US20150360625A1 - Determination of the position of structural elements of a vehicle - Google Patents

Determination of the position of structural elements of a vehicle Download PDF

Info

Publication number
US20150360625A1
US20150360625A1 US14/238,975 US201214238975A US2015360625A1 US 20150360625 A1 US20150360625 A1 US 20150360625A1 US 201214238975 A US201214238975 A US 201214238975A US 2015360625 A1 US2015360625 A1 US 2015360625A1
Authority
US
United States
Prior art keywords
vehicle
structural elements
camera
surroundings
images
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
US14/238,975
Inventor
Martin Randler
Ralph Grewe
Marc Fischer
Dirk Ulbricht
Alfred Eckert
Ronald Bayer
Stefan Lüke
Bernd Piller
Georg Halasy-Wimmer
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.)
Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
Original Assignee
Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=46888857&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US20150360625(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Conti Temic Microelectronic GmbH, Continental Teves AG and Co OHG filed Critical Conti Temic Microelectronic GmbH
Assigned to CONTI TEMIC MICROELECTRONIC GMBH, CONTINENTAL TEVES AG & CO. OHG reassignment CONTI TEMIC MICROELECTRONIC GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BAYER, RONALD, ECKERT, ALFRED, FISCHER, MARC, GREWE, Ralph, HALASY-WIMMER, GEORG, LÜKE, Stefan, PILLER, BERND, RANDLER, MARTIN, ULBRICHT, DIRK
Publication of US20150360625A1 publication Critical patent/US20150360625A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G06K9/00791—
    • 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
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Definitions

  • the invention relates to a device and a method for determining a position of one or more structural elements of a vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle.
  • Devices and methods for determining the position of structural elements of vehicles are known from the state of the art.
  • the position of vehicle doors is determined by means of, e.g., special sensor devices in the region of the respective vehicle door, e.g., by means of contact switches.
  • special sensor devices in the region of the respective vehicle door, e.g., by means of contact switches.
  • contact switches There are similar approaches to the determination of the position of fuel tank caps, trunk lids and side mirrors.
  • information may be outputted to passengers if necessary. For example, the outputting of information about the fact that one or more vehicle doors are not properly/completely closed (particularly if the driver sets the vehicle in motion in spite of that) is common knowledge.
  • various driver assistance systems can subject information about the position of the structural elements to further processing for particular functions, which is done, e.g., with respect to a change in the external dimensions of the vehicle depending on the position of the structural elements.
  • the position of the structural elements and the influence thereof on the external dimensions of the vehicle may be taken into account when determining the clearance width and/or the overhead clearance for the vehicle, e.g., for the realization of autonomous or semi-autonomous driving maneuvers or, e.g., for outputting information when the vehicle drives through a tunnel and through narrow regions.
  • An essential disadvantage of known devices and methods consists in the fact that separate sensor devices for determining the position have to be arranged in the region of the respective structural element of the vehicle each time, which causes corresponding costs and requires additional installation space.
  • Another disadvantage consists in the fact that such sensor devices are often susceptible to, e.g., moisture or shock load and may become defective over time. In that case, the results of the determination of the position of the structural elements may be incorrect or said position cannot be determined at all.
  • An aspect of the invention specifies a solution by means of which the position of structural elements of a vehicle can be determined, wherein as many disadvantages of the solutions known from the state of the art as possible are avoided.
  • a device for a vehicle for determining a position of one or more structural elements of the vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle comprising: the device comprises at least one camera, by which images from at least one region of the surroundings of the vehicle are acquired and which is arranged on or in the vehicle such that the one or more structural elements is/are within the field of view of the camera, and wherein the device comprises image processing devices that are designed such that the images acquired by the at least one camera are processed by the image processing devices, and the position of the one or more structural elements of the vehicle is determined from the processed images and by) a method for determining a position of one or more structural elements of a vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle, wherein images from at least one region of the surroundings of the vehicle are acquired by a camera that is arranged on or in the vehicle such that the one or more structural elements is/are within the field of view of the camera, and by
  • An essential idea of an aspect of the invention comprises determining the position of structural elements of a vehicle (particularly of structural elements a change in the position of which alters the external dimensions of the vehicle) by means of at least one camera arranged on or in the vehicle.
  • cameras are already installed in vehicles in many cases and used in connection with various driver assistance systems/functions.
  • Known examples are cameras in the passenger compartment of the vehicle that are arranged behind the windshield and are forward-directed in order to cover the region in front of the vehicle, laterally arranged cameras for covering the lateral regions of the surroundings of the vehicle and cameras arranged in the rear part of the vehicle in order to observe the region behind the vehicle.
  • cameras and image processing devices that are already present in the vehicle may thus be used or be present in the form of suitable further developments in the inventive device and the inventive method.
  • the inventive device and the inventive method are preferably used in a vehicle and serve to determine a position of one or more structural elements of the vehicle.
  • the one or more structural elements of the vehicle is/are particularly a structural element/structural elements the position of which can be changed and a change in the position of which alters external dimensions of the vehicle.
  • the structural elements may be arranged on the outside of the vehicle, and the position thereof can be changed mechanically or electromechanically.
  • the structural elements are movable vehicle parts in particular, which are, e.g., telescopic structural elements (e.g., antennas) or structural elements that can be moved about an axis of rotation (e.g., vehicle doors, side mirrors and trunk lids/hoods).
  • the change in the external dimensions of the vehicle is a change in the external geometry of the vehicle (e.g., of the width, length and/or height of the vehicle) depending on the position of the one or more structural elements, wherein it may be a change in the total height, the total length or the total width of the vehicle (i.e., of the absolute dimensions) or a change in the relative dimensions, i.e., with respect to a particular region of the vehicle, e.g., the height in the region of the hood or the width in the region of a vehicle door.
  • the change in the external dimensions of the vehicle may also be a change in the external contours of the vehicle in general. For example, a change in the position of a vehicle door will result in a change in the vehicle width as well as in a change in the lateral vehicle contour in the corresponding region.
  • images from at least one region of the surroundings of the vehicle are acquired by means of at least one camera, wherein the at least one camera is preferably arranged on the vehicle or in the vehicle such that the one or more structural elements is/are within the field of view of the camera.
  • the at least one camera may be arranged and/or aligned such that the one or more structural elements is/are within the field of view of the camera in at least one of its/their possible positions.
  • the at least one camera may be, e.g., a camera arranged in the passenger compartment of the vehicle, behind the windshield, and looking through the windshield in order to cover that part of the surroundings of the vehicle which extends in the direction of motion.
  • the at least one camera may also be a side camera arranged on the outside of the vehicle on the left or on the right.
  • Typical places for installing a side camera are, e.g., the exterior mirrors or the front wheel wells.
  • any other camera may also be used in a vehicle, particularly cameras that are already present in the vehicle and used in connection with other driver assistance functions/systems, wherein it is essential that the cameras are arranged/aligned such that and/or have a special optical system (e.g., a fisheye or fisheye lens) so that the one or more structural elements is/are within the field of view of the respective camera in at least one of its/their possible positions.
  • a special optical system e.g., a fisheye or fisheye lens
  • an aspect of the invention provides for image processing devices that are designed such that the images acquired by means of the at least one camera are processed by means of the image processing devices and the position of the one or more structural elements of the vehicle is determined from the processed images.
  • the position of the one or more structural elements of the vehicle is thus determined by means of image processing of the camera images and preferably without any further sensor devices, wherein various image processing methods, e.g., pattern recognition methods and/or template matching methods, may be employed.
  • reference images for various positions of the one or more structural elements may be stored (e.g., in a memory) and compared with the acquired images during image processing.
  • the position may also be determined, in particular, on the basis of a determination of a change in the interspace or on the basis of the change in the depth information regarding the respective structural element or the region in which the respective structural element is present.
  • the position of at least one of the following structural elements is determined:
  • the at least one camera may be suitably arranged and/or aligned and the image processing devices may be suitably designed so that the corresponding structural elements are within the field of view of the at least one camera and the position of the structural elements can be determined by means of image processing, e.g., by means of the corresponding reference images for the respective structural element stored in a memory.
  • a determination of whether the respective structural element is in an open or a closed state is performed when determining the position of the one or more structural elements. It is thus possible, by means of the inventive solution, to determine, e.g., whether vehicle doors, tank caps etc. are open or closed. Thus, this realization particularly distinguishes between two forms of the positions of the respective structural element (open or closed) exclusively.
  • a determination as to what position between two maximum positions the respective structural element is in is performed when determining the position of the one or more structural elements.
  • the two maximum positions are two maximally reachable forms of the position of the structural element, which two maximally reachable forms can be reached when changing the position of the respective structural element.
  • the maximum positions are the forms “closed” and “completely open”.
  • increments e.g., “closed”, “one quarter open”, “half open”, “three quarters open”, “completely open”.
  • the forms of the change in the external dimensions of the vehicle depend on the degree of the state “open” of the respective structural element.
  • a vehicle door that is only half open will result in a smaller increase in vehicle width than a completely open vehicle door, which in turn may influence particular driver assistance functions, e.g., the determination of the clearance when driving through narrow regions.
  • An essential advantage of this realization of the invention consists in the fact that it allows a more differentiated determination of the position of the structural elements than the known solutions (e.g., use of contact switches). This also allows a more differentiated determination of the dimensions of the vehicle, particularly for various driver assistance systems/functions.
  • images from the surroundings of the vehicle are acquired by means of several cameras, wherein the several cameras are particularly cameras of a camera system in which individual images from various regions of the surroundings of the vehicle are acquired by means of the several cameras and suitably transformed by means of image processing means in order to generate an overall image of the surroundings of the vehicle thereby.
  • the camera system used within the scope of the invention and to determine the position of structural elements of the vehicle may be a top view system, wherein, preferably, the overall image of the surroundings of the vehicle is processed by means of the image processing devices when determining the position of the one or more structural elements.
  • An essential advantage of using a top view system and of processing the overall image of the surroundings of the vehicle consists in the fact that an overall image is often generated in such systems, by means of which overall image the vehicle can be represented as viewed from the top (bird's eye view), wherein an overall image from the perspective of a virtual camera arranged above the vehicle is generated from the images acquired by real individual cameras.
  • Such an overall image shows the position of structural elements (e.g., vehicle doors and side mirrors) particularly well and particularly at any time.
  • the exact form of the position e.g., the degree of the state “open” of a vehicle door, can be determined from such an overall image particularly easily.
  • information may be outputted to passengers depending on the determined position of the one or more structural elements of the vehicle.
  • the passengers may be informed by means of suitable means when vehicle doors, tank caps, hoods and/or trunk lids are open.
  • information may be outputted if the driver sets the vehicle in motion in spite of the fact that the respective structural element is open. Outputting may be performed, e.g., acoustically, visually and/or haptically.
  • the information about the position of the one or more structural elements may also be subjected to further processing for the purposes of driver assistance functions (e.g., of driver assistance systems in which the position of the one or more structural elements or the change in the external contours of the vehicle is relevant), said position being determined by means of the device/by means of the method.
  • driver assistance functions e.g., of driver assistance systems in which the position of the one or more structural elements or the change in the external contours of the vehicle is relevant
  • the information about an open vehicle door may also be used to detect people leaving the vehicle and to inform of this fact by means of corresponding functions, e.g., when people leave a moving vehicle.
  • Essential advantages of the invention consist in the fact that it is not necessary to use any special sensors, e.g., contact switches on the gas pump nozzle and on vehicle doors.
  • the inventive determination of the position of the structural elements may also be used to generate redundancy, i.e., said determination may be performed as an independent instance in order to check the performance of, e.g
  • This may be applied to, e.g., safety-critical vehicle functions.

Abstract

A device and a method for determining a position of one or more structural elements of a vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle.

Description

    CROSS REFERENCE TO RELATED APPLICATIONS
  • This application is the U.S. National Phase Application of PCT/DE2012/100245, filed Aug. 21, 2012, which claims priority to German Patent Application No. 10 2011 112 578.0, filed Sep. 8, 2011, the contents of such applications being incorporated by reference herein.
    • FIELD OF THE INVENTION
  • The invention relates to a device and a method for determining a position of one or more structural elements of a vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle.
    • BACKGROUND OF THE INVENTION
  • Devices and methods for determining the position of structural elements of vehicles, particularly of external add-on elements such as vehicle doors, covers and side rear view mirrors, are known from the state of the art. The position of vehicle doors, particularly whether they are open or closed, is determined by means of, e.g., special sensor devices in the region of the respective vehicle door, e.g., by means of contact switches. There are similar approaches to the determination of the position of fuel tank caps, trunk lids and side mirrors.
  • After determining the position of the respective structural element, information may be outputted to passengers if necessary. For example, the outputting of information about the fact that one or more vehicle doors are not properly/completely closed (particularly if the driver sets the vehicle in motion in spite of that) is common knowledge. Furthermore, various driver assistance systems can subject information about the position of the structural elements to further processing for particular functions, which is done, e.g., with respect to a change in the external dimensions of the vehicle depending on the position of the structural elements. For example, the position of the structural elements and the influence thereof on the external dimensions of the vehicle may be taken into account when determining the clearance width and/or the overhead clearance for the vehicle, e.g., for the realization of autonomous or semi-autonomous driving maneuvers or, e.g., for outputting information when the vehicle drives through a tunnel and through narrow regions.
  • An essential disadvantage of known devices and methods consists in the fact that separate sensor devices for determining the position have to be arranged in the region of the respective structural element of the vehicle each time, which causes corresponding costs and requires additional installation space. Another disadvantage consists in the fact that such sensor devices are often susceptible to, e.g., moisture or shock load and may become defective over time. In that case, the results of the determination of the position of the structural elements may be incorrect or said position cannot be determined at all.
    • SUMMARY OF THE INVENTION
  • An aspect of the invention specifies a solution by means of which the position of structural elements of a vehicle can be determined, wherein as many disadvantages of the solutions known from the state of the art as possible are avoided.
  • This aspect is achieved by a device for a vehicle for determining a position of one or more structural elements of the vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle, comprising: the device comprises at least one camera, by which images from at least one region of the surroundings of the vehicle are acquired and which is arranged on or in the vehicle such that the one or more structural elements is/are within the field of view of the camera, and wherein the device comprises image processing devices that are designed such that the images acquired by the at least one camera are processed by the image processing devices, and the position of the one or more structural elements of the vehicle is determined from the processed images and by) a method for determining a position of one or more structural elements of a vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle, wherein images from at least one region of the surroundings of the vehicle are acquired by a camera that is arranged on or in the vehicle such that the one or more structural elements is/are within the field of view of the camera, and by image processing devices, processing the images acquired by the at least one camera and determining the position of the one or more structural elements of the vehicle from the processed images. Advantageous realizations and further developments are the subject matter of subclaims, wherein combinations and further developments of individual features are also conceivable.
    • DETAILED DESCRIPTION
  • An essential idea of an aspect of the invention comprises determining the position of structural elements of a vehicle (particularly of structural elements a change in the position of which alters the external dimensions of the vehicle) by means of at least one camera arranged on or in the vehicle. Nowadays, cameras are already installed in vehicles in many cases and used in connection with various driver assistance systems/functions. Known examples are cameras in the passenger compartment of the vehicle that are arranged behind the windshield and are forward-directed in order to cover the region in front of the vehicle, laterally arranged cameras for covering the lateral regions of the surroundings of the vehicle and cameras arranged in the rear part of the vehicle in order to observe the region behind the vehicle. Furthermore, we already know systems in which the complete surroundings of the vehicle is covered by means of several cameras and, in particular, an overall image of the surroundings of the vehicle is generated from the individual images acquired by means of the cameras and is presented to the passengers. Such camera systems are also referred to as top view systems or as panoramic view, surround view or 360° view systems.
  • In particular, cameras and image processing devices that are already present in the vehicle may thus be used or be present in the form of suitable further developments in the inventive device and the inventive method.
  • The inventive device and the inventive method are preferably used in a vehicle and serve to determine a position of one or more structural elements of the vehicle. The one or more structural elements of the vehicle is/are particularly a structural element/structural elements the position of which can be changed and a change in the position of which alters external dimensions of the vehicle. For example, the structural elements may be arranged on the outside of the vehicle, and the position thereof can be changed mechanically or electromechanically. Thus, the structural elements are movable vehicle parts in particular, which are, e.g., telescopic structural elements (e.g., antennas) or structural elements that can be moved about an axis of rotation (e.g., vehicle doors, side mirrors and trunk lids/hoods). In particular, the change in the external dimensions of the vehicle is a change in the external geometry of the vehicle (e.g., of the width, length and/or height of the vehicle) depending on the position of the one or more structural elements, wherein it may be a change in the total height, the total length or the total width of the vehicle (i.e., of the absolute dimensions) or a change in the relative dimensions, i.e., with respect to a particular region of the vehicle, e.g., the height in the region of the hood or the width in the region of a vehicle door. In particular, the change in the external dimensions of the vehicle may also be a change in the external contours of the vehicle in general. For example, a change in the position of a vehicle door will result in a change in the vehicle width as well as in a change in the lateral vehicle contour in the corresponding region.
  • According to an aspect of the invention, images from at least one region of the surroundings of the vehicle are acquired by means of at least one camera, wherein the at least one camera is preferably arranged on the vehicle or in the vehicle such that the one or more structural elements is/are within the field of view of the camera. For example, the at least one camera may be arranged and/or aligned such that the one or more structural elements is/are within the field of view of the camera in at least one of its/their possible positions. The at least one camera may be, e.g., a camera arranged in the passenger compartment of the vehicle, behind the windshield, and looking through the windshield in order to cover that part of the surroundings of the vehicle which extends in the direction of motion. In particular, the at least one camera may also be a side camera arranged on the outside of the vehicle on the left or on the right. Typical places for installing a side camera are, e.g., the exterior mirrors or the front wheel wells. In principle, any other camera may also be used in a vehicle, particularly cameras that are already present in the vehicle and used in connection with other driver assistance functions/systems, wherein it is essential that the cameras are arranged/aligned such that and/or have a special optical system (e.g., a fisheye or fisheye lens) so that the one or more structural elements is/are within the field of view of the respective camera in at least one of its/their possible positions. Furthermore, an aspect of the invention provides for image processing devices that are designed such that the images acquired by means of the at least one camera are processed by means of the image processing devices and the position of the one or more structural elements of the vehicle is determined from the processed images. According to the invention, the position of the one or more structural elements of the vehicle is thus determined by means of image processing of the camera images and preferably without any further sensor devices, wherein various image processing methods, e.g., pattern recognition methods and/or template matching methods, may be employed. Furthermore, i.e., alternatively or additionally, reference images for various positions of the one or more structural elements may be stored (e.g., in a memory) and compared with the acquired images during image processing. If the at least one camera is a stereo camera or a camera by means of which it is possible to obtain depth information, the position may also be determined, in particular, on the basis of a determination of a change in the interspace or on the basis of the change in the depth information regarding the respective structural element or the region in which the respective structural element is present.
  • According to a preferred realization of the invention, the position of at least one of the following structural elements is determined:
      • vehicle door
      • tank cap
      • side mirror
      • hood
      • trunk lid
      • antenna
      • sliding roof
  • To this end, in particular, the at least one camera may be suitably arranged and/or aligned and the image processing devices may be suitably designed so that the corresponding structural elements are within the field of view of the at least one camera and the position of the structural elements can be determined by means of image processing, e.g., by means of the corresponding reference images for the respective structural element stored in a memory.
  • According to a further preferred realization of the invention, a determination of whether the respective structural element is in an open or a closed state is performed when determining the position of the one or more structural elements. It is thus possible, by means of the inventive solution, to determine, e.g., whether vehicle doors, tank caps etc. are open or closed. Thus, this realization particularly distinguishes between two forms of the positions of the respective structural element (open or closed) exclusively.
  • According to a further preferred realization of the invention, a determination as to what position between two maximum positions the respective structural element is in is performed when determining the position of the one or more structural elements. In particular, the two maximum positions are two maximally reachable forms of the position of the structural element, which two maximally reachable forms can be reached when changing the position of the respective structural element. In particular, the maximum positions are the forms “closed” and “completely open”. Between the maximum positions, the position of the respective structural element may be determined, e.g., as a degree of the state “open”, e.g., as infinite variables indicated in percent (e.g., from 0% (=closed) to 100% (=completely open), or, e.g., in increments (e.g., “closed”, “one quarter open”, “half open”, “three quarters open”, “completely open”). In particular, also the forms of the change in the external dimensions of the vehicle depend on the degree of the state “open” of the respective structural element. For example, a vehicle door that is only half open will result in a smaller increase in vehicle width than a completely open vehicle door, which in turn may influence particular driver assistance functions, e.g., the determination of the clearance when driving through narrow regions. An essential advantage of this realization of the invention consists in the fact that it allows a more differentiated determination of the position of the structural elements than the known solutions (e.g., use of contact switches). This also allows a more differentiated determination of the dimensions of the vehicle, particularly for various driver assistance systems/functions.
  • According to a preferred realization of the invention, images from the surroundings of the vehicle are acquired by means of several cameras, wherein the several cameras are particularly cameras of a camera system in which individual images from various regions of the surroundings of the vehicle are acquired by means of the several cameras and suitably transformed by means of image processing means in order to generate an overall image of the surroundings of the vehicle thereby. Thus, the camera system used within the scope of the invention and to determine the position of structural elements of the vehicle may be a top view system, wherein, preferably, the overall image of the surroundings of the vehicle is processed by means of the image processing devices when determining the position of the one or more structural elements. An essential advantage of using a top view system and of processing the overall image of the surroundings of the vehicle consists in the fact that an overall image is often generated in such systems, by means of which overall image the vehicle can be represented as viewed from the top (bird's eye view), wherein an overall image from the perspective of a virtual camera arranged above the vehicle is generated from the images acquired by real individual cameras. Such an overall image shows the position of structural elements (e.g., vehicle doors and side mirrors) particularly well and particularly at any time. Moreover, the exact form of the position, e.g., the degree of the state “open” of a vehicle door, can be determined from such an overall image particularly easily.
  • According to an aspect of the invention, information may be outputted to passengers depending on the determined position of the one or more structural elements of the vehicle. For example, the passengers may be informed by means of suitable means when vehicle doors, tank caps, hoods and/or trunk lids are open. In particular, information may be outputted if the driver sets the vehicle in motion in spite of the fact that the respective structural element is open. Outputting may be performed, e.g., acoustically, visually and/or haptically.
  • According to an aspect of the invention, the information about the position of the one or more structural elements may also be subjected to further processing for the purposes of driver assistance functions (e.g., of driver assistance systems in which the position of the one or more structural elements or the change in the external contours of the vehicle is relevant), said position being determined by means of the device/by means of the method. For example, the information about an open vehicle door may also be used to detect people leaving the vehicle and to inform of this fact by means of corresponding functions, e.g., when people leave a moving vehicle. Essential advantages of the invention consist in the fact that it is not necessary to use any special sensors, e.g., contact switches on the gas pump nozzle and on vehicle doors. In particular, the inventive determination of the position of the structural elements may also be used to generate redundancy, i.e., said determination may be performed as an independent instance in order to check the performance of, e.g., contact switches.
  • This may be applied to, e.g., safety-critical vehicle functions.

Claims (14)

1. A device for a vehicle for determining a position of one or more structural elements of the vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle, comprising:
at least one camera, by which images from at least one region of the surroundings of the vehicle are acquired and which is arranged on or in the vehicle such that the one or more structural elements is/are within the field of view of the camera,
and wherein the device comprises image processing devices that are designed such that
the images acquired by the at least one camera are processed by the image processing devices, and
the position of the one or more structural elements of the vehicle is determined from the processed images.
2. The device according to claim 1, wherein
the position of at least one of the following structural elements can be determined:
vehicle door
tank cap
side mirror
hood
trunk lid
antenna
sliding roof
3. The device according to claim 1, wherein
a determination of whether the one or more structural elements is/are in an open or a closed state can be performed when determining the position.
4. The device according to claim 1, wherein
a determination as to what position between two maximum positions the one or more structural elements is/are in can be performed when determining the position.
5. The device according to any one of the preceding claim 1, wherein
the device comprises several cameras, wherein the cameras are parts of a camera system in which individual images from various regions of the surroundings of the vehicle are acquired by means of the several cameras and suitably transformed by means of image processing means in order to generate an overall image of the surroundings of the vehicle thereby, and wherein
the image processing devices are designed such that the overall image of the surroundings of the vehicle is processed when determining the position of the one or more structural elements.
6. The device according to claim 1, wherein
the device comprises or is connected to means for outputting information about the position of the one or more structural elements to passengers.
7. The device according to claim 1, wherein
the device comprises or is connected to means that subject information about the position of the one or more structural elements to further processing for the purposes of driver assistance functions.
8. A method for determining a position of one or more structural elements of a vehicle the position of which can be changed and a change in the position of which alters external dimensions of the vehicle, wherein
images from at least one region of the surroundings of the vehicle are acquired by a camera that is arranged on or in the vehicle such that the one or more structural elements is/are within the field of view of the camera, and
by image processing devices,
processing the images acquired by the at least one camera and
determining the position of the one or more structural elements of the vehicle from the processed images.
9. The method according to claim 8, wherein
the position of at least one of the following structural elements is determined:
vehicle door
tank cap
side mirror
hood
trunk lid
antenna
sliding roof
10. The method according to claim 8, further comprising:
a determination of whether the one or more structural elements is/are in an open or a closed state is performed.
11. The method according to claim 8, wherein
a determination as to what position between two maximum positions the one or more structural elements is/are in is performed.
12. The method according to claim 8, wherein
individual images from various regions of the surroundings of the vehicle are acquired by means of several cameras and suitably transformed by means of image processing means in order to generate an overall image of the surroundings of the vehicle thereby, and
the overall image of the surroundings of the vehicle is processed by means of the image processing devices when determining the position of the one or more structural elements.
13. The method according to claim 8, wherein
information about the position of the one or more structural elements is outputted to passengers.
14. The method according to claim 8, wherein
information about the position of the one or more structural elements is provided for one or more driver assistance systems in the vehicle.
US14/238,975 2011-09-08 2012-08-21 Determination of the position of structural elements of a vehicle Abandoned US20150360625A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102011112578A DE102011112578A1 (en) 2011-09-08 2011-09-08 Method and device for an assistance system in a vehicle for carrying out an autonomous or semi-autonomous driving maneuver
DE102011112578.0 2011-09-08
PCT/DE2012/100245 WO2013034141A1 (en) 2011-09-08 2012-08-21 Determination of the position of structural elements of a vehicle

Publications (1)

Publication Number Publication Date
US20150360625A1 true US20150360625A1 (en) 2015-12-17

Family

ID=46888857

Family Applications (2)

Application Number Title Priority Date Filing Date
US14/241,275 Active 2032-12-16 US9511723B2 (en) 2011-09-08 2012-08-21 Method and device for an assistance system in a vehicle for performing an autonomous or semi-autonomous driving maneuver
US14/238,975 Abandoned US20150360625A1 (en) 2011-09-08 2012-08-21 Determination of the position of structural elements of a vehicle

Family Applications Before (1)

Application Number Title Priority Date Filing Date
US14/241,275 Active 2032-12-16 US9511723B2 (en) 2011-09-08 2012-08-21 Method and device for an assistance system in a vehicle for performing an autonomous or semi-autonomous driving maneuver

Country Status (5)

Country Link
US (2) US9511723B2 (en)
EP (2) EP2753532B1 (en)
JP (2) JP6022575B2 (en)
DE (3) DE102011112578A1 (en)
WO (2) WO2013034141A1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9505403B2 (en) 2014-05-15 2016-11-29 Ford Global Technologies, Llc Parking assistance system
US20170161902A1 (en) * 2015-12-02 2017-06-08 Dura Operating, Llc System for detecting vehicle fuel door status
US20170305420A1 (en) * 2014-09-24 2017-10-26 Daimler Ag Enabling a highly automated driving function
CN107972609A (en) * 2016-10-24 2018-05-01 通用汽车环球科技运作有限责任公司 Method and apparatus for door state detection
US20190152387A1 (en) * 2017-11-21 2019-05-23 GM Global Technology Operations LLC Ajar tailgate detection system
WO2019120643A1 (en) * 2017-12-19 2019-06-27 Volkswagen Aktiengesellschaft Method for detecting at least one object present on a motor vehicle, control device, and motor vehicle
US11410545B2 (en) 2019-07-19 2022-08-09 Ford Global Technologies, Llc Dynamic vehicle perimeter definition and reporting
US11414097B2 (en) * 2019-07-04 2022-08-16 Lg Electronics Inc. Apparatus for generating position data, autonomous vehicle and method for generating position data
US11656616B2 (en) 2018-04-03 2023-05-23 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011112149A1 (en) * 2011-09-01 2013-03-07 Valeo Schalter Und Sensoren Gmbh Method for carrying out a parking operation of a vehicle and driver assistance device
DE102011112578A1 (en) * 2011-09-08 2013-03-14 Continental Teves Ag & Co. Ohg Method and device for an assistance system in a vehicle for carrying out an autonomous or semi-autonomous driving maneuver
DE102012015922A1 (en) * 2012-08-10 2014-02-13 Daimler Ag A method for performing a parking operation of a vehicle by means of a driver assistance system
JP5846317B2 (en) * 2012-11-27 2016-01-20 日産自動車株式会社 Vehicle acceleration suppression device
DE102013102952A1 (en) * 2013-03-22 2014-09-25 Conti Temic Microelectronic Gmbh Method and device for carrying out an automatic parking maneuver of a vehicle
DE102013217648A1 (en) * 2013-09-04 2015-03-05 Conti Temic Microelectronic Gmbh CAMERA-BASED DETECTION OF A CARRIER SYSTEM MOUNTABLE ON A VEHICLE
EP3086994B1 (en) * 2013-12-23 2018-03-28 ADC Automotive Distance Control Systems GmbH Parking assistance system and method for parking a vehicle in a parking garage
EP3312561A1 (en) * 2014-03-12 2018-04-25 Nissan Motor Co., Ltd. Vehicle operation device and method
DE102015205013A1 (en) 2014-05-15 2015-11-19 Ford Global Technologies, Llc Parking assistance system
JP6445849B2 (en) * 2014-11-17 2018-12-26 株式会社Ｓｕｂａｒｕ Flap monitoring device
DE102015202488A1 (en) * 2015-02-12 2016-08-18 Robert Bosch Gmbh Method and device for monitoring a vehicle in an autonomous operating mode and in a parking lot
DE102015202486A1 (en) * 2015-02-12 2016-08-18 Robert Bosch Gmbh Method and device for monitoring a vehicle driving in a parking space
JP6558735B2 (en) * 2015-04-21 2019-08-14 パナソニックＩｐマネジメント株式会社 Driving support method, driving support device, driving control device, vehicle, and driving support program using the same
DE102015217275A1 (en) * 2015-09-10 2017-03-16 Robert Bosch Gmbh Method and apparatus for determining whether a motor vehicle is currently being manually or automatically guided
DE102015217278A1 (en) * 2015-09-10 2017-03-16 Robert Bosch Gmbh Method and device for the driverless guidance of a parked at a starting position of a car parked motor vehicle
KR20180047212A (en) * 2016-10-31 2018-05-10 현대자동차주식회사 Apparatus and method for controlling parking out of vehicle
CN110914641B (en) * 2017-06-14 2024-01-30 御眼视觉技术有限公司 Fusion framework and batch alignment of navigation information for autonomous navigation
US10839522B2 (en) * 2018-05-11 2020-11-17 Toyota Research Institute, Inc. Adaptive data collecting and processing system and methods
KR102639078B1 (en) * 2018-08-07 2024-02-22 현대자동차주식회사 Vehicle and method of projecting informtion on ground
CN110126830B (en) * 2019-04-17 2020-11-03 浙江吉利控股集团有限公司 Vehicle starting control method, device, equipment and storage medium
CN113758728A (en) * 2021-11-01 2021-12-07 智己汽车科技有限公司 Vehicle parking obstacle avoidance testing method and device
FR3139512A1 (en) * 2022-09-14 2024-03-15 Psa Automobiles Sa Method and device for reliable detection of opening of a vehicle hood

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070109408A1 (en) * 2005-11-17 2007-05-17 Aisin Seiki Kabushiki Kaisha Surroundings monitoring system for a vehicle
US20070156317A1 (en) * 1992-05-05 2007-07-05 Automotive Technologies International, Inc. System for Obtaining Information about Vehicular Components

Family Cites Families (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3004368B2 (en) * 1991-01-11 2000-01-31 株式会社東芝 In-vehicle surveillance camera device
EP0835796B1 (en) * 1996-10-09 2004-09-08 Honda Giken Kogyo Kabushiki Kaisha Automatic steering system for verhicle
JP2888216B2 (en) * 1996-12-06 1999-05-10 株式会社日立製作所 Automatic steering system
JP2000136738A (en) * 1998-10-30 2000-05-16 Toyota Motor Corp Parking operation supporting device for vehicle
JP2000159019A (en) * 1998-11-30 2000-06-13 Komu Denshi Kaihatsu Kk Mirror device for vehicle
DE19947766A1 (en) * 1999-10-02 2001-05-10 Bosch Gmbh Robert Device for monitoring the surroundings of a parking vehicle
US7855755B2 (en) * 2005-11-01 2010-12-21 Donnelly Corporation Interior rearview mirror assembly with display
JP3599639B2 (en) 2000-05-26 2004-12-08 松下電器産業株式会社 Image processing device
DE10117650A1 (en) 2001-04-09 2002-10-10 Daimler Chrysler Ag Bringing vehicle to target position, involves outputting control commands to drive train, braking system and/or steering so vehicle can be steered to target position independently of driver
DE10133511A1 (en) * 2001-07-10 2003-01-30 Siemens Ag Method and device for the optical detection of the opening state of a vehicle door
JP4045862B2 (en) 2002-06-03 2008-02-13 日産自動車株式会社 Optical axis deviation detection device for in-vehicle camera
JP3800172B2 (en) 2002-12-24 2006-07-26 トヨタ自動車株式会社 Vehicle periphery monitoring device
JP3670647B2 (en) * 2003-01-14 2005-07-13 松下電器産業株式会社 Image processing device
US7344205B2 (en) * 2004-06-01 2008-03-18 Advics Co., Ltd Parking assist control apparatus and storage medium for parking assist control program
JP4470592B2 (en) * 2004-06-02 2010-06-02 株式会社アドヴィックス Parking auxiliary control device
DE102004047481A1 (en) * 2004-09-30 2006-04-13 Robert Bosch Gmbh Method for displaying a vehicle driving space
JP4724522B2 (en) * 2004-10-28 2011-07-13 株式会社デンソー Vehicle periphery visibility support system
JP2006213071A (en) * 2005-02-01 2006-08-17 Nippon Seiki Co Ltd Vehicular monitoring device
JP4679260B2 (en) * 2005-06-24 2011-04-27 アルパイン株式会社 Vehicle driving support device
JP2007124483A (en) * 2005-10-31 2007-05-17 Aisin Seiki Co Ltd Mobile communication apparatus
JP4863741B2 (en) * 2006-03-22 2012-01-25 タカタ株式会社 Object detection system, drive device, vehicle
JP4321543B2 (en) * 2006-04-12 2009-08-26 トヨタ自動車株式会社 Vehicle periphery monitoring device
DE102006036933B4 (en) 2006-08-08 2024-01-11 Bayerische Motoren Werke Aktiengesellschaft Method for generating an overall image from overlapping individual images
DE102006050550A1 (en) * 2006-10-26 2008-04-30 Bayerische Motoren Werke Ag Method for controlling a driving maneuver
JP2008152628A (en) * 2006-12-19 2008-07-03 Matsushita Electric Ind Co Ltd Composite image display apparatus
JP4635017B2 (en) * 2007-02-22 2011-02-16 アイシン精機株式会社 Parking assistance device
GB2447672B (en) * 2007-03-21 2011-12-14 Ford Global Tech Llc Vehicle manoeuvring aids
DE102007022524A1 (en) * 2007-05-14 2008-11-20 Bayerische Motoren Werke Aktiengesellschaft motor vehicle
JP2008302711A (en) * 2007-06-05 2008-12-18 Denso Corp Start support device
DE102007049709A1 (en) * 2007-10-17 2009-04-30 Robert Bosch Gmbh Control device and method for parking assistance
JP2009114783A (en) * 2007-11-08 2009-05-28 Clarion Co Ltd Vehicular door opening/closing angle control device
DE102008004633A1 (en) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Method and device for detecting and / or measuring a parking space
DE102008019346A1 (en) * 2008-03-18 2009-09-24 Volkswagen Ag Method for automatic parking and exit of vehicle, involves controlling vehicle automatically by parking system, and vehicle is automatically parked and unparked, as long as positioning unit is held in specified position manually by operator
JP5172489B2 (en) * 2008-06-16 2013-03-27 本田技研工業株式会社 Opening and closing body control device
JP4937199B2 (en) * 2008-06-25 2012-05-23 日立オートモティブシステムズ株式会社 Auto light device
DE102008046214A1 (en) * 2008-09-08 2009-04-30 Daimler Ag Environment monitoring method for vehicle e.g. commercial motor vehicle, utilized for transporting goods, involves determining and displaying relevant surrounding regions based on distance between vehicle and obstacle
JP5505764B2 (en) * 2009-02-23 2014-05-28 株式会社リコー On-vehicle camera device calibration support method, calibration support device, and on-vehicle camera device
JP4690476B2 (en) * 2009-03-31 2011-06-01 アイシン精機株式会社 Car camera calibration system
US8269652B2 (en) * 2009-04-02 2012-09-18 GM Global Technology Operations LLC Vehicle-to-vehicle communicator on full-windshield head-up display
JP5226621B2 (en) * 2009-07-06 2013-07-03 東芝アルパイン・オートモティブテクノロジー株式会社 Image display device for vehicle
DE102009032542B4 (en) * 2009-07-10 2021-12-16 Audi Ag Method for operating a driver assistance system of a vehicle and driver assistance system
JP4970516B2 (en) 2009-09-30 2012-07-11 日立オートモティブシステムズ株式会社 Surrounding confirmation support device
WO2011043030A1 (en) * 2009-10-09 2011-04-14 パナソニック株式会社 Vehicle peripheral monitoring device
DE102009057837A1 (en) 2009-12-10 2011-06-16 Continental Teves Ag & Co. Ohg Method for parking assistance in parking area of vehicle garage, involves evaluating surrounding image with character recognition method according to identification mark arranged on garage rear wall after identification of garage doorway
JP5471462B2 (en) * 2010-01-11 2014-04-16 株式会社デンソーアイティーラボラトリ Automatic parking equipment
WO2011085489A1 (en) * 2010-01-13 2011-07-21 Magna Electronics Inc. Vehicular camera and method for periodic calibration of vehicular camera
JP5302227B2 (en) * 2010-01-19 2013-10-02 富士通テン株式会社 Image processing apparatus, image processing system, and image processing method
DE102011112578A1 (en) * 2011-09-08 2013-03-14 Continental Teves Ag & Co. Ohg Method and device for an assistance system in a vehicle for carrying out an autonomous or semi-autonomous driving maneuver

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070156317A1 (en) * 1992-05-05 2007-07-05 Automotive Technologies International, Inc. System for Obtaining Information about Vehicular Components
US20070109408A1 (en) * 2005-11-17 2007-05-17 Aisin Seiki Kabushiki Kaisha Surroundings monitoring system for a vehicle

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9505403B2 (en) 2014-05-15 2016-11-29 Ford Global Technologies, Llc Parking assistance system
US20170305420A1 (en) * 2014-09-24 2017-10-26 Daimler Ag Enabling a highly automated driving function
US20170161902A1 (en) * 2015-12-02 2017-06-08 Dura Operating, Llc System for detecting vehicle fuel door status
CN107972609A (en) * 2016-10-24 2018-05-01 通用汽车环球科技运作有限责任公司 Method and apparatus for door state detection
US10220704B2 (en) * 2016-10-24 2019-03-05 GM Global Technology Operations LLC Method and apparatus for door status detection
US20190152387A1 (en) * 2017-11-21 2019-05-23 GM Global Technology Operations LLC Ajar tailgate detection system
CN109808598A (en) * 2017-11-21 2019-05-28 通用汽车环球科技运作有限责任公司 Half-open rear baffle detection system
WO2019120643A1 (en) * 2017-12-19 2019-06-27 Volkswagen Aktiengesellschaft Method for detecting at least one object present on a motor vehicle, control device, and motor vehicle
US11535242B2 (en) 2017-12-19 2022-12-27 Volkswagen Aktiengesellschaft Method for detecting at least one object present on a motor vehicle, control device, and motor vehicle
US11656616B2 (en) 2018-04-03 2023-05-23 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus
US11414097B2 (en) * 2019-07-04 2022-08-16 Lg Electronics Inc. Apparatus for generating position data, autonomous vehicle and method for generating position data
US11410545B2 (en) 2019-07-19 2022-08-09 Ford Global Technologies, Llc Dynamic vehicle perimeter definition and reporting

Also Published As

Publication number Publication date
DE112012003762A5 (en) 2014-08-28
WO2013034140A1 (en) 2013-03-14
US20140379197A1 (en) 2014-12-25
JP2014533348A (en) 2014-12-11
JP6022575B2 (en) 2016-11-09
JP2014527931A (en) 2014-10-23
EP2753533A1 (en) 2014-07-16
DE112012003746A5 (en) 2014-06-18
EP2753532A1 (en) 2014-07-16
EP2753532B1 (en) 2015-10-21
JP6138130B2 (en) 2017-05-31
EP2753533B1 (en) 2015-11-25
WO2013034141A1 (en) 2013-03-14
DE102011112578A1 (en) 2013-03-14
US9511723B2 (en) 2016-12-06

Similar Documents

Publication Publication Date Title
US20150360625A1 (en) Determination of the position of structural elements of a vehicle
CN107914713B (en) Display device for vehicle and vehicle including same
US20170297488A1 (en) Surround view camera system for object detection and tracking
US10776636B2 (en) Stereo camera-based detection of objects proximate to a vehicle
EP3088268B1 (en) Vehicle driving aid device and vehicle having same
US10981518B1 (en) Vehicle sensor assembly
US20160314357A1 (en) Method and Device for Monitoring an External Dimension of a Vehicle
US10647257B2 (en) Rear-view sensor system and motor vehicle
US20210300341A1 (en) Parking assist system
US20160034768A1 (en) Around view monitoring apparatus and method thereof
CN108340836A (en) A kind of automobile A column display system
DE102012022336A1 (en) Method for carrying out an at least semi-autonomous parking operation of a motor vehicle in a garage, parking assistance system and motor vehicle
CN108349533B (en) Method for determining a parking area for parking a motor vehicle, driver assistance system and motor vehicle
US11161462B2 (en) Method for assisting a driver of a vehicle/trailer combination in maneuvering the vehicle/trailer combination, driver assistance system as well as motor vehicle
US20170185763A1 (en) Camera-based detection of objects proximate to a vehicle
CN111655540B (en) Method for identifying at least one object adjacent to a motor vehicle
EP3379827A1 (en) Display device for vehicles and display method for vehicles
WO2017132278A1 (en) System and method for camera-based detection of object heights proximate to a vehicle
CN110857057A (en) Vehicle periphery display device
EP2647530A1 (en) Drive assist display apparatus
CN110035926A (en) Display control unit, display system and display control method
JP7385412B2 (en) automatic driving system
US20190311523A1 (en) Method and Vehicle Control System for Producing Images of a Surroundings Model, and Corresponding Vehicle
US20200134869A1 (en) Static Camera Calibration Using Motion of Vehicle Portion
EP2662828B1 (en) A vision system and method for a motor vehicle

Legal Events

Date Code Title Description
AS Assignment

Owner name: CONTI TEMIC MICROELECTRONIC GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:RANDLER, MARTIN;GREWE, RALPH;FISCHER, MARC;AND OTHERS;REEL/FRAME:033785/0924

Effective date: 20140522

Owner name: CONTINENTAL TEVES AG & CO. OHG, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:RANDLER, MARTIN;GREWE, RALPH;FISCHER, MARC;AND OTHERS;REEL/FRAME:033785/0924

Effective date: 20140522

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION