EP3545463A1 - Procédé et dispositif de génération d'une vue de l'environnement d'un véhicule dans un véhicule - Google Patents

Procédé et dispositif de génération d'une vue de l'environnement d'un véhicule dans un véhicule

Info

Publication number
EP3545463A1
EP3545463A1 EP17787872.5A EP17787872A EP3545463A1 EP 3545463 A1 EP3545463 A1 EP 3545463A1 EP 17787872 A EP17787872 A EP 17787872A EP 3545463 A1 EP3545463 A1 EP 3545463A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
area
visible
cameras
texture
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.)
Ceased
Application number
EP17787872.5A
Other languages
German (de)
English (en)
Inventor
Georg Arbeiter
Rodrigo GARCIA MARQUES
Martin Simon
Johannes PETZOLD
Jörg Schrepfer
Markus Friebe
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.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3545463A1 publication Critical patent/EP3545463A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/001—Texturing; Colouring; Generation of texture or colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/40—Analysis of texture
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • 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
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to a method and a device for generating a vehicle environment view, in particular in egg ⁇ nem road vehicle.
  • Vehicles are increasingly being equipped with systems for displaying the vehicle environment of the vehicle.
  • This sogenann ⁇ th surround view systems give the vehicle environment of the vehicle as closely as possible again.
  • Conventional systems for displaying the vehicle environment view of the vehicle were ⁇ th camera images, which are recorded by vehicle cameras , which are brought to ⁇ a vehicle body of the vehicle.
  • the vehicle cameras are laterally mounted on different sides of the vehicle body to generate camera images of the vehicle surroundings of the vehicle and to transmit them to an image data processing unit.
  • ⁇ vehicle cameras provide no image data of a floor surface on which the vehicle body befin ⁇ det. This bottom surface is located below the vehicle ⁇ body and is not visible to the vehicle cameras .
  • a conventional vehicle environment view represents a relatively poor representation of the vehicle environment in the area of the floor surface.
  • This insufficient representation of the vehicle environment in the area below the vehicle body floor surface causes a driver of the vehicle in the execution of driving maneuvers, such as parking maneuvers, of the driver assistance system which determines the determined Viewing convincing view or evaluates, is supported only suboptimal, so that, for example, the vehicle body ⁇ rie can be damaged in the implementation of a vehicle maneuver.
  • It is therefore an object of the present invention to provide a method and an apparatus for generating a vehicle environment view generating environmental view of a more realistic driving ⁇ in the area of covered by the vehicle body ⁇ rie of the vehicle bottom surface provides, and thus the driver efficiently when performing maneuvers supports and in particular avoids damage to the vehicle ⁇ body.
  • This object is achieved according to a first aspect of the invention by a method for generating a vehicle environment view having the features specified in claim 1.
  • the invention accordingly provides a method for generating a vehicle environment view with the steps:
  • a texture of a below the vehicle body ge ⁇ lying, not visible to the vehicle cameras area of a floor surface within the vehicle environment view depending on texture data of the non-visible area of the bottom surface surrounding visible for the vehicle cameras area of the floor surface is calculated.
  • the image data values of the pixels Color ⁇ data values have.
  • the vehicle environment view is generated while the vehicle is moving over the ground surface.
  • the vehicle environment view is generated while the vehicle is standing on the ground surface.
  • the texture of the bottom of the Driving ⁇ generating body located, not visible to the vehicle cameras portion of the bottom surface is calculated by a calculation ⁇ unit in real time based on the be ⁇ riding provided by the vehicle cameras camera images.
  • the texture of the bottom of the Driving ⁇ generating body located, not visible to the vehicle cameras portion of the bottom surface has an inner area with a uniform color and an area surrounding the inner edge region.
  • a color transition from the colors detected by means of the vehicle cameras at the edge of the non-visible region to the uniform color of the inner region is produced in the edge region.
  • the invention further provides, according to a further aspect, a device for generating a vehicle environment view with the features specified in claim 6.
  • the invention accordingly provides an apparatus for generating a vehicle environment view having vehicle cameras mounted on a vehicle body of a vehicle and providing camera images of the vehicle surroundings of the vehicle and having a computing unit that calculates the vehicle surroundings view based on the provided camera images, wherein a texture of below The vehicle body is ⁇ calculated, not visible to the vehicle cameras area of a floor surface within the vehicle environment view in response to texture data of the non-visible area of the bottom surface enclosing visible for the vehicle cameras area of the floor area is calculated.
  • the device according to the invention has the texture of below the Anlagenkaros ⁇ series situated, not visible to the vehicle cameras Be ⁇ Reich the bottom surface of image points whose image data values by the calculating unit on the basis of image data values of the image points of the visible for vehicle cameras Be ⁇ kingdom the floor surface are extrapolated.
  • the device according to the invention have the image data values of the pixels, which are evaluated by the computing unit, color ⁇ image data values on.
  • the vehicle environment view is generated through the device while the vehicle is moving on the Bo ⁇ denthesis or is on the bottom surface.
  • the texture of the underneath of the vehicle body located, not visible to the vehicle cameras portion of the bottom surface is calculated by the calculation unit in real time based on the be ⁇ riding provided by the vehicle cameras camera images.
  • the texture of the below Anlagenkaros ⁇ series situated, not visible to the vehicle cameras Be ⁇ Reich the bottom surface has an inner area with a uniform color and an area surrounding the inner edge region.
  • a color transition from the colors detected by means of the vehicle cameras at the edge of the non-visible region to the uniform color of the inner region is produced in the edge region.
  • the invention provides a driver assistance system with a device for generating a Vehicle environment view according to the second aspect of the inven ⁇ tion.
  • the invention further provides, in another aspect, a vehicle having such a driver assistance system.
  • the vehicle comprises a land vehicle, a watercraft or an aircraft.
  • FIG. 1 shows a flow chart for illustrating an embodiment of a method according to the invention for generating a vehicle environment view
  • FIG. 2 shows a schematic view for illustrating the mode of operation of the method for generating a vehicle environment view illustrated in FIG. 1; a block diagram illustrating an embodiment of an inventive device for generating a vehicle environment view.
  • a first step Sl camera images KB are provided by vehicle cameras provided on a vehicle body of a vehicle F.
  • the various vehicle cameras continuously supply camera images or image data via signal lines for data processing.
  • the vehicle cameras are preferably provided on different sides of the vehicle body of the vehicle F.
  • the driving ⁇ convincing F may be preferably a land vehicle in particular ⁇ sondere a road vehicle or agricultural vehicle act.
  • the vehicle F may also be a watercraft or an aircraft or aircraft.
  • ⁇ play an aircraft capable of detecting camera images of the vehicle environment after landing in the movement in the airport.
  • a vehicle environment FUA view of the vehicle F is calculated based on the riding ⁇ be provided by the camera the camera images KB.
  • a texture is located one below the vehicle body or vehicle ⁇ hull, not visible to the vehicle cameras portion of a bottom surface within the Anlagenum suitssan ⁇ view in dependence of texture data of an enclosing the non visible ⁇ cash area of floor space, visible to the vehicle cameras portion of the bottom surface calculated.
  • the vehicle environment view FUA is preferably calculated by a calculation unit in real time on the basis of the image data or camera images transmitted by the vehicle cameras.
  • the texture of the underneath of the vehicle body or moving ⁇ generating hull located not sichtba ⁇ temperatures for the vehicle cameras portion of the bottom surface image points whose image data ⁇ values on the basis of image data values of the pixels of for the vehicle cameras extrapolated visible area of the floor area.
  • the image data values of the pixels in one possible embodiment have color image data values.
  • the vehicle surroundings view FUA of the vehicle surroundings of the vehicle F is generated while the vehicle F is stationary on a floor surface. Next ⁇ out may also be generated moves away while the vehicle on the floor surface in one possible embodiment the vehicle environment view FUA.
  • the texture of the un ⁇ terraum of the vehicle body located, not visible to the Anlagenka ⁇ meras portion of the bottom surface is calculated by the calculation unit in real time based on the camera images provided by the vehicle cameras.
  • FIG. 2 shows schematically the generation of a vehicle environment view FUA for performing the method according to the invention.
  • Figure 2 schematically shows the view from above of egg ⁇ ne vehicle body of a vehicle M, for example, egg ⁇ nes cars or trucks.
  • the vehicle F can stand or on a Bo ⁇ den configuration toonnebewe ⁇ gen over a ground surface thereby.
  • the vehicle body of the road vehicle is in ⁇ We sentlichen rectangular.
  • the timebil ⁇ KB of the vehicle environment to a computing unit lie ⁇ far.
  • the vehicle cameras can be, for example, fisheye cameras which transmit corresponding image data to the calculation unit.
  • FIG. 2 diagrammatically shows various camera images KB1-KB4 which are produced by different fisheye cameras.
  • Figure 2 shows a first camera image KB1, which is generated by a fisheye camera, which is located on the front of the Anlagenka ⁇ rosserie. Furthermore, camera images KB2, KB3 are shown schematically, which are generated by fisheye cameras be located on the two long sides of the vehicle body. Furthermore, in Figure 2, a fourth camera image KB4 is shown, which is evidence by a fisheye camera, he ⁇ which is disposed at the rear of the vehicle body of the vehicle F.
  • the various camera images KB of the vehicle environment may overlap in one possible embodiment.
  • the various vehicle cameras, in particular, fish-eye cameras can not provide image data of the located below the vehicle body frame or Bo ⁇ den quantities.
  • a texture of an un ⁇ ter endeavour of the vehicle body is situated, for the Anlagenka ⁇ meras, in particular fish-eye cameras, not visible Be ⁇ Reich a floor surface within the vehicle environment view FUA depending on texture data of the not visible area of the floor surface enclosing, for the vehicle cameras visible area of the floor surface calculates ⁇ net.
  • This enclosing, visible to the vehicle cameras area of the bottom surface is shown schematically in Figure 2.
  • the various camera images KB which are supplied by the vehicle cameras, each contain a plurality of pixels.
  • the texture of the underneath of the vehicle body of the vehicle F located, not visible to the vehicle ⁇ cameras region comprises picture elements whose image data values are extrapolated by the calculating unit on the basis of image data values of the visible for vehicle cameras portion of the bottom surface.
  • the image data values preferably have color image data values.
  • the texture of the non-visible for the vehicle cameras of the vehicle portion of the Bo ⁇ denfiguration has two color regions, namely an inner region and an indoor IB IB surrounds the edge region RB.
  • the texture of the inner region IB has a uniform color or a uniform color value.
  • the border area RB enclosing the interior area IB, which is shown hatched in FIG.
  • the rendering of the vehicle environment in the calculated vehicle environment view FUA thus becomes more realistic, so that the driver can be more efficiently assisted in performing vehicle maneuvers.
  • the generated vehicle environment view FUA can be further processed to further functional units of a driver assistance system in order to provide further driver assistance functions for the driver. Due to the higher quality of the generated vehicle environment view FUA, the further calculated driver assistance functions can more reliably assist the driver.
  • FIG. 3 shows a block diagram of an embodiment of an inventive device 1 for generating a vehicle environment view FUA.
  • the device 1 contains a calculation unit 4, in particular a microprocessor or a processor, which evaluates camera images or image data that are transmitted by different vehicle cameras 2-i.
  • the various vehicle cameras 2-i are located on different sides of a vehicle body 3 of a vehicle F.
  • the vehicle cameras 2-i can be fisheye cameras which provide camera images KB of the vehicle surroundings of the vehicle F in real time.
  • the calculation unit 4 performs the image data processing of the received camera images KB in real time.
  • the computation unit 4 of the device 1 performs a calculation ⁇ voltage of the vehicle environment view FUA based on the receive ⁇ NEN camera images KB by using a texture of a underneath the vehicle body 3 of the vehicle F located, not visible to the vehicle cameras 2-i region of a Bodenflä ⁇ che an enclosing non-exposed areas of the bottom surface within the vehicle environment in view FUA
  • ⁇ speed of texture data is calculated for the vehicle cameras 2 ⁇ view cash portion of the floor surface.
  • the vehicle F may be in motion when the calculation of the vehicle environment view by the calculation unit 4 or may be fixed on a floor surface.
  • the vehicle F may be a land vehicle, for example a road vehicle, or to trade an agricultural vehicle.
  • the apparatus 1 for computing the vehicle environment view FUA forms part of a driver assistance system FAS, which provides various assistance functions and auxiliary functions for the driver particularly in the implementation of driving maneuvers at a Moegli ⁇ chen embodiment.
  • the calculated or generated vehicle environment view FUA is cached in egg ⁇ nem data storage, on the other radio units ⁇ tion of the driver assistance system FAS have access.
  • the cached or recorded vehicle environment view is FUA the vehicle Conversely ⁇ bung further elaborated ⁇ enhanced by data processing units of the various functional units of the driver assistance system to provide various assistance functions for the driver of the vehicle F.
  • the driver is assisted in carrying out a driving maneuver, in particular a parking maneuver, by the driver assistance system FAS. Due to the high quality of the calculated vehicle environment view, which also includes a texture of the ground surface, the provided functions can assist the driver in performing the driving maneuver with greater certainty and reliability than is the case with conventional driver assistance systems FAS.
  • the probability of damage to the vehicle body 3 during ei ⁇ nes such driving maneuver is reduced accordingly.
  • the vehicle F shown in Figure 3 is a land vehicle, particularly a road ⁇ . poverty or an agricultural vehicle with a Moegli ⁇ chen embodiment.
  • the vehicle chen Moegli ⁇ F is an aircraft such as an airplane, which vehicle body or vehicle body is equipped with vehicle cameras 2-i. In this embodiment, for example, a pilot of the aircraft is subjected during maneuvers on an aerodrome. supports.
  • a watercraft or a vessel on the ship's hull may also be in the vehicle F a watercraft or a vessel on the ship's hull to the vehicle cameras 2-i are and provide corresponding influencebi ⁇ lder KB to a calculation unit 4 for producing a vehicle environment view FUA of the ship's vehicle.
  • vehicle ⁇ bung view FUA can be output in a possible embodiment on a display unit to a driver of a road vehicle to a pilot of an aircraft or a ship ⁇ leader of a watercraft.
  • the vehicle environment view FUA is recorded in a data memory for further evaluation.
  • the calculated vehicle environmental view FUA is transmitted via an integrally Schlos ⁇ Senen to the calculation unit 4 transceiver to a central controller.
  • This control is located, for example, in the tower of an airport. In this way, third parties can follow or monitor the execution of vehicle maneuvers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

L'invention concerne un procédé de génération d'une vue de l'environnement d'un véhicule, comprenant les étapes suivantes : fourniture (S1) d'images de caméra (KB) au moyen de caméras de véhicule (2) qui sont montées sur une carrosserie (3) d'un véhicule (F); et calcul (S2) de la vue de l'environnement du véhicule sur la base des images de caméra (KB) fournies, une texture d'une zone d'une surface de sol, située sous la carrosserie de véhicule (3), invisible pour les caméras de véhicule (2), étant calculée dans la vue de l'environnement de véhicule en fonction de données de texture d'une zone de la surface de sol visible pour les caméras de véhicule (2), comprenant la partie invisible de la surface de sol.
EP17787872.5A 2016-11-25 2017-09-15 Procédé et dispositif de génération d'une vue de l'environnement d'un véhicule dans un véhicule Ceased EP3545463A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016223391.2A DE102016223391A1 (de) 2016-11-25 2016-11-25 Verfahren und vorrichtung zum erzeugen einer fahrzeugumgebungsansicht bei einem fahrzeug
PCT/DE2017/200096 WO2018095490A1 (fr) 2016-11-25 2017-09-15 Procédé et dispositif de génération d'une vue de l'environnement d'un véhicule dans un véhicule

Publications (1)

Publication Number Publication Date
EP3545463A1 true EP3545463A1 (fr) 2019-10-02

Family

ID=60161903

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17787872.5A Ceased EP3545463A1 (fr) 2016-11-25 2017-09-15 Procédé et dispositif de génération d'une vue de l'environnement d'un véhicule dans un véhicule

Country Status (6)

Country Link
US (1) US10937201B2 (fr)
EP (1) EP3545463A1 (fr)
JP (1) JP7008068B2 (fr)
CN (1) CN110023947A (fr)
DE (2) DE102016223391A1 (fr)
WO (1) WO2018095490A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016220651A1 (de) 2016-10-20 2018-04-26 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erzeugung einer Fahrzeugumgebungsansicht bei einem Fahrzeug
DE102018203590A1 (de) 2018-03-09 2019-09-12 Conti Temic Microelectronic Gmbh Surroundview-System mit angepasster Projektionsfläche
DE102018207976A1 (de) 2018-05-22 2019-11-28 Continental Automotive Gmbh Verfahren und Vorrichtung zum Anzeigen einer Fahrzeugumgebung
JP7018923B2 (ja) * 2019-12-13 2022-02-14 本田技研工業株式会社 駐車支援装置、駐車支援方法およびプログラム
DE102020213146B3 (de) * 2020-10-19 2021-08-05 Continental Automotive Gmbh Kamerasystem zur Umfelderfassung für ein Fahrzeug sowie Verfahren zum Betrieb eines derartigen Kamerasystems
US11935156B2 (en) * 2022-02-18 2024-03-19 GM Global Technology Operations LLC Methods and systems for color harmonization in surround view systems

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4581294B2 (ja) 2001-06-06 2010-11-17 日産自動車株式会社 車両用表示装置
US8605947B2 (en) * 2008-04-24 2013-12-10 GM Global Technology Operations LLC Method for detecting a clear path of travel for a vehicle enhanced by object detection
JP5182042B2 (ja) 2008-11-28 2013-04-10 富士通株式会社 画像処理装置、画像処理方法及びコンピュータプログラム
JP5035284B2 (ja) 2009-03-25 2012-09-26 株式会社日本自動車部品総合研究所 車両周辺表示装置
CN101588482A (zh) * 2009-06-02 2009-11-25 石黎 一种车载虚拟全景电子系统
DE102011077143A1 (de) * 2011-06-07 2012-12-13 Robert Bosch Gmbh Fahrzeugkamerasystem und Verfahren zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung
FR2976355B1 (fr) * 2011-06-09 2013-06-21 Jean Luc Desbordes Dispositif de mesure de vitesse et de position d'un vehicule se deplacant le long d'une voie de guidage, procede et produit programme d'ordinateur correspondant.
DE102011077398B4 (de) 2011-06-10 2021-11-04 Robert Bosch Gmbh Fahrzeugkamerasystem zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung und entsprechendes Verfahren
US10460475B2 (en) * 2012-02-07 2019-10-29 Zencolor Global, Llc Normalization of color from a captured image into a universal digital color system for specification and matching
DE102012211025A1 (de) * 2012-06-27 2014-01-02 Robert Bosch Gmbh Verfahren zur Fahrassistenz und Fahrassistenzsystem
JP2014036326A (ja) 2012-08-08 2014-02-24 Honda Motor Co Ltd 俯瞰画像表示装置
DE102012112724A1 (de) * 2012-12-20 2014-06-26 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung eines Fahrbahnzustands aus Umfeldsensordaten
DE102013200427B4 (de) * 2013-01-14 2021-02-04 Robert Bosch Gmbh Verfahren und Vorrichtung zum Erzeugen eines Rundumsichtbildes einer Fahrzeugumgebung eines Fahrzeugs, Verfahren zum Bereitstellen zumindest einer Fahrerassistenzfunktion für ein Fahrzeug, Rundumsichtsystem für ein Fahrzeug
US9886636B2 (en) 2013-05-23 2018-02-06 GM Global Technology Operations LLC Enhanced top-down view generation in a front curb viewing system
GB201406405D0 (en) 2014-04-09 2014-05-21 Jaguar Land Rover Ltd Apparatus and method for displaying information
US9892493B2 (en) 2014-04-21 2018-02-13 Texas Instruments Incorporated Method, apparatus and system for performing geometric calibration for surround view camera solution
DE102014208664A1 (de) * 2014-05-08 2015-11-12 Conti Temic Microelectronic Gmbh Verfahren und vorrichtung zum verzerrungsfreien anzeigen einer fahrzeugumgebung eines fahrzeuges
DE102014117888A1 (de) 2014-12-04 2016-10-13 Connaught Electronics Ltd. Online-Kalibrierung eines Kraftfahrzeug-Kamerasystems
US9811743B2 (en) 2015-06-29 2017-11-07 Sharp Laboratories Of America, Inc. Tracking road boundaries
DE102016005463A1 (de) * 2016-05-03 2016-11-17 Daimler Ag Verfahren und Vorrichtung zur Erkennung und Lokalisierung von Fahrbahnunebenheiten
JP2017220163A (ja) 2016-06-10 2017-12-14 富士通テン株式会社 画像生成装置、画像表示システム及び画像生成方法
DE102016220651A1 (de) 2016-10-20 2018-04-26 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erzeugung einer Fahrzeugumgebungsansicht bei einem Fahrzeug
US20200051435A1 (en) 2016-11-09 2020-02-13 Sony Semiconductor Solutions Corporation Information processing apparatus, information processing method, program, and movable object

Also Published As

Publication number Publication date
US20200258266A1 (en) 2020-08-13
DE112017004613A5 (de) 2019-06-13
CN110023947A (zh) 2019-07-16
JP2020501226A (ja) 2020-01-16
US10937201B2 (en) 2021-03-02
JP7008068B2 (ja) 2022-01-25
DE102016223391A1 (de) 2018-05-30
WO2018095490A1 (fr) 2018-05-31

Similar Documents

Publication Publication Date Title
WO2018095490A1 (fr) Procédé et dispositif de génération d'une vue de l'environnement d'un véhicule dans un véhicule
EP3328686B1 (fr) Méthode et dispositif pour l'affichage de la région entourant un ensemble véhicule et remorque
DE102016102002B4 (de) Verbesserung einer Fahrzeugbewegungsabschätzung mit Radardaten
DE102016210376B4 (de) Intelligente anhängervorrichtungssteuerung, die ein hmi-gestütztes visual servoing verwendet
DE102017111530A1 (de) Systeme und Verfahren für ein Zugfahrzeug und einen Anhänger mit Rundumsichtbildgeräten
WO2018072793A1 (fr) Procédé et système de génération d'une vue de l'environnement d'un véhicule avec un véhicule
DE102018104857A1 (de) Verfahren und Systeme zum Analysieren von Fahrzeugreifen unter Verwendung von an einem Fahrzeug montierten Kameras
EP3413086B1 (fr) Procédé de caractérisation d'une remorque attachée à un véhicule tracteur, système d'aide à la conduite ainsi qu'ensemble attelé
DE102016123884A1 (de) Kupplungswinkeldetektion für anhängerrückfahrassistenzsystem
DE102018121370A1 (de) Anhänger-rückfahrhilfesystem mit prädiktiver anhängerkupplungswinkelfunktion
DE102018108107A1 (de) Systeme und verfahren zur fehlererkennung bei der schätzung der quergeschwindigkeit
DE102016113808A1 (de) Fahrspurerkennungsvorrichtung
DE102019104352A1 (de) Kupplungsunterstützungssystem mit schätzung der anhängerhöhe und identifizierung des kupplungskopplers
DE112019005706T5 (de) ysteme und Verfahren zur Steuerung einer Fahrzeugkamera
DE102016220894A1 (de) Verfahren und Vorrichtung zum Erzeugen einer Fahrzeugumgebungsansicht bei einem Fahrzeug
DE112020002753T5 (de) Fahrzeugsteuerverfahren, fahrzeugsteuervorrichtung und fahrzeugsteuersystem diese enthaltend
DE112020000325T5 (de) Schätzung von Anhängereigenschaften mit Fahrzeugsensoren
DE102017109514A1 (de) Adaptive Rückfahranzeige
DE102021115708A1 (de) Systeme und verfahren zur aktiven totwinkelunterstützung
EP2603403B1 (fr) Methode d'affichage d'images sur un panneau d'affichage dans un véhicule automobile, système d'aide à la conduite et véhicule
DE102014202259B4 (de) Abschätzung von Parametern eines Nutzfahrzeugs
DE102022117260A1 (de) Fahrzeug mit vollgeschwindigkeitsbestimmung mit radar
DE102016123135B4 (de) Fahrzeugdatenaufzeichnung
DE102018004110A1 (de) Verfahren und Steueranordnung zum Modellieren einer räumlichen Bewegung eines Anhängers, der gelenkig an ein Fahrzeug angehängt ist
DE102019220526A1 (de) Verfahren und Vorrichtung zum Bestimmen von mindestens einem Knickwinkel eines Fahrzeuggespanns

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20190625

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: CONTI TEMIC MICROELECTRONIC GMBH

17Q First examination report despatched

Effective date: 20201217

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20230131