axis 5 opposite the first mirror 6. The mirror 8 also has a hyperboloid mirror surface. However, it can also be an ellipsoid, paraboloid or planar mirror surface. The lens 7 is inserted into a central bore in this mirror 8. The field of view captured by the camera 2 is imaged on an image plane 11. A strongly distorted perspective image is obtained. The distortions are calculated, e.g. B. corrected using a (not shown) microprocessor to obtain an image that the captured environment of the vehicle reproduces largely without distortion and that, displayed on a screen, enables the driver of the vehicle to intuitively assess the surroundings.
Fig. 5 zeigt eine Skizze, die das Blickfeld der heckseitigen katadioptrischen Kamera 2 erläutert. Die optische Achse 5 der Kamera 2 ist um einen Winkel zu einer Vertikalen 9, die gestrichelt dargestellt ist, geneigt. Die Bezugsziffer 10 bezeichnet eine Horizontale. Das in der Fig. schraffiert darge- stellte Blickfeld der katadioptrischen Kamera 2 wird nach o- ben hin durch einen ersten auf der optischen Achse 5 liegenden oberen Kegel 12 begrenzt. Dieser besitzt einen Öffnungswinkel ß. Die Winkel α und ß erfüllen dabei folgende Ungleichung: ß < 90°-α. Hierdurch wird sichergestellt, dass das Blickfeld der Kamera 2 stets die Horizontale 10 einschließt. Nach unten hin ist das Blickfeld der Kamera 2 durch einen zweiten, unteren Kegel 13 begrenzt. Dieser weist einen Öffnungswinkel χ auf . Dieser Öffnungswinkel χ braucht nicht kleiner als der Winkel zu sein, denn χ=α würde dem Fall entsprechen, dass die Kamera vertikal nach unten blicken kann. In den meisten praktisch relevanten Einbausituationen werden sich aber vertikal unter der Kamera Teile des Fahrzeugs befinden, die zu beobachten nicht von Interesse ist. Andererseits sollte χ auch nicht größer sein als α+30°. Damit wird erreicht, dass das Blickfeld der Kamera so steil nach unten reicht, dass die Stoßstange 15 noch darin liegt und Gegenstände auf der Fahrbahn auch in einer geringen Entfernung von der Stoßstange 15 des Fahrzeugs 1 noch erfasst werden können.FIG. 5 shows a sketch which explains the field of view of the rear catadioptric camera 2. The optical axis 5 of the camera 2 is inclined at an angle to a vertical 9, which is shown in broken lines. The reference number 10 denotes a horizontal. The field of view of the catadioptric camera 2, shown hatched in the figure, is delimited at the top by a first upper cone 12 lying on the optical axis 5. This has an opening angle ß. The angles α and ß satisfy the following inequality: ß <90 ° -α. This ensures that the field of view of the camera 2 always includes the horizontal 10. At the bottom, the field of view of the camera 2 is limited by a second, lower cone 13. This has an opening angle χ. This opening angle χ need not be smaller than the angle, because χ = α would correspond to the case where the camera can look down vertically. In most practical installation situations, however, parts of the vehicle that are not of interest will be located vertically under the camera. On the other hand, χ should not be greater than α + 30 °. This ensures that the field of view of the camera extends so steeply that the bumper 15 is still in it and objects on the road can still be detected even at a short distance from the bumper 15 of the vehicle 1.
In Azimutrichtung erstreckt sich das Blickfeld der Kamera 2 über einen Winkel δ von 360°, es könnte jedoch auch an der dem Fahrzeug zugewandten Seite, links in Fig. 5, unterbrochen sein, ohne die Effektivität der Kamera merklich zu beein- trächtigen. In the azimuth direction, the field of view of the camera 2 extends over an angle δ of 360 °, but it could also be interrupted on the side facing the vehicle, on the left in FIG. 5, without appreciably impairing the effectiveness of the camera.

Claims

Patentansprüche claims
Fahrzeug (1) mit mindestens einer an dem Fahrzeug (1) angebrachten katadioptrischen Kamera (2) , welche eine optische Achse (5) und wenigstens einen ersten auf der optischen Achse angeordneten Spiegel (6) aufweist, d a d u r c h g e k e n n z e i c h n e t , dass die optische Achse (5) um einen Winkel α zu einer Vertikalen (9) geneigt ist.Vehicle (1) with at least one catadioptric camera (2) attached to the vehicle (1), which has an optical axis (5) and at least one first mirror (6) arranged on the optical axis, characterized in that the optical axis (5 ) is inclined at an angle α to a vertical (9).
Fahrzeug (1) nach Anspruch 1, d a du r c h g e k e n n z e i c h n e t , dass das Blickfeld durch einen auf die optische Achse (5) zentrierten oberen Kegel (12) mit einem Öffnungswinkel ß begrenzt ist, wobei die Winkel und ß folgende Ungleichung erfüllen: ß < 90° - .Vehicle (1) according to claim 1, since you rch characterized that the field of view is limited by an upper cone (12) centered on the optical axis (5) with an opening angle ß, the angles and ß meeting the following inequality: ß <90 ° -.
Fahrzeug (1) nach Anspruch 1 oder 2, d a d u r c h g e k e n n z e i c h n e t , dass das Blickfeld der katadioptrischen Kamera (2) durch einen auf die optische Achse (5) zentrierten unteren Kegel (13) mit einem Öffnungswinkel χ begrenzt ist, wobei der Öffnungswinkel χ größer ist als der Winkel α.Vehicle (1) according to claim 1 or 2, characterized in that the field of view of the catadioptric camera (2) is limited by a lower cone (13) centered on the optical axis (5) with an opening angle χ, the opening angle χ being greater than the angle α.
Fahrzeug (1) nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass das Blickfeld der katadioptrischen Kamera (2) durch einen auf die optische Achse (5) zentrierten unteren Kegel (13) mit einem Öffnungswinkel χ begrenzt ist, wobei die Winkel χ und folgende Ungleichung erfüllen: χ < α+30° . Fahrzeug (1) nach einem der vorangehenden Ansprüche, d a du r c h g e k e n n z e i c h n e t , dass an dem Fahrzeug (1) an seiner Front und/oder seinem Heck eine katadioptrische Kamera (2) montiert ist.Vehicle (1) according to one of the preceding claims, characterized in that the field of view of the catadioptric camera (2) is limited by a lower cone (13) centered on the optical axis (5) with an opening angle χ, the angle χ and the following inequality satisfy: χ <α + 30 °. Vehicle (1) according to one of the preceding claims, since you rchgek characterized that on the vehicle (1) at its front and / or its rear, a catadioptric camera (2) is mounted.
Fahrzeug (1) nach einem der vorangehenden Ansprüche, d a du r c h g e k e n n z e i c h n e t , dass die katadioptrische Kamera (2) einen zweiten Spiegel (8) aufweist, der auf der optischen Achse (5) dem ersten Spiegel (6) gegenüberliegend angeordnet ist. Vehicle (1) according to one of the preceding claims, that the catadioptric camera (2) has a second mirror (8), which is arranged on the optical axis (5) opposite the first mirror (6), according to one of the preceding claims.
EP04703156A 2003-01-27 2004-01-19 Vehicle comprising a catadioptric camera Withdrawn EP1588341A1 (en)

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DE10303013A DE10303013A1 (en) 2003-01-27 2003-01-27 Vehicle with a catadioptric camera
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PCT/EP2004/000349 WO2004068440A1 (en) 2003-01-27 2004-01-19 Vehicle comprising a catadioptric camera

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US7499644B2 (en) 2009-03-03

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