WO2018108212A1 - Dispositif de traitement d'image et procédé de traitement de données d'image d'un système à caméra multiples pour un véhicule à moteur - Google Patents

Dispositif de traitement d'image et procédé de traitement de données d'image d'un système à caméra multiples pour un véhicule à moteur Download PDF

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Publication number
WO2018108212A1
WO2018108212A1 PCT/DE2017/200112 DE2017200112W WO2018108212A1 WO 2018108212 A1 WO2018108212 A1 WO 2018108212A1 DE 2017200112 W DE2017200112 W DE 2017200112W WO 2018108212 A1 WO2018108212 A1 WO 2018108212A1
Authority
WO
WIPO (PCT)
Prior art keywords
image data
vehicle
camera
external
motor vehicle
Prior art date
Application number
PCT/DE2017/200112
Other languages
German (de)
English (en)
Inventor
Jörg Schrepfer
Michael Klingele
Original Assignee
Conti Temic Microelectronic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic Gmbh filed Critical Conti Temic Microelectronic Gmbh
Priority to DE112017004691.2T priority Critical patent/DE112017004691A5/de
Publication of WO2018108212A1 publication Critical patent/WO2018108212A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects

Definitions

  • the present invention relates to image processing systems for driver assistance systems for motor vehicles.
  • be ⁇ applies the present invention, a Schm Schemeverarbei ⁇ processing apparatus and method for processing
  • Image data from a multi-camera system for a motor vehicle is a multi-camera system for a motor vehicle.
  • Image data sensors in the field of driver assistance are largely based on the use of sensor components for recording the vehicle environment. Especially video sensors have proven their suitability.
  • vehicle-mounted multi-camera systems can not or at least do not completely detect surfaces of objects in the vicinity of the motor vehicle that are facing away from the vehicle, or at least do not completely detect them, i. from several sides or from several directions.
  • a first aspect of the present invention relates to an image data processing apparatus for processing image data from a multi-camera system for a motor vehicle.
  • the image data processing device comprises a data acquisition device and a data evaluation device.
  • the data acquisition device is configured to be coupled to at least one vehicle-side camera and also to be coupled to at least one vehicle-external camera and to receive internal image data from the vehicle-side camera and external image data from the vehicle-external camera.
  • the data evaluation device is designed to determine an environment model for the motor vehicle on the basis of the received internal image data and on the basis of the received external image data.
  • the present invention advantageously enables one to ⁇ summary, ie several views from different
  • the present invention advantageously makes it possible, in the event that the rear side of objects facing away from the vehicle can not be detected by the vehicle-mounted cameras installed in the vehicle, to use further image data which is generated by stationary cameras, that is to say vehicles external to the vehicle which are coupled, for example, with any infrastructure and which in addition Provide image information for an object determination.
  • the additional image information can provide redundant or complementary information for object determination.
  • the present invention advantageously enables, for example, in areas with bad or disturbed satellite reception, position or location determinations of the motor vehicle based on image data from external cameras.
  • a further second aspect of the present invention relates to a multi-camera system for a motor vehicle, wherein the multi-camera system has at least one camera on the vehicle side and at least one camera external of the vehicle.
  • Another aspect of the present invention relates to a method of processing image data from a multi-camera system for a motor vehicle. The method comprises the following method steps: receiving internal image data from at least one vehicle-side camera and from external image data from the vehicle-external camera by means of a data acquisition device. As a further step, the method includes determining an environmental model for the vehicle based on the captured emp ⁇ internal image data and based on the received external image data by a data evaluation unit.
  • vehicle-side camera here includes an in-vehicle camera which is installed on the vehicle, which may also be a camera within the vehicle for detecting a vehicle interior and / or a vehicle environment, or a camera, or a camera. which is installed on the outside of the vehicle. Furthermore, the term “vehicle-side camera” also includes, for example, cameras which are installed on components connected to the vehicle, such as a trailer.
  • vehicle-external camera in this case comprises a non-vehicle-side camera which is not installed on the vehicle, which may also include a camera, which is for example stationary at a traffic sign or at a garage entrance.
  • the data evaluation device is designed to determine at least one environment object in the environment model for the motor vehicle. This advantageously makes it possible to provide an improved environment model for the motor vehicle.
  • the data acquisition device is designed to receive internal - ie vehicle-generated - image data and external - ie generated outside the motor vehicle - image data, which map different surface areas of the at least one surrounding object.
  • the internal image data depicts the object from another angle as compared with the external image data.
  • a texture of the at least one surrounding object in the environmental model for the motor vehicle is determined on the basis of the internal image data and the external image data. This advantageously makes it possible to also process image information averted from the vehicle.
  • the data evaluation device is designed to carry out a position determination for the force ⁇ vehicle based on the internal image data and the external image data. This allows advantageous to ensure independence of the Sa ⁇ tellitenempfang, that is, a selection of a satellite connection allows, for example, in
  • the multi-camera system comprises a vehicle-external camera, which is designed to be mounted on a traffic sign or at a garage entrance for the motor vehicle.
  • the multi-camera system further comprises a proximity sensor or a proximity sensor device which is coupled to the at least one camera external to the vehicle and which is designed to start an image data transmission of external image data as soon as the motor vehicle has been detected within a certain distance threshold to the vehicle external camera, for example, if the motor vehicle is located closer than 20 m from the vehicle external camera. This makes it possible to ensure improved data security since image data is only sent if the motor vehicle can also receive it.
  • FIG. 1 shows a schematic representation of an image data processing device for processing image data from a multi-camera system for a motor vehicle according to an embodiment of the present invention
  • FIG. 2 shows a schematic illustration of a flowchart of a method for processing image data from a multi-camera system for a motor vehicle according to a further exemplary embodiment of the present invention.
  • FIG. 3 shows a schematic representation of a multi-camera system and an image data processing device and a motor vehicle according to a further exemplary embodiment of the present invention.
  • the motor vehicle or vehicle is at ⁇ game as a motor vehicle or a hybrid vehicle, for example a hybrid vehicle having sail function in ⁇ game as a motorcycle, a bus or a truck or a bicycle.
  • Driver assistance systems are electronic auxiliary devices in motor vehicles to assist the driver in certain driving situations.
  • FIG. 1 shows a schematic representation of a Jardinda ⁇ ten kausvorraum 1 for processing image data IB, EB of a multi-camera system 100 for a motor vehicle 2 according to an embodiment of the present invention.
  • the device or the image data processing device 1 comprises a data acquisition device 10 and a data evaluation device 20.
  • the data acquisition device 10 is designed to be coupled to at least one vehicle-side camera 110 and at least one vehicle-external camera 120.
  • the data acquisition device 10 is configured to receive internal image data from the vehicle-side camera 110 and / or external image data from the vehicle-external camera 120.
  • the vehicle-side camera 110 and the vehicle-external camera 120 form a multi-camera system 100.
  • the data evaluation device 20 is designed to determine an environment model for a motor vehicle 2 on the basis of the received internal image data IB and on the basis of the received external image data EB.
  • the multi-camera system 100 for a motor vehicle 2 may further comprise a proximity sensor device 130, which is coupled to the at least one vehicle-external camera 120.
  • the proximity sensor device 130 is configured to start an image data transmission from external image data, that is, in other words, the vehicle-external camera for
  • the image data processing system can advantageously enable a position determination of the motor vehicle.
  • a map-based localization can be worked out and the
  • Motor vehicle can be located within a card provided.
  • external and internal image data are evaluated with the help of the map for a position determination.
  • the Lokali ⁇ tion can therefore also work in situations that are difficult for the satellite location, such as GPS tracking and allows independent of atmospheric disturbances or local circumstances, such as overbuilding, tracking and locating the vehicle.
  • FIG. 2 shows a schematic representation of a method for processing image data from a multi-camera system for a motor vehicle according to a further exemplary embodiment of the present invention.
  • the method comprises the following method steps:
  • receiving of internal image data from at least one vehicle-side camera and external image data from the vehicle-external camera takes place by means of a data acquisition device.
  • a second step of the method includes determining an environmental model S2 for the motor vehicle based on the captured emp ⁇ internal image data and based on the received external image data by a data evaluation device 20 takes place.
  • FIG. 3 shows a schematic representation of a possible scenario for the multi-camera system according to an execution ⁇ example of the present invention.
  • the multi-camera system comprises a first vehicle-side camera 110 and a second vehicle-external camera 120.
  • the vehicle-external camera 120 is mounted, for example, on a traffic sign 300 and comprises a wide field of view, as shown by the dot-dashed line. Within the field of view of the vehicle-external camera be ⁇ 120 there is an object Ol.
  • the in-vehicle or vehicle-mounted camera 110 is mounted in a motor vehicle 2 and also has a field of view, also shown by a chain line. In this case, another surface in the field of view of the vehicle-side camera 110 is located opposite to the object Ol, in contrast to the surface region of the object Ol, as can be imaged by the vehicle-external camera 120.
  • the different surface areas of the at least one surrounding object Ol as illustrated by the vehicle-side camera 110 on the one hand and by the vehicle-external camera 120 on the other hand, are shown by the dashed line.
  • FIG. 3 shows a virtual field of view as would be imaged by a virtual camera 400.
  • the field of view of this virtual camera 400 can be used, for example, for a navigation system or for a display display in the motor vehicle in order to visualize the driver an overview of the illustrated scenario and the distance of the motor vehicle 2 to the object oil.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un dispositif de traitement de données d'image (1) pour le traitement de données d'image d'un système à caméras multiples (100) pour un véhicule à moteur (2), le dispositif de traitement de données d'image (1) comprenant : un dispositif d'acquisition de données (10) conçu être accouplé à au moins une caméra (110) côté véhicule et à au moins une caméra (120) extérieure au véhicule (120) et pour recevoir des données d'image internes de la caméra côté véhicule et des données d'image externes de la caméra externe au véhicule; et un dispositif d'évaluation de données (20) qui est conçu pour déterminer un modèle d'environnement pour le véhicule à moteur (2) à l'aide des données d'image internes (IB) reçues et à l'aide des données d'image externes (EB) reçues.
PCT/DE2017/200112 2016-12-14 2017-10-25 Dispositif de traitement d'image et procédé de traitement de données d'image d'un système à caméra multiples pour un véhicule à moteur WO2018108212A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112017004691.2T DE112017004691A5 (de) 2016-12-14 2017-10-25 Bildverarbeitungsvorrichtung und Verfahren zum Verarbeiten von Bilddaten von einem Multikamerasystem für ein Kraftfahrzeug

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016224906.1 2016-12-14
DE102016224906.1A DE102016224906A1 (de) 2016-12-14 2016-12-14 Bildverarbeitungsvorrichtung und Verfahren zum Verarbeiten von Bilddaten von einem Multikamerasystem für ein Kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2018108212A1 true WO2018108212A1 (fr) 2018-06-21

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PCT/DE2017/200112 WO2018108212A1 (fr) 2016-12-14 2017-10-25 Dispositif de traitement d'image et procédé de traitement de données d'image d'un système à caméra multiples pour un véhicule à moteur

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DE (2) DE102016224906A1 (fr)
WO (1) WO2018108212A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021213882A1 (de) 2021-12-07 2023-06-07 Zf Friedrichshafen Ag Verfahren zum Erstellen eines gesamtheitlichen Umgebungsmodells eines Multikamerasystems eines Fahrzeugs

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070139523A1 (en) * 2005-12-15 2007-06-21 Toshio Nishida Photographing apparatus, image signal choosing apparatus, driving assisting apparatus and automobile
EP2110797A1 (fr) * 2006-12-05 2009-10-21 Fujitsu Limited Procédé d'affichage d'état de la circulation, système d'affichage d'état de la circulation, dispositif embarqué dans un véhicule, et programme informatique
EP2562735A1 (fr) * 2011-08-26 2013-02-27 Robert Bosch Gmbh Procédé et dispositif d'analyse d'un tronçon de trajet à parcourir par un véhicule

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013019770A1 (de) * 2013-11-23 2014-06-18 Daimler Ag Verfahren zur Darstellung einer Umgebung eines Kraftfahrzeuges und ein Kraftfahrzeug
DE102016012884A1 (de) * 2016-10-28 2017-05-04 Daimler Ag Umgebungserfassungsanordnung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070139523A1 (en) * 2005-12-15 2007-06-21 Toshio Nishida Photographing apparatus, image signal choosing apparatus, driving assisting apparatus and automobile
EP2110797A1 (fr) * 2006-12-05 2009-10-21 Fujitsu Limited Procédé d'affichage d'état de la circulation, système d'affichage d'état de la circulation, dispositif embarqué dans un véhicule, et programme informatique
EP2562735A1 (fr) * 2011-08-26 2013-02-27 Robert Bosch Gmbh Procédé et dispositif d'analyse d'un tronçon de trajet à parcourir par un véhicule

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DE112017004691A5 (de) 2019-07-04
DE102016224906A1 (de) 2018-06-14

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