US20110228088A1 - Device for monitoring an environment of a vehicle - Google Patents

Device for monitoring an environment of a vehicle Download PDF

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Publication number
US20110228088A1
US20110228088A1 US13/130,074 US200913130074A US2011228088A1 US 20110228088 A1 US20110228088 A1 US 20110228088A1 US 200913130074 A US200913130074 A US 200913130074A US 2011228088 A1 US2011228088 A1 US 2011228088A1
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US
United States
Prior art keywords
vehicle
wafer
environment
image
level cameras
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.)
Abandoned
Application number
US13/130,074
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English (en)
Inventor
Joachim Gloger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Assigned to DAIMLER AG reassignment DAIMLER AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GLOGER, JOACHIM
Publication of US20110228088A1 publication Critical patent/US20110228088A1/en
Abandoned legal-status Critical Current

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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
    • 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
    • B60R1/31—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 providing stereoscopic vision
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—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
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

Definitions

  • the invention relates to a device for monitoring an environment of a vehicle according to the characteristics of the preamble of claim 1 .
  • Utility vehicles for goods or people transport are often characterized by large vehicle dimensions and a low viewing clarity.
  • Modern passenger motor vehicles often also have a low viewing clarity due to their outer design. From this, it results that particularly a maneuvering of these vehicles is very difficult for a driver. It is thus advantageous, to depict vehicles and their environment from a bird's-eye view on a screen, so that the vehicle and its entire environment are visible to the driver.
  • a device for monitoring an environment that cannot be viewed directly and/or for the forward-looking monitoring of the vehicle lane comprises a camera arranged in the front and/or rear region of the vehicle, a signal processing device and a display device in the viewing field of the driver, Furthermore, the device has means for transferring the at least one camera into a protected resting position with non-use and into at least one defined operating position in use and means for the forward-looking monitoring of the drive lane, on which the wheels of the vehicle roll, wherein these means comprise at least one sensing device at the vehicle for sensing ground unevenness, and an evaluation unit, which converts the signals of the at least one sensing unit into display signals and/or control commands for vehicle assemblies that can be controlled actively.
  • the at least one sensing device of the means for the forward-looking monitoring of the drive lane is formed by at least one camera present for monitoring the environment of a vehicle that cannot be viewed directly, wherein the means cooperating with the at least one camera for transferring the at least one camera into a protected resting position in non-use and into at least one defined operating position in use have a pivot device for the vertical and/or horizontal pivoting of the at least one camera.
  • EP 1 145 905 A2 is known a camera with a viewing field control for the dead angle monitoring with motor vehicles.
  • a prism for the reflection of incident light from a left and right image capturing device is arranged at a vehicle.
  • An alignment of an image capturing unit can be pivoted vertically and obliquely to a horizontal plane, so that objects above or below this horizontal plane can be captured with the image capturing unit.
  • a device for monitoring an environment of a movable body is known from DE 601 01 040 T2, wherein the movable body preferably transports persons or freight, that is, is a vehicle in particular.
  • the device comprises an image processor, which can be operated in such a manner that it transforms image data captured by at least one image capturing unit to a display of the mobile body and its environment in a bird's eye view in such a manner that a display unit displays an image of the body and its environment in the bird's eye view.
  • the displayed image can thereby also be determined by means of a combination of a first perspective image of a first image capturing unit and a second perspective image of a second image capturing unit.
  • a look-up table also known as look-up table or conversion table, is used for the transformation of the image data.
  • US 2008 043 113 A1 further discloses a device and a method, by means of which individual images from a front camera and a lateral camera, which are arranged at a front and left side of the vehicle, are converted to overall images, which show the vehicle and its environment from a bird's eye view.
  • the capturing ranges of the cameras overlap, wherein the overall image shown in a bird's eye view is formed by means of a combination of the individual images.
  • the conversion of the individual images to the overall image takes place by means of data of a conversion table.
  • WLC wafer-level camera
  • the optical lenses are placed directly on a wafer.
  • the production of the wafer-level cameras functions similar to applying circuits onto a wafer. Thereby, thousands of optical lenses are simultaneously applied onto a wafer, aligned thereafter and adhered thereto.
  • wafer stack technology the necessary but cost-intensive individual assembly and alignment of the lenses with the conventional production method is omitted.
  • the individual wafer-level cameras are finally cut out from the wafer and placed on a sensor module.
  • the big advantage of this technique are the low costs of production Furthermore, the wafer-level cameras with a strength of 2.5 millimeters are only approximately half the size of the smallest conventional camera modules.
  • the invention is based on the object to give an improved device for monitoring an environment of a vehicle.
  • the environment is captured by means of a plurality of image capturing units, the capture ranges thereof overlapping at least partially and forming an overlap range, wherein an overall image is generated from the individual images captured by means of the image capturing units by means of an image processing unit, which overall image shows the vehicle and the environment thereof from a bird's-eye view.
  • the image capturing units are formed as wafer-level cameras according to the invention.
  • the wafer-level cameras advantageously cause low production costs.
  • the installation space requirement of the camera is so low that several of these wafer-level cameras can be arranged adjacent to each other in the form of a line.
  • An improved panorama view is thereby created for the driver, which serves him as an assistance function or support during the drive operation, for example when maneuvering the vehicle. Furthermore, accidents can be avoided, which often occur due to a bad panorama view, particularly with large vehicles and whose view is limited.
  • FIG. 1 thereby shows a schematic depiction of a line of several wafer-level cameras according to the invention.
  • wafer-level cameras 1 are arranged in a line and integrated at the sides of a vehicle body, not shown in detail.
  • the wafer-level cameras 1 are produced by means of a so-called WLC technology (wafer-level camera). With the WLC technology, the optical lenses 4 are placed directly onto a wafer 5 .
  • the production of the wafer-level camera 1 functions similar to with applying circuits onto the wafer 5 . Thousands of optical lenses are thereby applied simultaneously onto a wafer 5 , aligned thereafter and adhered thereto.
  • a so-called wafer stack technology the necessary but cost-intensive individual assembly and alignment of the lenses 4 with the conventional production method is omitted.
  • the individual wafer-level cameras 1 are finally cut out from the wafer and placed on a sensor module 6 .
  • the big advantage of this technique are the low costs of production. Furthermore, the wafer-level cameras with a strength of 2.5 millimeters are only approximately half the size of the smallest conventional camera modules.
  • the wafer-level cameras 1 are arranged and aligned in such a manner that their respectively reproduced capture ranges 2 superpose partially, that is, partial regions of the reproduced environment of the vehicle are captured by several cameras and form an overlap range 3 .
  • an image processing unit In order to in particular ease a maneuvering of the vehicle for the driver or to for example to enable an improved overview of objects next or behind the vehicle at traffic light crossings, an image processing unit, not shown in detail, generates an overall image from individual images captured by means of the wafer-level cameras 1 , which overall image shows the vehicle and its environment from a bird's eye view. This overall image can preferably be issued to the driver of the vehicle on a screen.
  • the overall image is transferred to a display device, not shown in detail, which is arranged in the vehicle in viewing field of the driver.
  • a display device of a navigation system or of a reversing assistance system can for example be used as such a display device.
  • a depicted image of the wafer-level cameras 1 can be cross-faded with markings on the display device, which represent dimensions of the vehicle, for example a width and additionally also a height of the vehicle, so that the driver can detect quickly and clearly, if his vehicle can for example pass between obstacles or below an obstacle.
  • the monitoring device comprises for example additionally an image processing unit, in order to position the markings correctly corresponding to a respectively depicted image section.
  • the vehicle is depicted in the drive direction on the display unit, wherein the driver of the vehicle can choose in a preferred manner, in which depiction the vehicle and its environment shall be shown to him.
  • a stereoscopy can be used.
  • the images of two wafer-level cameras 1 are recorded from a line of wafer-level cameras 1 and are transferred to the image processing unit.
  • a distance between the two recording cameras is important.
  • This base width B is variable with a line of wafer-level cameras 1 .
  • the base width B can simply be varied by an actuation of different wafer-level cameras 1 .
  • Wafer-level cameras 1 lying far apart can for example record images with a large base width B.
  • wafer-level cameras 1 lying close to each other can record images with a small base width B.
  • This base width adjustment advantageously functions without an elaborate mechanics for adjusting a camera.
  • the wafer-level cameras 1 of a line are equipped with optical lenses 4 having different focal widths. Images with different focal widths can thereby be recorded by a simple switch-over between the different wafer-level cameras 1 .
  • the image processing unit Due to the large data amount by the recorded images, it is convenient to arrange the image processing unit in the vehicle in the immediate spatial proximity to the wafer-level cameras 1 , in order to keep the cable number and length low. Alternatively, a wireless data transfer between wafer-level cameras 1 and the image processing unit is also possible.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)
US13/130,074 2008-12-12 2009-11-19 Device for monitoring an environment of a vehicle Abandoned US20110228088A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102008061760A DE102008061760A1 (de) 2008-12-12 2008-12-12 Vorrichtung zur Überwachung einer Umgebung eines Fahrzeugs
DE102008061760.1 2008-12-12
PCT/EP2009/008234 WO2010066332A1 (de) 2008-12-12 2009-11-19 Vorrichtung zur überwachung einer umgebung eines fahrzeugs

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/008234 A-371-Of-International WO2010066332A1 (de) 2008-12-12 2009-11-19 Vorrichtung zur überwachung einer umgebung eines fahrzeugs

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US14/480,741 Division US9238435B2 (en) 2008-12-12 2014-09-09 Device for monitoring an environment of a vehicle with pairs of wafer level cameras using different base distances

Publications (1)

Publication Number Publication Date
US20110228088A1 true US20110228088A1 (en) 2011-09-22

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Family Applications (3)

Application Number Title Priority Date Filing Date
US13/130,074 Abandoned US20110228088A1 (en) 2008-12-12 2009-11-19 Device for monitoring an environment of a vehicle
US14/480,741 Active US9238435B2 (en) 2008-12-12 2014-09-09 Device for monitoring an environment of a vehicle with pairs of wafer level cameras using different base distances
US14/694,097 Abandoned US20150224927A1 (en) 2008-12-12 2015-04-23 Device for monitoring an environment of a vehicle

Family Applications After (2)

Application Number Title Priority Date Filing Date
US14/480,741 Active US9238435B2 (en) 2008-12-12 2014-09-09 Device for monitoring an environment of a vehicle with pairs of wafer level cameras using different base distances
US14/694,097 Abandoned US20150224927A1 (en) 2008-12-12 2015-04-23 Device for monitoring an environment of a vehicle

Country Status (5)

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US (3) US20110228088A1 (de)
EP (1) EP2373521B1 (de)
CN (1) CN102245433B (de)
DE (1) DE102008061760A1 (de)
WO (1) WO2010066332A1 (de)

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US10336326B2 (en) * 2016-06-24 2019-07-02 Ford Global Technologies, Llc Lane detection systems and methods
CN110588516A (zh) * 2019-09-19 2019-12-20 深圳市七洲电子有限公司 一种数字通讯控制倒车雷达影像系统
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US10192277B2 (en) 2015-07-14 2019-01-29 Axon Enterprise, Inc. Systems and methods for generating an audit trail for auditable devices
EP3144919B1 (de) * 2015-09-18 2020-06-24 Continental Automotive GmbH Vorrichtung und verfahren zur anfahrassistenz für ein kraftfahrzeug
US10402670B2 (en) * 2016-04-19 2019-09-03 GM Global Technology Operations LLC Parallel scene primitive detection using a surround camera system
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US10336326B2 (en) * 2016-06-24 2019-07-02 Ford Global Technologies, Llc Lane detection systems and methods
CN110588516A (zh) * 2019-09-19 2019-12-20 深圳市七洲电子有限公司 一种数字通讯控制倒车雷达影像系统

Also Published As

Publication number Publication date
US20150015715A1 (en) 2015-01-15
CN102245433B (zh) 2015-08-19
DE102008061760A1 (de) 2010-06-17
US9238435B2 (en) 2016-01-19
WO2010066332A1 (de) 2010-06-17
EP2373521B1 (de) 2017-11-01
EP2373521A1 (de) 2011-10-12
US20150224927A1 (en) 2015-08-13
CN102245433A (zh) 2011-11-16

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