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WO2011153989A2 - Système de caméra stéréo - Google Patents

Système de caméra stéréo Download PDF

Info

Publication number
WO2011153989A2
WO2011153989A2 PCT/DE2011/001115 DE2011001115W WO2011153989A2 WO 2011153989 A2 WO2011153989 A2 WO 2011153989A2 DE 2011001115 W DE2011001115 W DE 2011001115W WO 2011153989 A2 WO2011153989 A2 WO 2011153989A2
Authority
WO
WIPO (PCT)
Prior art keywords
stereo camera
windshield
camera system
field
lens
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.)
Ceased
Application number
PCT/DE2011/001115
Other languages
German (de)
English (en)
Other versions
WO2011153989A3 (fr
Inventor
Konrad ROTHENHÄUSLER
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.)
Aumovio Microelectronic GmbH
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 DE112011101083T priority Critical patent/DE112011101083A5/de
Publication of WO2011153989A2 publication Critical patent/WO2011153989A2/fr
Publication of WO2011153989A3 publication Critical patent/WO2011153989A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B60S1/0844—Optical rain sensor including a camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to a stereo camera system according to claim 1.
  • a stereo camera is understood here to mean an arrangement of two cameras, which are mounted at a predetermined distance from each other, in particular on the windshield of the vehicle.
  • the images captured by the two cameras, in particular digital cameras are compared and pixel differences between identical object edges are evaluated in order to determine the corresponding object distance therefrom.
  • a deviation or positional difference of the optical axis of a camera from or to the predetermined position must be detected. Compensation can be done algorithmically, for example, by suitable software or mechanically by changing the position of the cameras. If the two cameras have been independently fixed to the windshield and adjusted in the assembly process, a positional difference of the optical axes during operation of the stereo camera can only be detected by defined objects in the street scene. Finding such defined objects worldwide and always is a great, if not impossible, challenge.
  • a possible object for detecting a position difference could also be an edge on the own vehicle, which is always visible to the stereo camera, for example the front edge of the vehicle.
  • a stereo camera system is understood here to mean a stereo camera and corresponding software for controlling the stereo camera and image evaluation.
  • the software is typically stored in a non-volatile memory of electronics of the stereo camera system and is executed by a processor of the electronics, which is configured by the software, especially for camera control and image analysis.
  • An essential idea of the invention is to design at least one camera module of a stereo camera system in such a way that it can be used as an at least bifocal optical camera module with at least two different depths of field on an image sensor, wherein a depth of field range covers the vicinity of the stereo camera system, in particular the area of the windscreen ,
  • the system can sharply image at least a portion of the windshield and detect objects in this subarea which are located on the windshield with a focus that is suitable for further evaluation, in particular for automatic alignment of the system.
  • special, intended for alignment pattern can be displayed on the windshield.
  • An embodiment of the invention now relates to a stereo camera system adapted for use in motor vehicles behind a sloped windshield, wherein
  • Depth of field can be used on an image sensor and the image sensor thereby includes at least two partial areas with different optical object widths, wherein an optical object distance for detecting an object in the vicinity, which is used to align the
  • Stereocamera arrangement serves, is provided.
  • the at least two image sensor subregions may have additional features
  • Components acting as filter elements can be integrated before, in or after the additional optical element and / or in optical
  • the sectional area of the additional optical element does not or only partially cuts.
  • the additional optical element may be formed in at least one of the optical components of the at least one camera module as a partial partial lens in front of a lens of the camera module, as a partial optical element in particular as a plane-parallel plate behind the lens or as an optical beam splitter or mirror element and thus a bifocal image on at least allow two sections of the image sensor.
  • the stereo camera system according to the invention can also be designed to achieve the at least two different focal depth regions simultaneously or separately by feeding the additional optical element, wherein the feeding of the additional optical element into the entire field of view of the at least two camera modules via a chopper wheel with lenses of one or more Refractive power and thickness in front of the lens, one or more plane-parallel elements that differ by their thickness or their refractive index behind the lens of a camera module or by filling a non-fixed, the desired wavelength range well-transmitting and differs in the refractive index of air medium behind the lens of a camera module takes place.
  • the at least two depth-of-field regions of the individual camera modules of the stereo camera system according to the invention can be identical or differ in their depth-of-sharpness limits due to the at least one partially arranged additional optical element.
  • the at least two different depth-of-field regions of the individual camera modules of the stereo camera system according to the invention can have one subarea of the image sensor for close-range focusing with a rear depth of field of about 1 meter and the other subarea of the image sensor for long-range focusing with a front
  • the stereo camera system according to the invention can be formed, the at least two individual camera modules simultaneously or separately in time on the portion of the image sensor whose depth of field limits Nah Schlsfokusstechnik correspond to the detection of fog on the disk inside, rain, dirt or other the view
  • obstructing events to be used wherein the depth of field is selected by targeted design of the additional optical components so that object edges of an edge detection, different objects by defined classifiers or deviations caused in the
  • Frequency spectrum can be detected by a relatively fast FFT (Fast Fourier Transformation) in a subsequent image processing stage by the system.
  • the stereo camera system according to the invention can also be designed to target the at least two individual camera modules simultaneously or separately in time on the subregion of the image sensor whose depth of field boundaries correspond to near field focusing arranged target marks on the disk inside, within the
  • the stereo camera system according to the invention can be further developed, a deviation of the target mark positions and a thus occurred
  • Windshield as explained above and of targets for detecting deviations in the viewing direction is performed as explained above.
  • Lighting and / or a partially arranged heat source for support the detection of objects on the windshield may be provided, wherein a heating source may be provided to effect in particular a localized evaporation of fog on the windshield inside or a thawing of ice on the windshield outer side. This local difference of these special cases can be the
  • Image processing as a recognition feature e.g. as an edge for one
  • Edge detection by edge filtering e.g. with a simple one
  • Windscreen outer side can be determined by a higher number of edges in the vertical direction in comparison to the horizontal direction and serve to assess the cleaning performance of the windscreen wiper system and to initiate appropriate measures.
  • the individual camera modules can not be in direct contact with the windshield, but be positioned at least one vehicle point relatively loose and stress-free.
  • the different depth of field depths of the individual camera modules of the stereo camera system according to the invention can be used for supporting distance detection of objects in the camera field of view.
  • Stereo camera system to determine the limit of a possible
  • At least one of the camera modules of the invention is provided.
  • Stereo camera systems may be directed to an inclined mirror or beam splitter, which is used as a field mirror for windshield imaging, which mirror in particular as
  • Ambient light sensor, target carrier and or as Symmetrieebene may be provided to distinguish between near and far objects.
  • the inclined mirror element can in the inventive
  • Lighting can be done either by reflection on the disk inside, by total reflection on the inner surface of the disk outside or by a fluoroscopy of the disc.
  • the stereo camera system according to the invention can also be designed to use at least two different optical components to enable a bifocal imaging in combination or in cyclic alternation.
  • the stereo camera system according to the invention can also be designed and in particular be able to do so by the bifocal property
  • the stereo camera system according to the invention can also be designed to evaluate the near focus on the windshield also for reading in applied codes that contain certain parameters of the windshield in the windshield black pressure.
  • a coupling element of the individual camera modules by the detection and compensation of the changes in terms of camera distance and line of sight from a very cheap material, even with a large
  • Thermal expansion coefficients e.g. many plastics in a low cost production process e.g. Plastic injection molding are produced.
  • the stereo camera system according to the invention can also be designed to use a target mark recognition as a sensor for compensation measures, which may be necessary in the case of a thermal change in the distances and refractive power of the optical components.
  • the image sensor portions used to sharply image the front depth of field can also be used for others
  • Farbfilterarray be provided in front of the sensitive semiconductor surface of the image sensor to the object detection in the vicinity, in particular the
  • a further embodiment of the invention relates to a windshield for a vehicle adapted for use with a stereo camera system according to the invention and as previously described, and
  • the targets for determining the relative position and the viewing direction of the individual camera modules can be determined by in or on the
  • Windscreen integrated, non-transparent heating wires or
  • Antenna arrangements are formed, which are located in the camera field of view.
  • Fig. 1 is a windshield mounted thereon
  • Stereo camera system in a view from behind the windshield
  • Fig. 2 is a windshield adapted for use with the stereo camera system of the present invention
  • Fig. 3 is an example of a typical target pattern on the
  • FIG. 4 shows the windshield shown in FIG. 1 with the stereo camera system mounted thereon in a view from in front of the windshield;
  • Fig. 5 is a tilted stereo camera system and the effect of
  • Fig. 6 shows an embodiment of a camera module
  • Fig. 7 is a side view of another schematically illustrated
  • identical and / or functionally identical elements can be provided with the same reference numerals.
  • the absolute values and dimensions given below are only exemplary values and do not restrict the invention to such dimensions.
  • the stereo camera system 10 according to the invention shown in FIG. 1 is intended for mounting on the windshield 12 of a vehicle and for use in a driver assistance system for traffic detection ,
  • the system is designed as a mechanically coupled unit of two camera modules 14 and 16.
  • the coupling of the camera modules 14 and 16 can be done in many ways.
  • the stereo camera system 10 is in the range of the rearview mirror on the
  • Windshield 12 attached.
  • a camera module 14 or 16 of the system 10 comprises an image sensor, for example a CMOS or CCD camera chip, and an optical system, in particular a lens.
  • the system 10 also includes electronics having a memory with software for evaluating the image sensor, for example a CMOS or CCD camera chip, and an optical system, in particular a lens.
  • the system 10 also includes electronics having a memory with software for evaluating the image sensor, for example a CMOS or CCD camera chip, and an optical system, in particular a lens.
  • the system 10 also includes electronics having a memory with software for evaluating the
  • Image sensors of the camera modules 14 and 16 have generated digital image data and for controlling the system 10 and a processor for executing the software.
  • the thermal expansion coefficients of the materials used in the stereoscopic camera system 10 according to the invention no longer play a dominant role with respect to errors in the object distance detection, since the thermal expansion by a software included in particular by the mentioned and in the stereo camera system according to the invention
  • the distance between the individual camera modules 14 and 16 to each other must be known in order to reliably determine distances to objects with the stereo camera system 10 according to the invention. This distance determination can be done with a measuring method. Also, the direction of view of the cameras 14 and 16 must not change much to the reliability of the
  • the coupled camera system 10 may be attached to a horizontally centered slice centered area, e.g. with a windshield adhesive.
  • the stereo camera system 10 has central fastening means 18, with which by means of a
  • Windshield adhesive the system 10 can be mounted on the windshield 12. Also, attachment to a mechanically stable vehicle point above the windshield is possible, for example on the vehicle roof.
  • the two camera lenses of the stereo cameras or camera modules 14 and 16 are by their main function of traffic detection on their
  • Hyperfocal distance e.g. at about 4 meters, focused.
  • Depth of field about 2 meters to infinity
  • an additional optical component is provided in at least one of the cameras. This additional optical component extends only over a partial area in the camera field of view.
  • This conflict of objectives with the range of usable depth of field has the following cause: Is caused by focus adjustment If the front depth of field boundary is brought further to the objective main plane, the rear depth of field boundary also moves in a direction that is disproportionate to the objective main plane. As a result, more distant objects are no longer sharply focused.
  • the optical component can be implemented, for example, by a partial optical element in the image width, a graduated optical element or even a partial lens in front of the objective.
  • a multifocal optic with the partial lens.
  • the same principle can also be made possible with a partial optical element.
  • the partial lens alters the focusing of the camera system, depending on the lens shape and refractive index, either to a more distant object plane than the hyperfocal distance, e.g. with a concave lens shape (diverging lens), or even on a closer object plane, e.g. in a convex shape
  • Fig. 6 shows the camera module 14 in one
  • the optical component can either be connected to the cameras or to the windshield.
  • shape e.g., lens radius in a spherical lens
  • refractive index depending on the choice of material or surface coating
  • This system allows a sharp image of the windshield on a portion of the image sensor, which is determined by the size of the partial lens area in the field of view of the camera. At the same time, a picture of the street scene with the usual is on the remaining area of the image sensor
  • a suitable imprint referred to below as the target pattern 20 is mounted on the windshield 10.
  • the target pattern 20 is chosen so that the best possible position changes between the camera system and windshield can be detected.
  • Possibility for a target pattern would e.g. a cross 12, as shown in Fig. 3, which is formed by a printed scale in the horizontal direction and a scale in the vertical direction.
  • the resist for the target pattern should have a refractive index approximately equal to that of the disc material.
  • Stereo camera system 10 has.
  • a target pattern 20 in the form of a cross is provided in each case.
  • Fig. 4 the windshield 2 is shown with mounted stereo camera system 10 in a front view, so a view from outside the
  • the lenses of the camera modules 14 and 16 are arranged behind the recesses. In this case, the camera modules are aligned such that the respective partial lens in front of the lens of the module images the area with the target pattern on the windshield sharply in the image plane of the image sensor.
  • the two mechanically coupled cameras of the stereo camera system with an assumed distance of 20 cm to each other see in their field of vision in one area the traffic situation and in another clearly smaller area to be selected the target pattern through the partial lens. Both pictures are sharply focused. A tilt of the partial lens after the
  • Coefficient of expansion of a windshield is significantly lower than that of metals and far below that of plastics which are considered mechanical Coupling of the cameras come into question, ie the target pattern is relatively stable in its position or the extent of thermal expansion is approximately known from the data of the windshield. Now move the stereo cameras by thermal expansion, vibration, shock or Matertalermüdung plastic as coupling element from her
  • This information is important in determining when the cameras are looking in different directions. On the one hand this is possible by the lens effect of the curved windshield, on the other hand by a change in the camera viewing direction through the
  • This change can be caused by a known deviation from the setpoint in a software of the stereo camera system or by
  • a simple mechanical compensation represents a bow as an additional coupling element, which defines the squinting camera defined at a suitable roll angle.
  • Fig. 5 shows the effects of a tilted stereo camera system 10 mounted on the windshield 12. Beneath the system 10 are shown the images produced by the forming sensors of the respective camera modules. It can be clearly seen that the portion of the image sensor assigned to the near zone is the one shown on the windshield 12
  • the attached target pattern is tilted, ie, the target pattern is shown on other than the intended pixels in the image generated by the image sensor.
  • the type of tilting can be determined by means of a camera software module, for example, a suitable software solution would be an adapted image equalization.
  • the disk deflection or a position determination of the cameras to each other can also be done with optical measurement methods.
  • Projection of a light source e.g. with IR LEDs or laser projected through a suitable lens e.g. a cylindrical lens, may e.g. a line at a defined angle (cylindrical lens rotation) are projected onto the windshield.
  • the light source is firmly connected to the camera system and is located farther away from the center of the stereo camera system than the corresponding camera.
  • the projection can be defined in
  • Camera allows determination of the position change of the camera by moving the intersection of the 2 projected lines.
  • Windscreen type recognition, rain sensor or wiper quality recognition of the windscreen wiper system The stereo camera system according to the invention allows additional functions, which are explained in the following overview.
  • Windscreens are detected. For example, a
  • Identification number affixed or printed, can be used for individual camera settings by appropriate image processing.
  • the Nahfokusstechnik also allows use as a dirt and rain sensor system also taking advantage of the target pattern for determining object size and possibly object type by a comparison method.
  • This object-recognizing type of rain and dirt detection enables in the future e.g. a recognition and distinction of drop size, snow and especially insects on the windshield, which could trigger a special wiping program by a targeted detection.
  • Fig. 7 shows in side views schematically another embodiment of the stereo camera system according to the invention.
  • Fig. 7 is a side view of an inventive top
  • Stereo camera system shown with an additional rain sensor function.
  • Camera module of the system is a partial optical element 8 arranged for bifocal imaging on the sensitive surface of the image sensor.
  • the lens 1 of the camera module Before the partial optical element 8 is the lens 1 of the camera module with the main plane 2.
  • the image sensor is further provided with a cover glass 3.
  • the sensitivity of the rain sensor function can be limited by interference from remote light sources.
  • a modulated approximately monochromatic illumination and the color filters of the Bayer pattern can be used for signal filtering.
  • a mirror (element) S1 is proposed, which also has a
  • the mirror S1 has an opposite pitch angle to the camera field of view as the inclined windshield 5.
  • the mirror edge is located in the middle of the near-field image and thus represents a plane of symmetry.
  • Windshield 5 are on the image sensor 4 at this
  • the mirror element S1 is an interesting possibility for distinguishing between near and far range.
  • the lighting coupling can be done via a light guide with an integrated concave mirror profile in a cylindrical design.
  • the image analysis uses symmetry as a parameter for separating objects on the windshield and disturbing factors in the surroundings of a captured image. In Fig. 7, such an arrangement for coupling a lighting is shown schematically below. Behind the windshield a is a
  • Arrangement is arranged, as shown in Fig. 7 above.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • Measurement Of Optical Distance (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

L'invention concerne un système de caméra stéréo (10) destiné à être utilisé dans des véhicules automobiles, à l'arrière d'un pare-brise incliné (5; 12), au moins un des au moins deux modules de caméra (14, 16) du système présentant un élément optique (8; 26) supplémentaire, disposé sur une partie du module, de façon temporaire, ou faisant office de séparateur de faisceaux et pouvant ainsi être utilisé en tant que module de caméra optique bifocal comportant au moins deux zones de profondeur de champ différentes sur un capteur d'images (4), ce dernier comprenant ainsi au moins deux zones partielles présentant des distances d'objet optiques différentes, une distance d'objet optique étant prévue pour détecter un objet dans la zone proche, afin de permettre l'alignement du système de caméra stéréo.
PCT/DE2011/001115 2010-06-12 2011-05-26 Système de caméra stéréo Ceased WO2011153989A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112011101083T DE112011101083A5 (de) 2010-06-12 2011-05-26 Stereokamerasystem

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010023591A DE102010023591A1 (de) 2010-06-12 2010-06-12 Stereokamerasystem
DE102010023591.1 2010-06-12

Publications (2)

Publication Number Publication Date
WO2011153989A2 true WO2011153989A2 (fr) 2011-12-15
WO2011153989A3 WO2011153989A3 (fr) 2012-03-29

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DE (2) DE102010023591A1 (fr)
WO (1) WO2011153989A2 (fr)

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US12187201B2 (en) 2020-09-09 2025-01-07 Volvo Truck Corporation Method and a system for the management of an assistance system for a windscreen of a cab of a vehicle

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