WO2012028230A1 - Procédé pour représenter des lignes auxiliaires dans un système d'assistance de conducteur basé sur caméra - Google Patents

Procédé pour représenter des lignes auxiliaires dans un système d'assistance de conducteur basé sur caméra Download PDF

Info

Publication number
WO2012028230A1
WO2012028230A1 PCT/EP2011/003704 EP2011003704W WO2012028230A1 WO 2012028230 A1 WO2012028230 A1 WO 2012028230A1 EP 2011003704 W EP2011003704 W EP 2011003704W WO 2012028230 A1 WO2012028230 A1 WO 2012028230A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
auxiliary line
ground
image
representing
Prior art date
Application number
PCT/EP2011/003704
Other languages
German (de)
English (en)
Inventor
Markus Glaser
Michael Hauth
Joachim Missel
Matthias Reichmann
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
Publication of WO2012028230A1 publication Critical patent/WO2012028230A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—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 to the rear of the vehicle
    • 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
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • 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
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/173—Reversing assist
    • 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
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons

Definitions

  • the present invention relates to a method for representing auxiliary lines assisting a driver in guiding a vehicle in a driver assistance system for the vehicle according to the preamble of claim 1 and a driver assistance system for a vehicle according to the preamble of claim 1.
  • Drivers of vehicles are often assisted in driving the vehicle by one or more driver assistance systems.
  • drivers are supported by camera-based driver assistance systems, which display images of the surroundings of the vehicle on a screen. This is helpful for the driver, especially when reversing.
  • guides are displayed in the surrounding image that, for example, indicate to the driver a roadway along which the vehicle moves as it proceeds. For example, in a reverse park mode (back-in mode) of the vehicle, an auxiliary line is superimposed, or in a trailer docking mode of the vehicle, another guide line is displayed.
  • the surrounding images of the vehicle are typically obtained from a surround view system or a rearview camera. These environmental images are
  • the surround view system includes several cameras, the are each arranged on a right, left, front and rear side of the vehicle, and the at least one electronic control unit with a
  • Vehicle computing unit are operatively coupled, which is connected to the screen and a control unit.
  • Environmental image information is captured by each of the plurality of cameras and converted by the electronic control unit into image data processed by the vehicle computing unit.
  • Display interface comprises three fields, with a first field at least the
  • the plan view is provided from image data of the plurality of cameras calculated by the vehicle computing unit, and at least one of the three fields displays a viewing angle indicator for displaying a surrounding area shown in the first field.
  • the object of the present invention is to provide methods and a
  • this object is achieved by the measures indicated in claim 1 and in terms of the driver assistance system by the measures indicated in claim 8.
  • a method for displaying assist lines assisting a driver in guiding a vehicle in a driver assistance system for the vehicle includes displaying an environmental image of the vehicle including the ground on which the vehicle is moving, superimposing an auxiliary line on the surrounding image, and displaying a map Shadow of the guide on the ground.
  • an environment of the vehicle is detected by means of at least one camera.
  • signals representing a detected environment of the vehicle are processed to obtain the surrounding image of the vehicle including the ground on which the vehicle is moving.
  • a first auxiliary line in a first auxiliary line in a first auxiliary line
  • the first predetermined height corresponds to a distance of a trailer hitch of the vehicle to the ground.
  • a second auxiliary line is shown at a second predetermined height above the ground, wherein the second predetermined height is close to or equal to zero.
  • a height of auxiliary lines above the ground is changed automatically in dependence on a driving mode of the vehicle.
  • a real lighting situation is determined from the environmental image, the shadow being dependent on the real one
  • the driver assistance system achieves the same advantages as previously described with respect to the method or its embodiments.
  • Figure 1 is an environmental image of a parking assistant with auxiliary line without shadow.
  • FIG. 2 shows the surround image of FIG. 1 with auxiliary line and shadow according to a first exemplary embodiment of the present invention
  • Fig. 3 is an environmental image of a trailer docking assistant with superimposed auxiliary line
  • FIG. 4 shows the outline image of FIG. 3 with auxiliary line and shadow according to a second exemplary embodiment of the present invention.
  • a vehicle has a rear view camera with which an environment image 1 is taken in accordance with a rearward view from a vehicle.
  • the vehicle is in a reverse parking mode. This is shown on the screen by a parking mode display 2.
  • a first auxiliary line 3 i. a line complex of several individual lines, shown, which indicates the roadway of the vehicle in straight backward driving.
  • a second auxiliary line 4 is shown in dashed lines, which represents the roadway of the vehicle at full steering angle.
  • the environment image 1 itself acts in three dimensions or perspectives, while the auxiliary lines 3, 4 are two-dimensional objects and thus appear alien to the surrounding image.
  • FIG. 2 the environmental image 1 of Fig. 1 is also shown.
  • the vehicle is unchanged in the park mode, affirming the parking mode display 2.
  • the two auxiliary lines 3 and 4 are shown.
  • a shadow 6, 7 is shown in each case in the image of FIG. 2 for each of the auxiliary lines 3, 4.
  • the auxiliary lines 3, 4 therefore act as if they were lifted off the ground 5 slightly. This gives you a three-dimensional character. As a result, they are considered by the driver rather than
  • an environmental image 10 is shown, which is taken by a rear view camera of the vehicle.
  • the environmental image 10 also shows the ground 15 on which the vehicle is moving.
  • an auxiliary line 13 is superimposed in the image.
  • the auxiliary line 13 serves to assist the driver in a coupling process of a trailer. This guideline 13 appears automatically when the driver places the vehicle in the trailer docking mode.
  • the auxiliary line 13 is displayed as a two-dimensional object in the three-dimensional environmental image 10. It is thus alien to the image and not as part of the environment. Therefore, according to the invention, as shown in FIG. 4, in addition to the auxiliary line 13, its shadow 16 is faded into the surrounding image 10. Thus, the auxiliary line 13 acts three-dimensionally, and the driver perceives the auxiliary line 13 as part of the real three-dimensional environment.
  • the representation of the auxiliary lines 3, 4, 13 can be done in a predetermined virtual height with the respective shadow 6, 7, 16 at ground level.
  • the predetermined altitude should correspond to a distance from the ground to a trailer hitch.
  • the auxiliary lines 3, 4 in the reverse parking mode can be displayed very close to the ground. If necessary, the guides are then shown so close to the bottom 5, that the shadow is no longer or only slightly visible.
  • the virtual height of the auxiliary line preferably changes automatically with the choice of the driving mode.
  • Lighting situation done This can be done, for example, by evaluating a
  • Exposure control can be realized in a multi-camera system or by analyzing an image in a single-camera system. It is then adapted to the shadow of the guides to the real shadow of an object in the area. Optionally, the shadow may also change position as the vehicle rotates, thereby changing the actual lighting situation.
  • auxiliary lines Due to the spatial representation of the auxiliary lines, the guide lines for the driver intuitively become the different projection levels of the guide lines in the three-dimensional Environment image can be assigned.
  • the auxiliary lines therefore do not act on the three-dimensional environment image, but rather as elements integrated therein. Thereby, when performing a driving operation using a
  • auxiliary lines may be e.g. in the surround view system can also be used for other purposes.
  • the maximum possible steering angle can be indicated by an auxiliary line with shadow.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

La représentation intuitive de lignes auxiliaires (3) par un système d'assistance de conducteur basé sur caméra doit être améliorée. A cet effet, on crée un procédé pour représenter des lignes auxiliaires (3) qui aident un conducteur lors de la conduite d'un véhicule. Une image ambiante (1) du véhicule, y compris du sol (5), sur lequel le véhicule se déplace, est représentée sur un écran. L'image d'environnement (1) est superposée avec une ligne auxiliaire (3, 4). On représente également une ombre (6, 7) de la ligne auxiliaire (3, 4) sur le sol (5). De ce fait, la ligne auxiliaire donne un effet plus plastique et donne l'impression de faire partie de l'environnement.
PCT/EP2011/003704 2010-09-02 2011-07-23 Procédé pour représenter des lignes auxiliaires dans un système d'assistance de conducteur basé sur caméra WO2012028230A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010036140A DE102010036140A1 (de) 2010-09-02 2010-09-02 Verfahren zum Darstellen von Hilfslinien in einem kamerabasierten Fahrerassistenzsystem
DE102010036140.2 2010-09-02

Publications (1)

Publication Number Publication Date
WO2012028230A1 true WO2012028230A1 (fr) 2012-03-08

Family

ID=44677827

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/003704 WO2012028230A1 (fr) 2010-09-02 2011-07-23 Procédé pour représenter des lignes auxiliaires dans un système d'assistance de conducteur basé sur caméra

Country Status (2)

Country Link
DE (1) DE102010036140A1 (fr)
WO (1) WO2012028230A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2525053A (en) * 2014-04-09 2015-10-14 Jaguar Land Rover Ltd Apparatus and method for displaying information
US9959472B2 (en) * 2011-11-08 2018-05-01 Lg Innotek Co., Ltd. Parking assisting system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1249365A1 (fr) * 2001-04-09 2002-10-16 Matsushita Electric Industrial Co., Ltd. Système d'aide à la conduite
JP2002303521A (ja) * 2002-01-25 2002-10-18 Fujitsu Ten Ltd ナビゲーション装置
US20080100614A1 (en) * 2005-04-28 2008-05-01 Bayerische Motoren Werke Aktiengesellschaft Method for Graphically Representing the Surroundings of a Motor Vehicle
DE102007052816A1 (de) * 2006-11-14 2008-05-15 Aisin Seiki Kabushiki Kaisha, Kariya Anzeigevorrichtung zum Darstellen eines Bilds der Umgebung eines Fahrzeugs
WO2009036176A1 (fr) * 2007-09-11 2009-03-19 Magna Electronics Système d'imagerie pour véhicule
WO2009136559A1 (fr) * 2008-05-08 2009-11-12 アイシン精機株式会社 Dispositif d'affichage périphérique de véhicule
DE102009025205A1 (de) 2009-06-17 2010-04-01 Daimler Ag Anzeige und Verfahren für eine Umgebungsdarstellung eines Kraftfahrzeug-Surround-View-Systems

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008028373A1 (de) * 2008-06-13 2009-12-24 Audi Ag Verfahren zur kombinierten Ausgabe eines Bildes und einer Fahrinformation, sowie Kraftfahrzeug hierfür

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1249365A1 (fr) * 2001-04-09 2002-10-16 Matsushita Electric Industrial Co., Ltd. Système d'aide à la conduite
JP2002303521A (ja) * 2002-01-25 2002-10-18 Fujitsu Ten Ltd ナビゲーション装置
US20080100614A1 (en) * 2005-04-28 2008-05-01 Bayerische Motoren Werke Aktiengesellschaft Method for Graphically Representing the Surroundings of a Motor Vehicle
DE102007052816A1 (de) * 2006-11-14 2008-05-15 Aisin Seiki Kabushiki Kaisha, Kariya Anzeigevorrichtung zum Darstellen eines Bilds der Umgebung eines Fahrzeugs
WO2009036176A1 (fr) * 2007-09-11 2009-03-19 Magna Electronics Système d'imagerie pour véhicule
WO2009136559A1 (fr) * 2008-05-08 2009-11-12 アイシン精機株式会社 Dispositif d'affichage périphérique de véhicule
DE102009025205A1 (de) 2009-06-17 2010-04-01 Daimler Ag Anzeige und Verfahren für eine Umgebungsdarstellung eines Kraftfahrzeug-Surround-View-Systems

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9959472B2 (en) * 2011-11-08 2018-05-01 Lg Innotek Co., Ltd. Parking assisting system
GB2525053A (en) * 2014-04-09 2015-10-14 Jaguar Land Rover Ltd Apparatus and method for displaying information
GB2525053B (en) * 2014-04-09 2018-11-21 Jaguar Land Rover Ltd Apparatus and method for displaying information
US11597318B2 (en) 2014-04-09 2023-03-07 Jaguar Land Rover Limited Apparatus and method for displaying information

Also Published As

Publication number Publication date
DE102010036140A1 (de) 2012-03-08

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