EP2719173A1 - Système de caméra de véhicule et procédé pour fournir une image sans interruption de l'environnement du véhicule - Google Patents

Système de caméra de véhicule et procédé pour fournir une image sans interruption de l'environnement du véhicule

Info

Publication number
EP2719173A1
EP2719173A1 EP12727346.4A EP12727346A EP2719173A1 EP 2719173 A1 EP2719173 A1 EP 2719173A1 EP 12727346 A EP12727346 A EP 12727346A EP 2719173 A1 EP2719173 A1 EP 2719173A1
Authority
EP
European Patent Office
Prior art keywords
image
vehicle
camera
camera system
processing unit
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Withdrawn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
EP12727346.4A
Other languages
German (de)
English (en)
Inventor
Wolfgang Niehsen
Thomas Engelberg
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2719173A1 publication Critical patent/EP2719173A1/fr
Withdrawn legal-status Critical Current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
    • B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture

Definitions

  • the present invention relates to a vehicle camera system and a method for providing images of the vehicle surroundings by means of at least one camera.
  • the invention relates to a vehicle camera system and a
  • the invention also relates to a vehicle with such a vehicle camera system.
  • multi-camera systems for all-round or top view representation (surround-view or top-view representation) are known which comprise imaging systems based on four wide-angle camera modules and a central processing unit for image synthesis.
  • FIG. 1 shows a vehicle 10 with such a multi-camera system 20 with four cameras 30, 40, 50, 60 and a central processing unit
  • Control unit 90 for surround view display In general, a front camera 30 in the grille, in each case a side camera 40, 50 integrated in the two exterior mirrors and a rear camera 60 at the rear of the vehicle in the grip of the trunk lid.
  • the camera modules 30, 40, 50, 60 are each equipped with an optical system which allows a horizontal opening angle of more than 180 ° (fish-eye optics), so that with the four cameras 30, 40, 50, 60 a gapless
  • the camera signals are analog, such as via NTSC (Digital Television Systems Committee) digital lossy encoding such as MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts or H.264 Group) or digitally without data compression , as for example by LVDS (Low Voltage Differential Signaling), transmitted.
  • NTSC Digital Television Systems Committee
  • digital lossy encoding such as MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts or H.264 Group) or digitally without data compression , as for example by LVDS (Low Voltage Differential Signaling), transmitted.
  • Analog surround-view systems (surround view systems) have one
  • dynamic artifacts contain coding artifacts (block artifacts, time-varying image resolution, etc.).
  • Image data compensation the components for connecting the digital camera modules to the central processing unit are very expensive.
  • Camera modules including the basic characteristic in the form of an intelligent reversing camera detectable.
  • Preprocessing also includes identifying overlapping portions of the video images and non-intersecting ones
  • Image display unit is brought. To avoid the e.g. In road traffic necessary requirements for availability and speed of presentation of the video images to be fair, the signal transmission between the individual components must be made via a high-speed bus.
  • the disadvantage here is that the image processing units must communicate with each other in the identification of overlapping image areas and exchange and preprocess very large amounts of data in a very short time. To have a fast data exchange of the big ones
  • the image processing units To enable data volumes between the image processing units, the image processing units must communicate with each other by means of a
  • the disadvantage here is that the image processing units must exchange a very large amount of data with the graphics unit in a very short time, so they the data with respect to the overlapping image areas for the correlation and
  • the vehicle camera system according to the invention for providing a complete image of the vehicle environment comprises at least one camera which is designed to provide images of the vehicle surroundings. Furthermore, the vehicle camera system according to the invention comprises a local
  • Image processing unit which is associated with the at least one camera and adapted to perform a non-linear transformation of at least one captured by the camera image of the vehicle environment in at least one corresponding field corresponding to a predefined image section of the image of the vehicle environment.
  • vehicle camera system according to the invention comprises a central
  • Image processing unit which is designed to take over the partial image generated by the at least one local image processing unit by means of the nonlinear transformation and to insert it into an image of the vehicle environment to produce a complete overall image of at least one region of the vehicle surroundings.
  • a method is further provided for providing a seamless image of the vehicle environment, which by means of a
  • Car camera system is performed.
  • at least one image of the vehicle surroundings is recorded by means of at least one camera.
  • the at least one recorded image by means of a non-linear transformation in at least one
  • Partial image that corresponds to a predefined image section of the image
  • Vehicle environment corresponds, transformed. Furthermore, the at least one partial image generated by means of the nonlinear transformation is converted into an image of the
  • Vehicle environment inserted to generate a gapless overall picture of at least a portion of the vehicle environment.
  • the non-linear transformation serves in particular to generate the partial image of the image displayed on a display, e.g. one
  • Vehicle display to be displayed overall image, ie a reduction of the recorded data on the displayed.
  • the invention makes the scalability of an inventive
  • Vehicle camera system of, for example, a reversing camera up to an inventive intelligent vehicle camera system with preferably four or more individual cameras allows.
  • the at least one local area is a particularly advantageous embodiment of the vehicle camera system according to the invention.
  • Image processing device designed to perform an image interpretation of at least one of the associated camera captured image of the vehicle environment by means of an object detection.
  • Data reduction by at least an order of magnitude, is the expected network system load of the entire system also by about one
  • the invention enables an efficient realization of a vehicle camera system according to the invention (such as a surround view system) with high image quality.
  • the invention further provides the modular expandability of a
  • vehicle multi-camera system such as a surround view system
  • the at least one local area network In a particularly advantageous embodiment of the vehicle multi-camera system according to the invention, the at least one local area network
  • Image processing unit connected to the central image processing unit via a network system, which is a bus system and / or a
  • Ethernetsystem with a transmission data rate of in particular not more than 100 Mbit / s covers.
  • Ethernet connections for local wired networks Since the data reduction achieved by the invention is considerable, it is also possible to use very cost-effective crosslinking systems which have a
  • the invention makes it possible to use simple 100 Mbit / s Ethernet bus systems in motor vehicles without the otherwise usual data compensation or data compression, which represents a considerable advantage in terms of cost and feasibility of functions with image interpretation.
  • Vehicle multi-camera system equipped with an optics that allows a horizontal opening angle of more than 180 °.
  • Vehicle camera system designed to, the
  • each one camera associated image processing units by means of nonlinear transformation generated fields and another field with the top view of the vehicle to a complete overall picture of the vehicle and its entire
  • a high-quality image of the vehicle environment can be provided in a simple manner from the perspective of a virtual camera above the vehicle (bird's-eye view).
  • According to the invention is further a vehicle that with a
  • the equipped vehicle camera system according to the invention is provided.
  • the driver of such a vehicle can be warned early due to the vehicle camera system according to the invention when detecting an obstacle.
  • the vehicle camera system according to the invention can be designed to intervene in the vehicle dynamics when detecting an obstacle. As a result, the risk of collision of the vehicle is significantly reduced, especially when parking.
  • FIG. 1 shows a vehicle with a vehicle multi-camera system according to the
  • Figure 2 is an overall view of the vehicle with its entire
  • Vehicle environment from the bird's eye view which was generated by means of a vehicle camera system according to the invention according to a first embodiment of the invention
  • FIG. 3 is a block diagram of an inventive
  • FIG. 4 is a block diagram of a vehicle system according to the invention according to a second embodiment of the invention.
  • FIG. 2 shows an overall picture 71 of the vehicle with its entire
  • the invention has been produced and brought to display on a display 70.
  • Embodiment of the invention comprises a plurality of intelligent camera modules, each comprising a highly integrated computing unit for decentralized image signal processing and image interpretation.
  • the arithmetic unit is either integrated directly on the imaging Imager module or is integrated as a separate component on the imager board or the imager PCB (Printed Circuit Board) or on one or more additional PCBs in the camera module.
  • Arithmetic unit can be used, for example, as a DSP (Digital Signal Processor), Field Programmable Gate Array (FPGA), Application Specific Standard Product (ASSP), Application Specific Integrated Circuit (ASIC) or SoC (System-on-Chip) ) consisting of two or more DSP (Digital Signal Processor), Field Programmable Gate Array (FPGA), Application Specific Standard Product (ASSP), Application Specific Integrated Circuit (ASIC) or SoC (System-on-Chip) ) consisting of two or more DSP (Digital Signal Processor), Field Programmable Gate Array (FPGA), Application Specific Standard Product (ASSP), Application Specific Integrated Circuit (ASIC) or SoC (System-on-Chip) ) consisting of two or more DSP (Digital Signal Processor), Field Programmable Gate Array (FPGA), Application Specific Standard Product (ASSP), Application Specific Integrated Circuit (ASIC) or SoC (System-on-Chip) ) consisting of two or more
  • the arithmetic unit makes in addition to the image interpretation in particular a non-linear transformation of the input image to generate the
  • FIG. 2 shows the display representation (overall picture) 71 of the surround view system (vehicle camera system) according to the invention with superimposition of the
  • the image signal to be displayed is formed of five approximately equal components, i. from the static plan view (top view) 1 1 of the own vehicle as well as from the image sections
  • 800x600 pixels are followed by a maximum frame size of only 96,000 pixels, at a frame rate of 25 fps and ⁇
  • FIG. 3 shows a block diagram of an intelligent inventive device
  • the vehicle camera system 20 includes four smart ones
  • Camera modules 30, 40, 50, 60 each having a (not shown) integrated computing unit (image processing unit).
  • image processing unit image processing unit
  • Camera modules 30, 40, 50, 60 only two camera modules 30, 60 are shown in FIG.
  • the camera modules 30 ... 60 are connected via Ethernet 81.
  • the channel 81 can also be used to transmit vehicle data or other sensor data from the central processing unit
  • Image processing device 90 to the individual camera modules 30 ... 60 are used. This opens, among other things, the opportunity to
  • Data synchronization for example, synchronization of local timers
  • the display 70 can optionally be controlled via the connection 82 analog (NTSC) or digital (LVDS), wherein the displayed image signal in the central processing unit (image processing unit) 90 on the basis of the individual image sections (patches) composed and optionally with other information (text , Data, symbols, etc).
  • the vehicle camera system 20 according to the invention also includes a plurality of ultrasonic sensors, of which only two ultrasonic sensors 31, 61 are shown.
  • an intelligent vehicle camera system 20 for the efficient realization of a
  • the arithmetic unit 90 has access via the CAN bus (Car Area Network Bus) 83 to vehicle data such as steering angle, wheel speeds and inertial sensors.
  • CAN bus Car Area Network Bus
  • Figure 4 shows a block diagram of a vehicle system according to the invention according to a second embodiment of the invention.
  • the display 70 of the vehicle camera system 20 according to the invention according to the second embodiment of the invention can also be connected via Ethernet 81 to the central processing unit (image processing unit) 90.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

La présente invention concerne un système de caméra de véhicule pour fournir une image sans interruption de l'environnement du véhicule à l'aide d'au moins une caméra qui est conçue pour fournir des images de l'environnement du véhicule. Le système de caméra de véhicule comprend au moins une unité de traitement d'images locale, qui est associée à ladite au moins une caméra et est conçue pour effectuer une transformation non linéaire d'au moins une image de l'environnement du véhicule, acquise par la caméra, en au moins une image partielle qui correspond à une partie prédéfinie d'une image de l'environnement du véhicule. Le système de caméra de véhicule comprend également une unité de traitement d'images centrale, qui est conçue pour prendre en charge ladite image partielle produite par ladite au moins une unité de traitement d'images locale au moyen de la transformation non linéaire, et l'insérer dans une image de l'environnement du véhicule pour produire une image complète sans interruption d'au moins une zone de l'environnement du véhicule.
EP12727346.4A 2011-06-07 2012-06-04 Système de caméra de véhicule et procédé pour fournir une image sans interruption de l'environnement du véhicule Withdrawn EP2719173A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011077143A DE102011077143A1 (de) 2011-06-07 2011-06-07 Fahrzeugkamerasystem und Verfahren zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung
PCT/EP2012/060467 WO2012168170A1 (fr) 2011-06-07 2012-06-04 Système de caméra de véhicule et procédé pour fournir une image sans interruption de l'environnement du véhicule

Publications (1)

Publication Number Publication Date
EP2719173A1 true EP2719173A1 (fr) 2014-04-16

Family

ID=46275811

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12727346.4A Withdrawn EP2719173A1 (fr) 2011-06-07 2012-06-04 Système de caméra de véhicule et procédé pour fournir une image sans interruption de l'environnement du véhicule

Country Status (4)

Country Link
EP (1) EP2719173A1 (fr)
CN (1) CN103583041A (fr)
DE (1) DE102011077143A1 (fr)
WO (1) WO2012168170A1 (fr)

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Also Published As

Publication number Publication date
CN103583041A (zh) 2014-02-12
WO2012168170A1 (fr) 2012-12-13
DE102011077143A1 (de) 2012-12-13

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