JPWO2020233755A5 - - Google Patents

Description

The present invention relates to a method and apparatus for generating images of vehicle surroundings.

Vehicles are increasingly being equipped with driver assistance systems that assist the driver in carrying out driving maneuvers . Some of these driver assistance systems include camera surround view systems that allow the driver of the vehicle to be shown the surroundings of the vehicle. Such a camera surround view system provides in particular a plurality of real images of the vehicle surroundings which are integrated into the surrounding image of the vehicle surroundings by a data processing unit of the camera surround view system . Alternatively , a plurality of in-vehicle cameras are provided . Furthermore, the image of the vehicle surroundings is advantageously displayed to the driver on the display unit. In this manner, the driver can be assisted in vehicle operations such as backing up and parking the vehicle.

Camera images supplied from adjacent on-board cameras overlap in the overlap region . If the on-board cameras are placed on different sides of the vehicle , different on-board cameras may have different lighting conditions. For example, sunlight may illuminate the vehicle perimeter from one side . Furthermore, along the road on which one is traveling, different on-board cameras may have different lighting conditions. For example, when a vehicle enters a tunnel for vehicles, the area around the front on-board camera suddenly becomes dark, while the area around the rear on-board camera is still well illuminated by natural light. Therefore, in the conventional surround view system, image artifacts, especially brightness unevenness in the integrated image, caused by different light conditions for each vehicle-mounted camera in the synthesized integrated image or surround view image. Occur.

Based on this, it is an object of the present invention to provide a method or a device with which the problems caused by differences in brightness between neighboring on-board cameras can be eliminated .

This task is achieved by a method with the features of independent claim 1 . The device is subject matter of a parallel independent claim. Preferred embodiments are subject matter of the dependent claims.

According to a first aspect , the invention relates to a method for generating an image of a vehicle surroundings, the method comprising the steps of:
- in particular, capturing the vehicle's surroundings by means of a plurality of on-board cameras arranged on the body of the vehicle;
- generating camera images by means of a plurality of on-board cameras, the camera images of neighboring on-board cameras comprising overlapping image regions (hereinafter overlapping image regions) ;
- generating a virtual representation of the periphery in the virtual three-dimensional space, the generation of which involves projection of the camera image onto a virtual projection plane in the three-dimensional virtual space; step to
- providing a non-fixed virtual camera in the virtual space and determining the position and/ or orientation of the virtual camera ;
- placing the first selected area on the virtual projection plane within the first overlapping image area according to the field of view of the virtual camera;
- calculating at least one image parameter of the first on-board camera in the first selected area;
- Fitting at least one image parameter of the second vehicle-mounted camera to at least one image parameter of the first vehicle-mounted camera in the first selection area ;
Prepare .

In particular, the method according to the invention can improve the image quality in the three-dimensional virtual representation of the surround view within the visibility region . Furthermore, the method according to the invention can eliminate brightness differences between neighboring cameras.

In particular, method steps are performed in the order presented .

Adjacent on-board cameras see at least partially the same area, so that the camera images of adjacent on- board cameras or adjacent camera images consequently have overlapping image areas. In other words, by at least partially overlapping the viewing areas of adjacent onboard cameras, adjacent onboard cameras consequently have overlapping areas.

A virtual representation of the perimeter in virtual three-dimensional space is preferably generated by a computing unit. In this case the virtual representation is in particular a three-dimensional representation of the periphery or comprises a three-dimensional representation of the periphery .

In a preferred embodiment, the virtual projection surface may comprise or be configured as a curved virtual projection surface. The projection plane may be partially or fully curved . Advantageously, the virtual projection surface is bowl -shaped . In particular, the bowl- shaped virtual projection surface has a substantially flat bottom . Preferably, the substantially flat bottom transitions into curved sidewalls.

For purposes of the present invention, the selected area may be one pixel . However, it may also be a region or a plurality of pixels. Advantageously , the area is chosen to be as small as possible. This makes it possible to achieve the best possible image quality . Furthermore, quality can be improved if multiple measurement points are selected within a region or within a narrower region.

The onboard camera is preferably a surround view system camera. In particular, there are four cameras, which are ideally placed on different sides of the vehicle . Preferably, one vehicle-mounted camera is arranged on the front, rear, left and right sides of the vehicle . The onboard camera can be configured as a fisheye camera . Advantageously, the on - board cameras have the same configuration.

In a preferred embodiment of the invention, a second selection area is arranged on the virtual projection plane within the second overlapping image area according to the viewing area of the virtual camera . In a further step at least one image parameter of the further on-board camera is calculated in a second selected area, the camera image of the further on-board camera comprising a second overlapping image area . The further on-board camera is preferably a third on-board camera . However , the on-board camera can also be a second on-board camera. In a next step, the camera image of the further on-board camera likewise has a second overlapping image area , wherein at least one image parameter of the further on-board camera is determined in the second selection area by at least It is adapted to one image parameter . The other vehicle-mounted camera is preferably the second vehicle-mounted camera . However , the other vehicle-mounted camera may be the third vehicle-mounted camera.

Preferably, the selection area, in particular the first or second selection area, is independent of the position of the other areas. In particular, the first and second selected areas are located at different axes and/ or different heights . In particular, the selected areas are not located on the same coordinate axis . When viewing the virtual three-dimensional space, the two selected areas are located , in particular, at different planes or heights within the virtual three-dimensional space.

Advantageously, the image and / or the adaptation of the image parameters of the on-board camera with the first and second overlapping image areas is ( locally ) interpolated or interpolated between the first and second selected areas. done by a function. In addition, among other things , the determined image parameters are considered within the selected area . The vehicle-mounted camera is preferably a second vehicle-mounted camera . Interpolation allows for particularly smooth visual transitions between selected regions.

In one embodiment, linear interpolation may be used , where the formula may be "(1-alpha)*a+alpha*b". alpha can range from 0 to 1 and describes the distance between selection area a and selection area b, where the distance can be described by a 3D vector.

In one embodiment of the invention, the position of the selection area or the positions of multiple selection areas is considered during the interpolation. Preferably, the three-dimensional position of the selection area or the three-dimensional positions of a plurality of selection areas are considered. Additionally or alternatively , in particular the X , Y and Z coordinates of the currently rendered point between the first and second selection areas are taken into account. Preferably, multiple coordinate values are considered if the selection areas are not located on and/ or along the same coordinate axis . Thus , in particular, not only the X-coordinate values but also the Y- and/ or Z-coordinate values are taken into account . This makes it possible to achieve a more flexible and more adaptive application of the harmonic values. In the known method, the interpolation of luminance differences is applied only along one axis , eg the x-axis, and other values, eg y and z values are not considered .

In a preferred embodiment the positioning of the selection area, in particular the first and/ or the second selection area, is such that in a first step the selection area is positioned at a reference position within the overlapping image area. It is implemented by being The image area may be the first overlapping image area or the second overlapping image area. In a further or subsequent step it is checked whether the selected area is visible with the virtual camera at the reference position. For example, if the selection area is outside the virtual camera 's field of view, in particular outside the Field of View , the selection area will not be visible to the virtual camera. Another reason is that a virtual vehicle model surrounded by a virtual projection plane is inserted into the virtual three-dimensional space. In this case , the vehicle model, in particular, essentially lies between the position of the virtual camera and the selection area.

If the selection area is visible to the virtual camera, the selection area preferably remains in the reference position . If the selection area is not visible to the virtual camera, the selection area on the virtual projection plane within the overlapping image area can be moved . Specifically, the selection area is moved until it becomes visible to the virtual camera.

The reference position may be stored in memory. In an embodiment of the method according to the invention, it is advantageous to first place the selection area in a reference position .

The selection area can be placed on the reference position or repositioned if during the check it is found that no selection area is within the overlapping image area visible to the virtual camera. can Therefore, the reference position can in particular also be used as an avoidance position or a return position .

In one advantageous embodiment of the invention, parameters of a vehicle model are provided , the parameters being preferably inserted into the virtual three-dimensional space . A " parameter" is at least vehicle height and/ or vehicle length and/ or vehicle width . However, it is also conceivable that the parameters are virtual vehicle models. Preferably the parameters are stored in the model memory.

Preferably , the virtual projection plane surrounds the parameters of the vehicle model in virtual space. If the virtual projection surface is bowl -shaped and has an essentially flat bowl -shaped bottom , the vehicle model or the parameters of the virtual vehicle model are arranged on the bottom . Particularly preferably , the parameters of the vehicle model or virtual vehicle model are arranged essentially centrally on the bottom .

Preferably, the image parameters are image brightness , image contrast, image color , image sharpness , color saturation and/ or texture frequency .

In one advantageous embodiment , the first vehicle-mounted camera is a front vehicle-mounted camera . The first vehicle- mounted camera basically has a field of view that captures the area in front of the vehicle . When the first vehicle-mounted camera is a front vehicle-mounted camera, preferably the third camera is a rear vehicle-mounted camera. A rear vehicle- mounted camera basically has a field of view that captures the area behind the vehicle . The front and rear on-board cameras preferably point in opposite directions and/ or preferably have the same optical axis. However, it is also conceivable that the first vehicle-mounted camera is the rear vehicle-mounted camera and/ or the third vehicle-mounted camera is the front vehicle-mounted camera.

In a preferred embodiment of the invention , the second vehicle-mounted camera is a side vehicle-mounted camera . An on-board camera basically has a field of view that captures the lateral area of the vehicle. Particularly preferably , the second vehicle-mounted camera is a left or right vehicle-mounted camera . The second vehicle-mounted camera may be arranged on the exterior mirror of the vehicle.

In one particularly advantageous embodiment of the method, the image parameters of the left and / or right on-board camera, in particular the brightness of the left and / or right camera image , are adjusted to the front and/ or is adapted to the image parameters of the rear on-board camera, in particular the brightness of the front and/or rear camera image . The image parameters of the left and/ or right vehicle-mounted camera thereby correspond in particular to the image parameters of the front and/ or rear vehicle-mounted camera at the junction . According to the invention, this means that the first on-board camera is the front on-board camera, the further on-board camera is the rear on-board camera, and the second on-board camera and the other on-board camera are the same on-board camera. , and is achieved by supporting one side vehicle-mounted camera. Further , the first vehicle-mounted camera is a rear vehicle-mounted camera, the further vehicle-mounted camera is a front vehicle-mounted camera, the second vehicle-mounted camera and the other vehicle-mounted camera are the same vehicle-mounted camera, and This is achieved by accommodating one side-mounted vehicle camera.

According to a second aspect, the invention relates to a device for generating an image of the vehicle surroundings, the device comprising:
- a plurality of on-board cameras for capturing the vehicle surroundings and generating camera images , the camera images of adjacent on-board cameras comprising overlapping image areas, and the on-board cameras , in particular the body of the vehicle; a plurality of in-vehicle cameras attached to the
- a computing unit configured to generate a virtual representation of the perimeter in three-dimensional space, where the camera image is projected onto a virtual projection plane in the three-dimensional virtual space; a computing unit, and
- a non-fixed virtual camera ;
comprising _
in the device,
The computing unit is
locating a first selected area on the virtual projection plane within the first overlapping image area according to the viewing area of the virtual camera; and
calculating at least one image parameter of the first vehicle-mounted camera within the first selected area; and
The apparatus further configured to match at least one image parameter of the second vehicle-mounted camera to at least one image parameter of the first vehicle-mounted camera within the first selected area. is.

In particular the device is suitable for carrying out the method according to the invention.

The virtual camera can or can move freely within the virtual three-dimensional space. Also, the orientation of the virtual camera can be freely moved. Thus , in particular, regions in the vehicle 's periphery that are captured by the on-board camera can be observed.

In a preferred embodiment of the device according to the invention , the computing unit arranges the second selection area on the virtual shadow plane within the second overlapping image area according to the field of view of the virtual camera . and calculating, in a second selection area, at least one image parameter of the further on-board camera, the camera image of the further on-board camera having a second overlapping image area, and in the second selection area , the camera image of the other on-board camera adapts at least one image parameter of the other on-board camera also having a second overlap region to at least one image parameter of the further on-board camera. there is Furthermore , the calculation unit is adapted to adapt the image parameters of the on-board camera with the first and second overlapping image areas or with the first and second selection areas to the first and second selection areas. may be configured to perform by interpolation between .

Further advantageous embodiments of the invention are illustrated by the drawings.

1 is a schematic diagram of a flow chart of a method according to the invention in one embodiment; FIG. 1 is a schematic illustration of a device according to the invention in one embodiment; FIG. 1 is a schematic plan view showing a virtual representation of a vehicle periphery; FIG . 1 is a schematic diagram of a virtual camera; FIG.

FIG. 1 shows a schematic diagram of a flow chart of an embodiment of the method according to the invention for generating an image of the vehicle surroundings.

In a first process step S1, the vehicle surroundings are captured by a plurality of on-board cameras 12, 14, 16, 18. On-board cameras 12, 14, 16, 18 are arranged in particular on the body of the vehicle. In step S2, camera images are generated by a plurality of vehicle-mounted cameras 12, 14, 16, 18. At that time, camera images of adjacent vehicle-mounted cameras 12, 14, 16, 18 overlap image areas. 40, 42, 44, 46 .

Subsequently, in a third step S3, a virtual representation of the periphery is generated within the virtual three-dimensional space 60. FIG. In this case , the camera image is projected onto the virtual projection plane 62 . In a fourth step S4 a non-fixed virtual camera 48 is provided within the virtual space 60 . Furthermore , the position of the virtual camera and/ or the orientation of the virtual camera are also calculated.

In addition, according to a preferred embodiment , parameters of a vehicle model or such a vehicle model can also be provided , wherein the parameters or vehicle model are preferably inserted into the virtual three-dimensional space.

In a fifth step S<b>5 , a first selected area 56 on the virtual projection plane 62 within the first overlapping image area 40 is determined according to the viewing area 50 of the virtual camera 48 . In particular, the determination of the first selection area 56 is performed in a first step by placing the selection area 56' at a reference position within the overlapping image area. In a subsequent step, it is checked whether the selected area 56' is visible with the virtual camera 48 at the reference position . If the selection area is visible to the virtual camera 48, the selection area is preferably maintained at the reference position . If the selection area 56 ′ is not visible to the virtual camera 48 , it is moved on the virtual projection plane 62 within the overlap image area 40 .

If the first selection area 56 has been determined , then at least one image parameter of the first onboard camera 12 within the first selection area 56 is determined in a sixth step S6. In a seventh step S<b>7 , at least one image parameter of the second onboard camera 14 is then adapted to at least one image parameter of the first onboard camera 12 within the first selection area 56 .

In addition to determining the first selection area, as depicted in FIG. 1, other selection areas can also be determined . For this , in particular, in an eighth step S8, within the second overlapping image area 42 , a second selected area 58 on the virtual projection plane 62 is determined according to the viewing area 50 of the virtual camera 48. FIG. Determination of the second selection area 58 may be performed in the same manner as determination of the first selection area 56 . When the second selection area 58 is arranged , preferably in the ninth step S9 , the camera image of the additional vehicle-mounted camera has the second overlapping image area 42 in the second selection area 58 . At least one image parameter of a further on-board camera 16 is calculated . Then, in step S10, preferably, in the second selection area 58, the camera image of the other vehicle camera 14 also has the second overlap image area 42 of the other vehicle camera 14. At least one image parameter is adapted to at least one image parameter of the further on-board camera 16 . Then , in step S11, the image parameters of the vehicle-mounted camera 14 having the first overlapping image area 40 and the second overlapping image area 42 are calculated by interpolation between the first selected area 56 and the second selected area 58. can.

FIG. 2 shows a schematic diagram of an apparatus 38 according to the invention in one embodiment . The device 38 comprises a plurality of onboard cameras 12, 14, 16, 18 for capturing the vehicle surroundings and for generating camera images. The viewing areas 20, 22, 24, 26 of adjacent onboard cameras 12, 14, 16, 18 at least partially overlap . As a result, adjacent onboard cameras 12, 14, 16, 18 have overlapping areas 28, 30, 32, 34. FIG. Furthermore, this allows the camera images of adjacent on-board cameras 12, 14, 16, 18 to have overlapping image areas 40, 42, 44, 46. FIG.

As can be seen from FIG. 2, device 38 may further comprise a non-fixed virtual camera 48 . Furthermore, the device 38 also comprises a computing unit 36 . The computing unit 36 is adapted to generate a virtual representation of the perimeter in the virtual three-dimensional space 60 , the virtual projection plane 62 in the three-dimensional virtual space 60 of the camera image being generated. An upward projection is performed . Further , the calculation unit 36 places the first selected area 56 on the virtual projection plane 62 within the first overlapping image area 56 according to the viewing area 50 of the virtual camera 48 , and the first selected area in the first selected area. At least one image parameter of the on-board camera 12 is calculated so that in the first selection area 56 at least one image parameter of the second on-board camera 14 can be adapted to at least one image parameter of the first on-board camera 12 . is configured to Advantageously, the on-board cameras 12, 14, 16, 18 are cameras of a surround view system, whereby there are four cameras in total and the on-board camera 12 is positioned in front of the vehicle , An on-board camera 16 is arranged on the rear side of the vehicle , an on-board camera 14 is arranged on the left side of the vehicle , and an on-board camera 18 is arranged on the right side of the vehicle .

FIG. 3 shows a schematic plan view showing a virtual representation of the vehicle periphery. The image areas of the camera images are represented by dashed lines, with adjacent camera images having overlapping image areas 40 , 42 , 44 , 46 . A vehicle model 54 has been inserted into the virtual representation. Also shown in FIG. 3 is a virtual camera 48 . The virtual camera 48 is positioned to the right of a vehicle model 54 and has a viewing area 50 pointing essentially from lower right to upper left and containing the vehicle model 54 (represented by the dashed line), wherein , the vehicle model 54 obscures an area 52 of virtual representation with respect to the virtual camera 48 .

A first selection area 56' is located within the overlapping image area 40 of the first and second onboard cameras. According to the invention , the selection area 56' is preferably placed in a reference position in a first step and then it is checked whether the selection area 56' is visible in the virtual camera 48. be. If not visible , the selection area is preferably moved within the overlap image area 40 . As shown in FIG. 3, selection area 56 ′ is within occluded area 52 and as a result is not visible to virtual camera 48 . Accordingly, the first selected area 56' is moved to obtain, for example, a selected area 56''.

FIG. 4 shows a schematic diagram of a virtual camera. A vehicle model 54 is inserted in the virtual three-dimensional space 60 . A vehicle model 54 is surrounded by a virtual projection plane 62 , which is basically bowl- shaped and has a basically flat bottom so that the vehicle model 54 is preferably located on the bottom .
The virtual camera is positioned to the rear right of the vehicle model 54 and points to the forward left overlapping image region 40 .

A selection area 56 is positioned within the overlap image area 40 . The selection area 56 is arranged in the wall area of the projection plane 62 . In particular, the selected area 56 is not on the bottom or the selected area 56 is located above the x- axis and the y- axis . If the selection area 56 were to lie on the x- axis within the overlapped image area 40, as is generally done in the prior art, it would not be visible to the virtual camera 48. FIG. Also shown in FIG. 4 is a second selection area 58 located within the overlapping image area 42 of the second and third vehicle mounted cameras . The selection area 58 is located on the bottom surface of the virtual projection plane 62, and therefore , in particular, has a z-coordinate value of zero. Therefore, the selection areas 56, 58 are not located on the same coordinate axis , and preferably have different values on the three coordinate axes . Within the selection areas 56, 58, at least one image parameter of the vehicle-mounted camera having corresponding overlapping image areas is calculated, followed by the determination of the vehicle-mounted camera having the same overlapping image areas. At least one image parameter is fitted to it. Preferably , at least one image parameter of one side vehicle-mounted camera is adapted to at least one image parameter of the front and/ or rear vehicle-mounted camera . With respect to FIG. 4, this means that in the selection area 56 one image parameter of the front on-board camera 20 is calculated, followed by one image parameter of the left-hand on-board camera 22 . is adapted. An image parameter of the rear vehicle-mounted camera 24 is calculated in the selection area 58 and then an image parameter of the left-side vehicle-mounted camera 22 is adapted. In an on-board camera with both selection areas 56, 58, the adaptation of the image parameters between the selection areas 56, 58 is preferably performed by interpolation . This is represented in FIG. 4 by the line or curve connecting the selected areas 56,58. Unlike methods known from the prior art, this line does not extend only along a single axis. In particular, the positions of the selection regions 56, 58 and the x, y and/ or z coordinates of the currently rendered point are also considered during interpolation.

The invention has been illustrated by the above examples. However, it should be understood that many modifications and variations are possible without departing from the scope as defined in the claims. Combinations of the various embodiments are also possible.

12 First onboard camera 14 Second onboard camera 16 Third onboard camera 18 Fourth onboard camera 20 Field of view area 22 of first onboard camera Viewing area of second onboard camera 24 Viewing area of third onboard camera 26 Field of view area 26 of fourth onboard camera Field of view area 28 First/second onboard camera overlap area 30 Second/third onboard camera overlap area 32 Third/fourth onboard camera overlap area 34 Fourth/first onboard camera overlap area 36 Calculation unit 38 Apparatus 40 Overlapping image area 42 of first/second onboard camera Overlapping image area 44 of second/third onboard camera Overlapping image area 46 of third/fourth onboard camera Fourth/first onboard camera Camera Overlapping Image Area 48 Virtual Camera 50 Virtual Camera View Area 52 Obscured Area for Virtual Camera 54 Vehicle Model 56 ^(')/('') First Selected Area 58 Second Selected Area 60 Virtual Cubic Original space 62 virtual projection surface S1-S11 process steps

Claims (12)

A method for generating an image of a vehicle periphery , comprising:
The method includes the following steps:
- capturing (S1) the vehicle surroundings , in particular by means of a plurality of on-board cameras (12 , 14 , 16 , 18) arranged on the body of the vehicle;
- a step (S2) of generating camera images by a plurality of on-board cameras (12 , 14 , 16 , 18), wherein the camera images of adjacent on -board cameras (12 , 14 , 16 , 18) overlap image areas; generating a camera image (S2) , comprising (40 , 42 , 44 , 46);
- a step (S3) of generating a virtual representation of the periphery in the virtual three-dimensional space (60), during which generation a virtual projection plane (62) in the three-dimensional virtual space (60) of the camera image; generating a virtual representation (S3), which is projected upwards;
- providing a non-fixed virtual camera (48) in the virtual space (60) and determining the position and/ or orientation of the virtual camera (S4);
- placing (S5) the first selected area (56) on the virtual projection plane (62) within the first overlapping image area (40) according to the field of view (50) of the virtual camera (48) ;
- calculating (S6) at least one image parameter of the first on-board camera (12) in the first selection area (56);
- in the first selection area (56), the step (S7) of matching at least one image parameter of the second on-board camera (14) to at least one image parameter of the first on-board camera (12) ;
A method comprising : the following steps :
- placing (S8) a second selected area (58) on a virtual projection plane (62) within a second overlapping image area (42) according to the viewing area (50) of the virtual camera (48) ;
- calculating (S9) in a second selection area (58) at least one image parameter of a further on-board camera (16) , the camera image of this further on-board camera (16) being a second step (S9), with an overlapping image area (42);
- adapting (S10) at least one image parameter of another on-board camera (14) to at least one image parameter of said further on-board camera (16) in a second selection area (58), step (S10), wherein the camera image of this other vehicle-mounted camera (14) also has a second overlapping image area (42);
2. The method of claim 1, comprising : adapting the image parameters of an on-board camera (14) having a first overlapping image area (40) and a second overlapping image area (42) between a first selected area (56) and a second selected area (58) 3. Method according to claim 2, characterized in that the step (S11) of determining is performed by interpolation. During interpolation, the X, Y and Z coordinates of the position of the selection area (56 , 58) or of a plurality of selection areas (56 , 58) and / or the currently rendered point. 4. A method according to claim 3, characterized in that is considered . The placement of the selection areas (56 , 58) involves the following steps:
- positioning the selected area (56') at a reference position in one (40) of the overlapping image areas (40 , 42 , 44 , 46) ;
- checking if the selected area (56') is visible from the virtual camera (48) at the reference position , if the selected area (56') is not visible from the virtual camera (48), allowing the selection area (56 ' ) to be moved within the overlap image area (40) and on the virtual projection plane (62)
A method according to any one of the preceding claims, characterized in that it comprises : 6. Method according to claim 5, characterized in that a reference position is used as an avoidance position if no selection area visible to the virtual camera (48) can be determined . Method according to any one of the preceding claims, characterized in that parameters of the vehicle model (54) are provided and the parameters are inserted into the virtual three-dimensional space (60). 6. Any one of the preceding claims, characterized in that the image parameters are image brightness , image contrast, image color , image sharpness, color saturation and/ or texture frequency . The method described in . The first vehicle camera (12) is a front vehicle camera and/ or the third vehicle camera (16) is a rear vehicle camera, or
The first vehicle camera is a rear vehicle camera and/ or the third vehicle camera is a front vehicle camera
A method according to any one of the preceding claims, characterized in that The method according to any one of the preceding claims, characterized in that the second vehicle-mounted camera (14) is a lateral vehicle-mounted camera, in particular a left-side vehicle-mounted camera or a right-side vehicle-mounted camera. A device (38) for generating an image of a vehicle periphery, comprising:
a plurality of on-board cameras (12 , 14 , 16 , 18) for capturing the vehicle surroundings and generating camera images , the camera images of adjacent on-board cameras (12 , 14 , 16 , 18) being: Multiple on-board cameras (12, 14) with overlapping image areas (40 , 42 , 44 , 46) and on- board cameras (12 , 14 , 16 , 18), in particular mounted on the body of the vehicle , 16, 18) and
- a computing unit (36) adapted to generate a virtual representation of the perimeter in the three-dimensional space (60), wherein the camera images are generated in the three-dimensional virtual space (60); a computing unit (36) projected onto a virtual projection plane (62) of
and,
- a non-fixed virtual camera (48) ;
in the device (38) comprising
The computing unit (36)
locating a first selected area (56) on a virtual projection plane (62) within a first overlapping image area (56) according to a field of view (50) of a virtual camera (48); and
calculating at least one image parameter of the first onboard camera (12) in the first selected area ; and
wherein the first selection area (56) is further configured to match at least one image parameter of the second on-board camera (14) with at least one image parameter of the first on-board camera (12). A device (38) characterized by: The computing unit (36)
locating a second selected area (58) on a virtual projection plane (62) within the second overlapping image area (42) according to the field of view (50) of the virtual camera (48 ) ; and
calculating at least one image parameter of a further on-board camera (16) in a second selection area (58), the camera image of this further on-board camera (16) having a second overlapping image area (42); and
in a second selection area (58) at least one image parameter of another on-board camera (14) is adapted to at least one image parameter of said further on- board camera (16); the camera image of also has a second overlapping image area (42),
12. The device (38) of claim 11, wherein the device (38) is configured to: