EP2528050B1 - Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis - Google Patents

Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis Download PDF

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Publication number
EP2528050B1
EP2528050B1 EP12000752.1A EP12000752A EP2528050B1 EP 2528050 B1 EP2528050 B1 EP 2528050B1 EP 12000752 A EP12000752 A EP 12000752A EP 2528050 B1 EP2528050 B1 EP 2528050B1
Authority
EP
European Patent Office
Prior art keywords
camera
vehicle
receiver unit
image
obstacle
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.)
Active
Application number
EP12000752.1A
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German (de)
English (en)
French (fr)
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EP2528050A1 (de
EP2528050A8 (de
Inventor
Karlheinz Dörner
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.)
MAN Truck and Bus SE
Original Assignee
MAN Truck and Bus SE
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 MAN Truck and Bus SE filed Critical MAN Truck and Bus SE
Publication of EP2528050A1 publication Critical patent/EP2528050A1/de
Publication of EP2528050A8 publication Critical patent/EP2528050A8/de
Application granted granted Critical
Publication of EP2528050B1 publication Critical patent/EP2528050B1/de
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the invention relates to a method for visual recording and visualization of environmental conditions on a to be approached by a commercial vehicle, in particular by a truck and / or a bus obstacle according to the preamble of claim 1. Furthermore, the invention relates to a device for imaging and visualization of Ambient conditions on an object to be approached by a commercial vehicle, in particular by a truck and / or a bus according to the preamble of claim 13.
  • a particular problem encountered in commercial vehicles represents the driver's limited visibility, especially during maneuvering, as well as the difficulty correctly estimate or estimate the vehicle dimensions. To remedy this situation, there are already camera-monitor systems with mounted on the vehicle or on a trailer of a vehicle cameras, by means of which the driver's camera image is displayed at the driver's seat.
  • camera systems are used, which communicate with a vehicle-mounted monitor in order to be able to display the image captured by the camera on the monitor.
  • the advantage of the cameras mounted on the vehicle can be seen in the fact that they are always carried and are therefore available in any situation.
  • a method and a device for parking a vehicle at a loading ramp are already known in order to avoid collisions between loading ramps and vehicles as far as possible.
  • a sensor device formed by a camera is provided here, for example, which only detects the distance of the vehicle approaching the obstacle, here the loading ramp, and displays the distance thus detected by means of an optical display unit in the vehicle.
  • an optical display can additionally be arranged in the vehicle cockpit by means of which real-time camera images of the loading ramp and its surrounding area can be detected and displayed with reference to rear-view camera systems or camera-based parking systems and thus cameras arranged on the vehicle side in the previously described disadvantageous manner. This image representation is then superimposed on the distance information provided by the charge-side sensor device.
  • an object of the present invention to provide an optimized method for imaging and visualization of environmental conditions on a of a commercial vehicle, in particular a truck and / or a bus to be approached obstacle, by means of which the obstacle approach can be done in a functionally reliable manner.
  • a further object of the present invention is to propose a device suitable for carrying out such a method. This object is achieved with the features of the independent claims. Advantageous embodiments are the subject of the respective subclaims.
  • a method for imaging and visualization of environmental conditions at one of a commercial vehicle, in particular by a truck and / or a bus to be approached at least one obstacle proposed in which at the at least one obstacle, an image detection device is mounted by means of commercial vehicle-specific data of the approaching to the at least one obstacle commercial vehicle captured and transmitted wirelessly by means of a transmission device to a utility vehicle-side receiver unit and are brought there by means of a display device for display.
  • the image capture device is formed by at least one camera which is attached to the at least one obstacle so that it receives a preferably at least two-dimensional image of the obstacle environment together with the commercial vehicle approaching the at least one obstacle, this image being displayed in real time, ie within a time span which does not exceed a defined time delay threshold value, is transmitted to the receiver unit and displayed by the display device as a preferably at least two-dimensional image of the obstacle environment together with the commercial vehicle approaching the at least one obstacle.
  • the image capture device may be formed by at least one camera, which is mounted on at least one obstacle, preferably above the utility vehicle, that the respective or at least one obstacle together with the approaching commercial vehicle by means of at least one camera from a bird's eye view or is taken in a plan view.
  • the at least one camera above a Abkippkante or trough for example, on a harvester or a proportionenteermaschine or the like, be attached, which then picks up the Anfahrszene from a suitable perspective and sends as an image to the vehicle or to the driver.
  • loading ramps which have to be moved backwards by semitrailer trucks.
  • semi-mounted vehicles is in principle because of changing trailer and cabling the problem that there usually no rear-view cameras can be mounted or can be attached only with increased effort, so that a suitable location above the loading dock mounted camera also turn a view of Obstacle environment together with the approaching vehicle provides that facilitates the startup process.
  • Another example of application are cameras that can be mounted in the area of protruding canopies at the hotel entrance or can be installed in the vicinity of such a canopy or a hotel entrance, for example, to facilitate travel to the hotel.
  • the solution according to the invention is particularly well suited in connection with harvesting machines that unload crops picked up while driving on a vehicle. If the camera is mounted on the harvester in such a way that it essentially has the vehicle loading area in view from above, the driver of the commercial vehicle is shown an image which enables him to approach his vehicle optimally next to the harvesting machine in order to pick up the picked up vehicle Distribute load in the desired way evenly on the loading area.
  • Another essential advantage of the process control according to the invention can thus be seen in the fact that not every vehicle has to be individually equipped with a camera, but instead only with a corresponding receiving unit, which, as will be described in detail below, for example, in the simplest case can consist of a mobile terminal.
  • the cabling effort per vehicle is significantly reduced or eliminated in the case of the use of mobile devices even almost completely.
  • Another advantage is that to detect a scene to be displayed to the driver, only the at least one obstacle-side camera clean must be kept and not on each vehicle a camera must be installed and maintained. For example, in case of obstacles, the cameras can be well protected under a roof overhang of the building or behind a glass pane, etc., so that the cleaning and maintenance effort is manageable.
  • the data transmission between the transmission device and the utility vehicle-side receiver unit is preferably activated only when the utility vehicle-side receiver unit is located in or reaches a defined transmission and / or transmission area of the transmission unit, wherein the activation takes place automatically or is first activated by the driver can be.
  • the activation takes place automatically or is first activated by the driver can be.
  • the image capture device is formed by a plurality of spaced-apart cameras which receive the obstacle environment together with the vehicle approaching at least one obstacle from different angles, wherein the transmission device and / or the receiver unit and / or at least one camera is selected by a selection and / or display device coupled by means of the transmission device and / or the receiver unit, the image of which is displayed on the vehicle side or provided for display.
  • the driver in each case individually adapted to the respective starting situation, can display those camera images, if necessary also display or display several images at the same time, which enable the approach to the commercial vehicle in an optimized manner.
  • This variant of the invention thus also explicitly includes the case where the vehicle approaches several obstacles simultaneously.
  • Several obstacles can be, for example, two unfavorable house corners in the shunting area, in which case preferably at least one camera would be attached to each of the corners of the house. The driver could then possibly show several pictures at the same time or quickly switch between the pictures.
  • the image capture device is formed by at least one camera, preferably by a single camera, at a plurality of spaced-apart obstacles.
  • the at least one camera assigned to each of the individual obstacles then takes on the respective obstacle environment together with the vehicle approaching the obstacle, whereby the transmission device and / or the receiver unit and / or one by means of the transmission device and / or the receiver unit coupled selection and / or display device at least one camera is selected, whose image is displayed on the vehicle side or provided on the vehicle side for display.
  • the selection device may be part of a logistic system, for example a depot with several loading ramps or the like, which supplies the corresponding information to the transmission device and / or the receiver unit and / or the display device. In this way, by selecting the respectively suitable camera, an optimized approach to a relevant obstacle with several existing obstacles can be achieved.
  • several cameras can be provided per obstacle which display the display of the environmental conditions together with the approaching vehicle from different angles, so that the driver can display several images at the same time or quickly between the individual Toggle images.
  • this method it is proposed to transmit to the driver of the utility vehicle by means of the receiver unit or the display unit coupled to the display unit, a camera position information indicating the different camera positions for selecting at least one camera from which then the driver, preferably manually by tapping or by operating a control element that selects at least one camera whose image is to be displayed.
  • the driver can thus with such a procedure the appropriate him for the respective starting situation camera for Easily select image playback.
  • provision may be made for the at least one camera whose image is to be displayed to be selected automatically by a display device, for example an external or vehicle-side selection device, as a function of defined preset selection parameters.
  • Such a selection device may, for example, be coupled to the transmission device and / or to the receiver unit or may also form part of it. Likewise, such a selection device can also be integrated into other vehicle-side systems, for example in an on-board computer or the like. With such an automatic selection of the at least one camera is thus always selected in a particularly simple manner without intervention and thus possibly distraction of the driver that at least one camera whose image is the most suitable for optimal representation of the starting situation.
  • the selection device may select at least one camera whose image is to be displayed on the basis of the detected or known obstacle and / or camera position data and the vehicle position data determined, preferably by a satellite-based location system. For example, based on the vehicle position data from, for example, a satellite positioning system may be determined by the selection device, for example, by comparing the camera position data and / or the obstacle position data, which camera appears most appropriate to present the starting situation to the driver in a clear manner. For this purpose, the selection device can for example detect and / or evaluate the proximity of the respective cameras to the approaching vehicle. Likewise, however, these selection criteria may also already be predetermined and be read out in a database queried or controlled by the selection device. Such a process management thus allows a simple, optimized selection of suitable environmental images by incorporating the regularly existing vehicle position data, for example via a satellite navigation system or a toll collection system with vehicle location or the like.
  • the selection device can select that at least one camera whose image is to be displayed on the basis of a camera-specific identification code which is transmitted by the respective camera and transmitted by the camera Receiver unit and / or the selection device is detected and compared with a predetermined comparison code, wherein in matching codes, the image of the associated at least one camera is displayed.
  • This code may be, for example, a predetermined number of an obstacle to be approached, for example a loading dock, a harvester or the like. Alternatively, however, these can just as well be the location coordinates, for example the Galileo or GPS coordinates of the respective camera itself.
  • the transmission device and / or the receiver unit may comprise an image analysis software, by means of which the images captured by the cameras are evaluated and examined for objects and / or persons located in the vicinity of the obstacle, wherein in the case of a positive result, a warning signal issued and / or the commercial vehicle is stopped.
  • the warning signal can be issued optically and / or acoustically and / or haptically, wherein, for example, in conjunction with an optical warning or an optical warning signal also a marking or display of objects and / or areas in the displayed camera image can be done.
  • the transmission device can be part of a local radio network, for example a WLAN, which defines a hotspot in which the receiver unit of the commercial vehicle establishes a wireless communication automatically or after entering an identification code with the transmission device.
  • the receiver unit in the vehicle recognizes the hotspot when it comes within its transmitter range and can connect automatically when needed, or signal the driver that he can activate a connection.
  • a more convenient system design may provide that the current vehicle position is determined by satellite positioning and that the receiver unit in the vehicle automatically selects a hot spot with a camera favored by the driver and displays their image or that the receiver unit automatically one previously associated with another System selected camera, the display can be coupled here with other signal states, for example, the engagement of a reverse gear.
  • the receiver unit and / or the selection and / or display device can also be formed by a permanently installed vehicle-side device or by a mobile terminal which has a WLAN and / or a mobile radio interface for mobile Internet applications.
  • a permanently installed vehicle-side device or by a mobile terminal which has a WLAN and / or a mobile radio interface for mobile Internet applications.
  • the vehicle-side receiver unit and / or the vehicle-side selection and / or display device has or have a satellite-supported location system.
  • the receiver unit and / or the selection and / or display device may be coupled with such, in such a way that the available in the vicinity of the receiver unit and / or the selection and / or display device and thus the commercial vehicle webcams as cameras via WLAN and / or access to a Internet connection on which the webcams are identifiable by their geodetic location coordinates, detected and displayed by means of the display device for manual selection of at least one webcam or automatically the camera image of at least one webcam in response to defined, predetermined selection parameters displayed.
  • the user can store favorites, for example, such that the automatic selection is based on additional criteria defined by the user.
  • the automatic selection may also be based on additional criteria determined by another system, for example a logistic system running on the fixed or mobile terminal or providing data to the fixed or mobile terminal as an external system.
  • the camera image itself can thus be displayed directly on the mobile terminal, for example, in addition to the selection of the respective desired camera images, so that possibly no vehicle installation is required at all.
  • the image of the nearest webcam can be automatically displayed. So that webcams are not displayed unnecessarily during the journey or are displayed automatically, this function can be deactivated above a defined speed or restricted to a region that can be defined by the driver or by the system configurator, for example the haulage contractor. Furthermore, it can be defined in such a database or in another database which webcams are fundamentally of interest to the driver or which he favors. In addition, the driver can display the available webcams in an environment and Define those which should be displayed to him in the future or which should be displayed automatically.
  • the refresh rate with which new images are transmitted is preferably so high that approximately fluid motion images result.
  • a camera image is displayed only with an authorized access.
  • an access code can be defined, the transmission of which is a prerequisite for hot spot dialing or for image transmission.
  • a password for activating a camera image in a vehicle can be, for example, the vehicle identification number for systems permanently installed in the vehicle, which is automatically transmitted, for example, for establishing a connection, so that the required activation takes place automatically.
  • a suitable device for carrying out the method according to the invention is claimed, in particular a utility vehicle having a receiver unit for acquiring image data of a transmission device for carrying out a method according to the invention.
  • Fig. 1 and 2 As this particular from the Fig. 1 and 2 can be removed, is shown here as obstacle 1 a gorge-like approach area 2 to a loading dock 3, wherein, as is the case of the Fig. 1 and 2 it can be seen spaced apart from each other and distributed along the gorge-like initial driving range 2 several cameras 4 to 9 are located, which are shown and arranged here only schematically and by way of example. These cameras are located ( Fig. 2 ) geodetically above the utility vehicle 10 shown here only extremely schematically, which must approach the loading dock 3 in reverse.
  • Each of the cameras 4 to 9 is signal-wise or image-transmitting coupled by means of a transmission device, by means of which transmission device 11, the camera images of the cameras 4 to 9 selectively transmitted to a arranged in the utility vehicle 10 receiver unit 12 and can be displayed there.
  • the transmission of the image data is in the Fig. 1 and in the Fig. 2 represented schematically by the arrow 13.
  • parallel coordinates of the utility vehicle to the transmission device 11 or a location coordinate reception system coupled to the transmission device 11 can also be transmitted in parallel from the receiver unit 12 or from a navigation device of the utility vehicle 10, which is described in US Pat Fig. 1 and 2 only extremely schematically represented by the arrow 14.
  • a selection device 15 integrated in the transmission device 11 or coupled to the transmission device 11 can select which at least one camera image of the cameras 4 to 9 is displayed to the driver in the commercial vehicle by means of the display device 16 is displayed.
  • the existing cameras are displayed to the driver by means of a display device and the driver then, for example, manually or by voice command that selects each desired at least one camera whose image he wants displayed. For example, this, in conjunction with that in the Fig.
  • the images of the camera 4 and / or the camera 7 be. In the course of retraction in the direction of arrow 17 in the Fig. 1 Then, for example, the images of the camera 5 and / or the camera 8 can be added and possibly also the images of the camera 4 and / or the camera 7 are hidden again. As soon as the utility vehicle 10 approaches closer to the loading dock 3, as in the Fig. 1 is shown in dashed lines, then the camera images of the camera 9 and / or the camera 6 can be displayed or optionally also the images of the camera 5 and / or the camera 8 are hidden again.
  • fewer or more cameras may be provided, for example, only a single camera, such as the camera 9, to represent the obstacle environment.
  • the camera is suitably arranged in order to image the entire obstacle area together with the approaching commercial vehicle 10.
  • the camera is hinged on the obstacle and can be adjusted or pivoted by the driver after establishing the communication connection between the transmission device 11 and the receiver unit 12 by remote control and aligned in a positionally accurate manner.
  • a corresponding panning signal receiver unit would then have to be provided on the camera side or at least coupled to the camera.
  • the control can be made from the vehicle by the driver, for example, via a corresponding on the vehicle side as a fixed device or mobile device existing radio or transmitting device, for example via a mobile device as has been previously described in the general part of the description.
  • Fig. 4 Like this from the Fig. 4 can be seen, showing a further obstacle situation with a plurality of spaced apart loading ramps 3 in a schematic plan view, each of the individual spaced apart loading ramps 3, a camera 18a, 18b, 18 c assigned to, for example, pivotally (as stated above), so are arranged above the respective loading dock 3, that they can accommodate an at least two-dimensional environmental image of the respective loading dock 3 together with the approaching commercial vehicle 10.
  • the driver can by evaluating the location coordinates 14 of the utility vehicle 10 and / or the location coordinates of the cameras 18a, 18b and 18c by means of the example here in the transmission device 11 integrated selection device 15 and / or by coupling with a logistic system of the loading ramp Management unit, the environmental image of the right camera, here the camera 18 a, are displayed.
  • This selection of the correct camera and / or display of the correct camera image preferably takes place automatically, for example by means of an evaluation integrated into the receiver unit 12 and / or into the transmission device 11 or coupled to the receiver unit 12 and / or the transmission device 11. or selection device, wherein in principle it can also be provided that the driver the correct camera is displayed for selection and he then determines the display of the camera image manually or by voice command or the like.
  • the transmission device 11 and / or the receiver unit 12 can also have an image evaluation software, by means of which the images captured by the cameras are evaluated and examined for objects and / or persons located in the proximity to an obstacle, as described in US Pat Fig. 2 is shown only extremely schematically and dashed by the person 18. If the image evaluation shows that a person 18 is in the approach area, a warning signal is preferably emitted on the vehicle side or the utility vehicle 10 is stopped.
  • the warning signal can be output, for example, optically, acoustically and / or haptically.
  • the transmission device 11 forms components of a local radio network (WLAN), which defines a hot spot represented here by a plurality of concentric circles, in which a receiver unit 12 of the Commercial vehicle 10, a wireless communication automatically or after entering an identification code with the transmission device 11 builds.
  • WLAN local radio network
  • the transmission device 11 in the position I of the commercial vehicle 10 is still no wireless connection between the receiver unit 12 of the commercial vehicle and the transmission device 11 instead, since the commercial vehicle 10 is still outside the transmission range of the transmission device 11.
  • the receiver unit 12 can establish a wireless radio link to the transmission device 11 and accordingly the approach of the utility vehicle 10 to the gorge-like approach area 2 and the local loading ramp 3 monitored accordingly by the cameras respectively.
  • the connection of the receiver unit 12 to the transmission device 11 can be carried out automatically by wireless communication or else can only be established after a manual input of an identification code with the transmission device 11.
  • the vehicle-side receiver unit and / or the vehicle-side display device can also be formed, for example, by a device permanently installed on the vehicle or by a mobile terminal which has a corresponding WLAN and / or mobile radio interface for mobile Internet applications.
EP12000752.1A 2011-05-26 2012-02-04 Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeug anzufahrenden Hindernis Active EP2528050B1 (de)

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DE102011102549A DE102011102549A1 (de) 2011-05-26 2011-05-26 Verfahren und Vorrichtung zur bildlichen Erfassung und Visualisierung von Umgebungsbedingungen an einem von einem Nutzfahrzeuge anzufahrenden Hindernis

Publications (3)

Publication Number Publication Date
EP2528050A1 EP2528050A1 (de) 2012-11-28
EP2528050A8 EP2528050A8 (de) 2013-02-20
EP2528050B1 true EP2528050B1 (de) 2017-12-27

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EP (1) EP2528050B1 (ru)
CN (1) CN102795223B (ru)
BR (1) BR102012012459B8 (ru)
DE (1) DE102011102549A1 (ru)
RU (1) RU2613036C2 (ru)

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DE102016116859A1 (de) 2016-09-08 2018-03-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Sensoranordnung für ein autonom betriebenes Nutzfahrzeug und ein Verfahren zur Rundumbilderfassung

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Also Published As

Publication number Publication date
BR102012012459A2 (pt) 2013-06-25
RU2012118037A (ru) 2013-11-10
RU2613036C2 (ru) 2017-03-14
CN102795223A (zh) 2012-11-28
EP2528050A1 (de) 2012-11-28
EP2528050A8 (de) 2013-02-20
DE102011102549A1 (de) 2012-11-29
CN102795223B (zh) 2018-06-12
BR102012012459B8 (pt) 2020-11-17
BR102012012459B1 (pt) 2020-09-24
DE102011102549A8 (de) 2013-03-07

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