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
  • 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
  • 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 OR CALCULATING; 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 OR CALCULATING; 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, light or radio wave 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.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Automation & Control Theory (AREA)
• Multimedia (AREA)
• Theoretical Computer Science (AREA)
• General Physics & Mathematics (AREA)
• Physics & Mathematics (AREA)
• Combustion & Propulsion (AREA)
• Chemical & Material Sciences (AREA)
• Human Computer Interaction (AREA)
• Signal Processing (AREA)
• Traffic Control Systems (AREA)
• Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
• Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Closed-Circuit Television Systems (AREA)

Applications Claiming Priority (3)

Publications (1)

Family

ID=46888857

Family Applications (2)

Family Applications After (1)

Country Status (5)

Cited By (9)

Families Citing this family (26)

Citations (2)

Family Cites Families (48)

• 2011
  • 2011-09-08 DE DE102011112578A patent/DE102011112578A1/de not_active Ceased
• 2012
  • 2012-08-21 US US14/238,975 patent/US20150360625A1/en not_active Abandoned
  • 2012-08-21 US US14/241,275 patent/US9511723B2/en active Active
  • 2012-08-21 DE DE112012003762.6T patent/DE112012003762A5/de not_active Withdrawn
  • 2012-08-21 DE DE112012003746.4T patent/DE112012003746A5/de not_active Withdrawn
  • 2012-08-21 EP EP12762202.5A patent/EP2753532B1/de active Active
  • 2012-08-21 EP EP12766377.1A patent/EP2753533B1/de active Active
  • 2012-08-21 JP JP2014528854A patent/JP6022575B2/ja active Active
  • 2012-08-21 JP JP2014528853A patent/JP6138130B2/ja active Active
  • 2012-08-21 WO PCT/DE2012/100244 patent/WO2013034140A1/de not_active Ceased
  • 2012-08-21 WO PCT/DE2012/100245 patent/WO2013034141A1/de not_active Ceased

Patent Citations (2)

Also Published As

Similar Documents

Legal Events