WO2012003944A1 - Method and device for detecting the lateral surroundings of a vehicle - Google Patents

Method and device for detecting the lateral surroundings of a vehicle Download PDF

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Publication number
WO2012003944A1
WO2012003944A1 PCT/EP2011/003254 EP2011003254W WO2012003944A1 WO 2012003944 A1 WO2012003944 A1 WO 2012003944A1 EP 2011003254 W EP2011003254 W EP 2011003254W WO 2012003944 A1 WO2012003944 A1 WO 2012003944A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
display unit
warning signal
output
image data
Prior art date
Application number
PCT/EP2011/003254
Other languages
German (de)
French (fr)
Inventor
Stefan Franz
Joachim Gloger
Markus Gressmann
Stefan Hahn
Thomas Ruland
Anestis Terzis
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 WO2012003944A1 publication Critical patent/WO2012003944A1/en

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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
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • 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
    • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • 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
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views

Definitions

  • the invention relates to a method and a device for detecting a lateral environment of a vehicle, wherein by means of at least one at each one
  • Vehicle side image acquisition unit continuously recorded image data and output to a respective image acquisition unit associated display unit.
  • Driver assistance devices are usually electronic
  • a mirror replacement on a vehicle is known, conventional optical mirrors being replaced by combinations of cameras and monitors.
  • each transmitted to a right and a left side of the vehicle, rear-facing camera seamlessly transfer images to each one of two mounted in the field of view of a driver of the vehicle monitors.
  • a third monitor in the field of vision of the driver is arranged, which optionally a picture of one at the rear of the vehicle or on a vehicle front or in the vehicle itself
  • the invention has for its object to provide a comparison with the prior art improved method for detecting a lateral environment of a vehicle.
  • Image capture unit continuously captures image data and on one of the respective
  • Output image unit associated display unit output.
  • an optical warning signal is output in the vehicle as a function of a position of the object.
  • the optical warning signal is output depending on the position of the detected object, a driver of the vehicle is informed in a particularly advantageous manner about the exact position of the object to the vehicle.
  • the warning signal is displayed in such a way that the driver, even if he does not look at the display unit, is informed of the presence of the object in the dead-angle range of the vehicle.
  • the visual warning signal may be on another suitable one
  • Display unit for example, on a display area within a
  • the image data acquired by means of the image acquisition units can preferably be supplied to further radar-based devices arranged on the vehicle, as a result of which their detection can be improved.
  • the captured image data can be based on a driver assistance system, such as a blind spot assistant and / or a lane change assistant.
  • a driver assistance system such as a blind spot assistant and / or a lane change assistant.
  • Fig. 1 shows schematically a vehicle with a device for carrying out the method according to the invention.
  • a vehicle 1 with a device for detecting a lateral environment of the vehicle 1 is shown.
  • the device comprises two image acquisition units B1, B2 in the form of cameras, wherein in each case an image acquisition unit B1, B2 is connected to a control unit S1, S2, and two display units A1, A2.
  • the control units S1, S2 are additionally connected to a vehicle bus (not shown in detail) for data transmission.
  • a first image acquisition unit B1 is arranged on a left side of the vehicle 1.1 at a position at which an exterior mirror is usually fastened to the vehicle 1.
  • a second image capture unit B2 is analogous to a right
  • Vehicle side 1.2 arranged.
  • the image capturing units B1, B2 are rearwardly aligned with respect to the vehicle 1 and detect at least one area that is detectable with a conventional exterior mirror.
  • the first image acquisition unit B1 is wireless or wired connected to a first control unit S1, which captured image data of the first
  • Image acquisition unit B1 are supplied.
  • the second image capture unit B2 is connected to a second control unit S2, which receives captured image data of the second image capture unit B2.
  • the image data captured by the image acquisition units B1, B2 are evaluated and processed in the respective control unit S1, S2, wherein the acquired image data of the first image acquisition unit B1 are continuously transmitted to a first display unit A1 and the acquired image data of the second image capture unit B2 to a second display unit A2 ,
  • the first display unit A1 is assigned to the left vehicle side 1.1 and
  • the second display unit A2 is associated with the right side of the vehicle 1.2 and arranged on the right side in the field of vision of the driver.
  • Display unit A1, A2 be arranged in the vehicle interior, preferably in the Field of vision of the driver is located.
  • the display unit A1, A2 is arranged in a combination instrument in the vehicle interior 1.3, wherein the
  • Display unit A1, A2 is divided into areas.
  • an area preferably a left area of the display unit A1, A2 of the left side of the vehicle 1.1 and a right area of the display unit A1, A2 of the right side of the vehicle 1.2 assigned, the areas are separated from each other, for example by means of a vertically extending bar.
  • the image acquisition units B1, B2 are activated and continuously acquire image data which are output continuously in accordance with the vehicle side 1.1, 1.2 on the respective display unit A1, A2.
  • the driver looks into the respective display unit A1, A2 instead of the exterior mirrors, to inform himself about a happening side of the vehicle 1.
  • Vehicle side 1.1, 1.2 recorded continuously and according to the vehicle side 1.1, 1.2 continuously issued on the display units A1, A2.
  • Vehicle side 1.1, 1.2 is assigned. As objects u. a. other vehicles, pedestrians, cyclists, animals and other structures in traffic.
  • the optical warning signal corresponding to the position of the detected object is output on the corresponding display unit A1, A2.
  • the control units S1, S2 in which image processing algorithms are deposited, a lateral distance and a distance of the object with respect to the
  • the visual warning signal may also be displayed on a display area within the
  • Instrument panel of the vehicle are issued. For example, by means of an arrow, which appears as an optical warning signal on the display area, the
  • Vehicle side 1.1, 1.2 in the dead-angle area the object was detected, are specified.
  • control units S1, S2 which are connected to the vehicle bus for data transmission, further detection units arranged on the vehicle 1 can be interrogated in order, for example, to make the determined lateral distance and / or the distance of the object detected in the dead-angle range plausible ,
  • the optical warning signal is so on the
  • Display unit A1, A2 issued that the detected in the dead-angle area object flashes and thus the driver is signaled that the detected object is in the dead-angle area. Furthermore, it can be provided for this purpose that the object is marked in color as a function of the lateral distance and the distance, wherein the color may change depending on the lateral distance and the distance. If the object is relatively far away from the vehicle 1 but detected in the dead-angle range, the object can be colored green and / or flashing on the display unit A1, A2. If the distance decreases and / or the lateral distance, the color can change, whereby a criticality level can be signaled by the selected color representation.
  • a frequency of the output of the acoustic warning signal as a function of the determined distance and / or the determined lateral distance vary.
  • the image data acquired by the image acquisition units B1, B2 and the lateral distance determined by the control units S1, S2 and the determined distance of the object to the vehicle 1 are made available to at least radar-based devices arranged in the side area of the vehicle 1 Improve detection.
  • This information can be based on driver assistance systems, such as a blind spot assistance system and / or a lane change assistance system.
  • the driver of the vehicle 1 is shown with exact position, where the object detected in the dead-angle range of the vehicle is located.

Abstract

The invention relates to a method for detecting the lateral surroundings of a vehicle (1), image data being continuously detected by means of at least one image-detecting unit (B1, B2) arranged on a vehicle side (1.1, 1.2) in each case, the image data being output on a display unit (A1, A2) assigned to each image-detecting unit (B1, B2), respectively. According to the invention, if an object is detected in the blind spot region of the vehicle (1), an optical warning signal is emitted in the vehicle in dependence upon a position of the object.

Description

Verfahren und Vorrichtung zur Erfassung eines seitlichen Umfeldes eines Fahrzeuges  Method and device for detecting a lateral environment of a vehicle
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Erfassung eines seitlichen Umfeldes eines Fahrzeuges, wobei mittels zumindest einer an jeweils einer The invention relates to a method and a device for detecting a lateral environment of a vehicle, wherein by means of at least one at each one
Fahrzeugseite angeordneten Bilderfassungseinheit fortlaufend Bilddaten erfasst und auf einer der jeweiligen Bilderfassungseinheit zugeordneten Anzeigeeinheit ausgegeben werden. Vehicle side image acquisition unit continuously recorded image data and output to a respective image acquisition unit associated display unit.
In heutigen Fahrzeugen sind verschiedene Fahrerassistenzsysteme zur Unterstützung eines Fahrzeugführers in bestimmten Fahrsituationen angeordnet. Bei den In today's vehicles, various driver assistance systems are arranged to assist a driver in certain driving situations. Both
Fahrerassistenzvorrichtungen handelt es sich üblicherweise um elektronische Driver assistance devices are usually electronic
Zusatzeinrichtungen. Additional equipment.
Aus der DE 199 51 376 A1 ist ein Spiegelersatz an einem Fahrzeug bekannt, wobei herkömmliche optische Spiegel durch Kombinationen von Kameras und Monitoren ersetzt werden. Dazu übertragen je eine an einer rechten und einer linken Fahrzeugseite angebrachte, nach hinten gerichtete Kamera lückenlos Bilder auf jeweils einen von zwei sich im Sichtbereich eines Fahrers des Fahrzeuges angebrachte Monitore. Optional ist ein dritter Monitor im Sichtbereich des Fahrers angeordnet, welcher wahlweise ein Bild einer am Fahrzeugheck oder an einer Fahrzeugfront oder im Fahrzeug selbst From DE 199 51 376 A1 a mirror replacement on a vehicle is known, conventional optical mirrors being replaced by combinations of cameras and monitors. For this purpose, each transmitted to a right and a left side of the vehicle, rear-facing camera seamlessly transfer images to each one of two mounted in the field of view of a driver of the vehicle monitors. Optionally, a third monitor in the field of vision of the driver is arranged, which optionally a picture of one at the rear of the vehicle or on a vehicle front or in the vehicle itself
angebrachten Kamera anzeigt. attached camera displays.
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Erfassung eines seitlichen Umfeldes eines Fahrzeuges anzugeben. The invention has for its object to provide a comparison with the prior art improved method for detecting a lateral environment of a vehicle.
Die Aufgabe wird erfindungsgemäß durch die in Anspruch 1 angegebenen Merkmale gelöst. Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche. Bei einem Verfahren zum Erfassen eines seitlichen Umfeldes eines Fahrzeuges werden mittels zumindest einer an jeweils einer Fahrzeugseite angeordneten The object is achieved by the features specified in claim 1. Advantageous developments of the invention are the subject of the dependent claims. In a method for detecting a lateral environment of a vehicle are arranged by means of at least one on each side of a vehicle
Bilderfassungseinheit fortlaufend Bilddaten erfasst und auf einer der jeweiligen Image capture unit continuously captures image data and on one of the respective
Bilderfassungseinheit zugeordneten Anzeigeeinheit ausgegeben. Erfindungsgemäß wird bei einem im Tot-Winkel-Bereich des Fahrzeuges erfassten Objekt in Abhängigkeit einer Position des Objektes ein optisches Warnsignal im Fahrzeug ausgegeben. Output image unit associated display unit output. According to the invention, in the case of an object detected in the dead-angle region of the vehicle, an optical warning signal is output in the vehicle as a function of a position of the object.
Dadurch, dass das optische Warnsignal in Abhängigkeit der Position des erfassten Objektes ausgegeben wird, ist ein Fahrzeugführer des Fahrzeuges in besonders vorteilhafter Weise über die genaue Position des Objektes zu dem Fahrzeug informiert. Das Warnsignal wird dabei derart angezeigt, dass der Fahrzeugführer, selbst wenn dieser nicht auf die Anzeigeeinheit schaut, über das Vorhandensein des Objektes im Tot- Winkel-Bereich des Fahrzeuges in Kenntnis gesetzt ist. Characterized in that the optical warning signal is output depending on the position of the detected object, a driver of the vehicle is informed in a particularly advantageous manner about the exact position of the object to the vehicle. The warning signal is displayed in such a way that the driver, even if he does not look at the display unit, is informed of the presence of the object in the dead-angle range of the vehicle.
Alternativ dazu kann das optische Warnsignal auch auf einer anderen geeigneten Alternatively, the visual warning signal may be on another suitable one
Anzeigeeinheit, beispielsweise auf einem Anzeigebereich innerhalb einer Display unit, for example, on a display area within a
Instrumententafel ausgegeben werden. Instrument panel are issued.
Die mittels der Bilderfassungseinheiten erfassten Bilddaten können vorzugsweise weiteren am Fahrzeug angeordneten radarbasierten Vorrichtungen zugeführt werden, wodurch deren Detektion verbessert werden kann. The image data acquired by means of the image acquisition units can preferably be supplied to further radar-based devices arranged on the vehicle, as a result of which their detection can be improved.
Darüber hinaus können die erfassten Bilddaten einem Fahrerassistenzsystem, wie beispielsweise einem Tot-Winkel-Assistenten und/oder einem Spurwechselassistenten zugrunde gelegt werden. In addition, the captured image data can be based on a driver assistance system, such as a blind spot assistant and / or a lane change assistant.
Ein Ausführungsbeispiel der Erfindung wird im Folgenden anhand einer Zeichnung näher erläutert. An embodiment of the invention will be explained in more detail below with reference to a drawing.
Dabei zeigt: Showing:
Fig. 1 schematisch ein Fahrzeug mit einer Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens. In der einzigen Figur ist ein Fahrzeug 1 mit einer Vorrichtung zur Erfassung eines seitlichen Umfeldes des Fahrzeuges 1 gezeigt. Fig. 1 shows schematically a vehicle with a device for carrying out the method according to the invention. In the single figure, a vehicle 1 with a device for detecting a lateral environment of the vehicle 1 is shown.
Die Vorrichtung umfasst zwei Bilderfassungseinheiten B1 , B2 in Form von Kameras, wobei jeweils eine Bilderfassungseinheit B1 , B2 mit einer Steuereinheit S1 , S2 verbunden ist, sowie zwei Anzeigeeinheiten A1 , A2. The device comprises two image acquisition units B1, B2 in the form of cameras, wherein in each case an image acquisition unit B1, B2 is connected to a control unit S1, S2, and two display units A1, A2.
Die Steuereinheiten S1 , S2 sind zusätzlich mit einem im Fahrzeug angeordneten nicht näher dargestellten Fahrzeug-Bus zur Datenübertragung verbunden. The control units S1, S2 are additionally connected to a vehicle bus (not shown in detail) for data transmission.
Eine erste Bilderfassungseinheit B1 ist an einer linken Fahrzeugseite 1.1 an einer Position, an welcher üblicherweise ein Außenspiegel am Fahrzeug 1 befestigt ist, angeordnet. Eine zweite Bilderfassungseinheit B2 ist analog an einer rechten A first image acquisition unit B1 is arranged on a left side of the vehicle 1.1 at a position at which an exterior mirror is usually fastened to the vehicle 1. A second image capture unit B2 is analogous to a right
Fahrzeugseite 1.2 angeordnet. Die Bilderfassungseinheiten B1 , B2 sind in Bezug auf das Fahrzeug 1 nach hinten ausgerichtet und erfassen wenigstens einen Bereich, welcher mit einem herkömmlichen Außenspiegel erfassbar ist. Vehicle side 1.2 arranged. The image capturing units B1, B2 are rearwardly aligned with respect to the vehicle 1 and detect at least one area that is detectable with a conventional exterior mirror.
Die erste Bilderfassungseinheit B1 ist drahtlos oder drahtgebunden mit einer ersten Steuereinheit S1 verbunden, welcher erfasste Bilddaten der ersten The first image acquisition unit B1 is wireless or wired connected to a first control unit S1, which captured image data of the first
Bilderfassungseinheit B1 zugeführt werden. Image acquisition unit B1 are supplied.
Die zweite Bilderfassungseinheit B2 ist mit einer zweiten Steuereinheit S2 verbunden, welcher erfasste Bilddaten der zweiten Bilderfassungseinheit B2 zugeführt werden. The second image capture unit B2 is connected to a second control unit S2, which receives captured image data of the second image capture unit B2.
Die von den Bilderfassungseinheiten B1 , B2 erfassten Bilddaten werden in der jeweiligen Steuereinheit S1 , S2 ausgewertet und verarbeitet, wobei die erfassten Bilddaten der ersten Bilderfassungseinheit B1 an eine erste Anzeigeeinheit A1 und die erfassten Bilddaten der zweiten Bilderfassungseinheit B2 an eine zweite Anzeigeeinheit A2 fortlaufend übertragen werden. The image data captured by the image acquisition units B1, B2 are evaluated and processed in the respective control unit S1, S2, wherein the acquired image data of the first image acquisition unit B1 are continuously transmitted to a first display unit A1 and the acquired image data of the second image capture unit B2 to a second display unit A2 ,
Die erste Anzeigeeinheit A1 ist der linken Fahrzeugseite 1.1 zugeordnet und The first display unit A1 is assigned to the left vehicle side 1.1 and
vorzugsweise linksseitig im Fahrzeuginnenraum 1.3 im Sichtfeld eines Fahrzeugführers angeordnet. Die zweite Anzeigeeinheit A2 ist der rechten Fahrzeugseite 1.2 zugeordnet und rechtsseitig im Sichtfeld des Fahrzeugführers angeordnet. preferably left side in the vehicle interior 1.3 arranged in the field of view of a driver. The second display unit A2 is associated with the right side of the vehicle 1.2 and arranged on the right side in the field of vision of the driver.
Alternativ zur Anordnung der zwei Anzeigeeinheiten A1 , A2 kann auch nur eine Alternatively to the arrangement of the two display units A1, A2, only one can
Anzeigeeinheit A1 , A2 im Fahrzeuginnenraum angeordnet sein, die sich bevorzugt im Sichtfeld des Fahrzeugführers befindet. Beispielsweise ist die Anzeigeeinheit A1 , A2 in ein Kombinationsinstrument im Fahrzeuginnenraum 1.3 angeordnet, wobei die Display unit A1, A2 be arranged in the vehicle interior, preferably in the Field of vision of the driver is located. For example, the display unit A1, A2 is arranged in a combination instrument in the vehicle interior 1.3, wherein the
Anzeigeeinheit A1 , A2 in Bereiche unterteilt ist. Dabei ist ein Bereich, vorzugsweise ein linker Bereich der Anzeigeeinheit A1 , A2 der linken Fahrzeugseite 1.1 und ein rechter Bereich der Anzeigeeinheit A1 , A2 der rechten Fahrzeugseite 1.2 zugeordnet, wobei die Bereiche beispielsweise mittels eines senkrecht verlaufenden eingeblendeten Balkens voneinander getrennt sind. Display unit A1, A2 is divided into areas. In this case, an area, preferably a left area of the display unit A1, A2 of the left side of the vehicle 1.1 and a right area of the display unit A1, A2 of the right side of the vehicle 1.2 assigned, the areas are separated from each other, for example by means of a vertically extending bar.
Im Betrieb des Fahrzeuges 1 sind die Bilderfassungseinheiten B1 , B2 aktiviert und erfassen fortlaufend Bilddaten, die entsprechend der Fahrzeugseite 1.1 , 1.2 auf der jeweiligen Anzeigeeinheit A1 , A2 fortlaufend ausgegeben werden. Dabei schaut der Fahrzeugführer in die jeweilige Anzeigeeinheit A1 , A2 anstatt in die Außenspiegel, um sich über ein Geschehen seitlich des Fahrzeuges 1 zu informieren. During operation of the vehicle 1, the image acquisition units B1, B2 are activated and continuously acquire image data which are output continuously in accordance with the vehicle side 1.1, 1.2 on the respective display unit A1, A2. In this case, the driver looks into the respective display unit A1, A2 instead of the exterior mirrors, to inform himself about a happening side of the vehicle 1.
Mittels der Bilderfassungseinheiten B1 , B2 wird jeweils ein seitlich zu dem Fahrzeug 1 liegendes Umfeld einschließlich des Tot-Winkel-Bereiches der jeweiligen By means of the image acquisition units B1, B2 is in each case a side lying to the vehicle 1 environment including the dead-angle range of the respective
Fahrzeugseite 1.1 , 1.2 fortlaufend erfasst und entsprechend der Fahrzeugseite 1.1 , 1.2 fortlaufend auf den Anzeigeeinheiten A1 , A2 ausgegeben. Vehicle side 1.1, 1.2 recorded continuously and according to the vehicle side 1.1, 1.2 continuously issued on the display units A1, A2.
Als toter Winkel wird im Straßenverkehr der von einem Fahrzeugführer innerhalb des geschlossenen Fahrzeuges 1 trotz Rückspiegel nicht einsehbare Bereich seitlich des Fahrzeuges 1 bezeichnet. As a blind spot in the traffic of a driver within the closed vehicle 1 despite rear view mirror not visible area laterally of the vehicle 1 is called.
Erfindungsgemäß wird, sofern ein nicht näher dargestelltes Objekt im Tot-Winkel-Bereich des Fahrzeuges 1 mittels der Bilderfassungseinheiten B1 , B2 detektiert wird, ein optisches Warnsignal auf der Anzeigeeinheit A1 , A2 ausgeben, welche dieser According to the invention, if an object not shown in detail is detected in the dead-angle region of the vehicle 1 by means of the image detection units B1, B2, an optical warning signal on the display unit A1, A2 output, which
Fahrzeugseite 1.1 , 1.2 zugeordnet ist. Als Objekte werden u. a. weitere Fahrzeuge, Fußfänger, Radfahrer, Tiere und andere sich im Verkehrsraum befindende Gebilde erfasst. Vehicle side 1.1, 1.2 is assigned. As objects u. a. other vehicles, pedestrians, cyclists, animals and other structures in traffic.
Dazu wird das optische Warnsignal entsprechend der Position des erfassten Objektes auf der entsprechenden Anzeigeeinheit A1 , A2 ausgegeben. Hierzu werden mittels der Steuereinheiten S1 , S2, in welcher Bildverarbeitungs-Algorithmen hinterlegt sind, ein seitlicher Abstand sowie eine Entfernung des Objektes in Bezug auf die For this purpose, the optical warning signal corresponding to the position of the detected object is output on the corresponding display unit A1, A2. For this purpose, by means of the control units S1, S2, in which image processing algorithms are deposited, a lateral distance and a distance of the object with respect to the
Längsausdehnung des Fahrzeuges 1 ermittelt. Das optische Warnsignal kann auch auf einem Anzeigebereich innerhalb der Longitudinal extent of the vehicle 1 determined. The visual warning signal may also be displayed on a display area within the
Instrumententafel des Fahrzeuges ausgegeben werden. Beispielsweise kann mittels eines Pfeils, der als optisches Warnsignal auf dem Anzeigebereich erscheint, die Instrument panel of the vehicle are issued. For example, by means of an arrow, which appears as an optical warning signal on the display area, the
Fahrzeugseite 1.1 , 1.2 in deren Tot-Winkel-Bereich das Objekt erfasst wurde, angegeben werden. Vehicle side 1.1, 1.2 in the dead-angle area the object was detected, are specified.
Mittels der Steuereinheiten S1 , S2, die mit dem Fahrzeug-Bus zur Datenübertragung verbunden sind, können weitere am Fahrzeug 1 angeordnete Erfassungseinheiten abgefragt werden, um beispielsweise den ermittelten seitlichen Abstand und/oder die Entfernung des im Tot-Winkel-Bereich detektierten Objektes zu plausibilisieren. By means of the control units S1, S2, which are connected to the vehicle bus for data transmission, further detection units arranged on the vehicle 1 can be interrogated in order, for example, to make the determined lateral distance and / or the distance of the object detected in the dead-angle range plausible ,
In einer ersten Ausführungsform wird das optische Warnsignal derart auf der In a first embodiment, the optical warning signal is so on the
Anzeigeeinheit A1 , A2 ausgegeben, dass das im Tot-Winkel-Bereich erfasste Objekt aufblinkt und somit dem Fahrzeugführer signalisiert wird, dass sich das erfasste Objekt im Tot-Winkel-Bereich befindet. Weiterhin kann hierzu vorgesehen sein, dass das Objekt in Anhängigkeit des seitlichen Abstandes sowie der Entfernung, farblich gekennzeichnet ist, wobei sich die Farbe in Abhängigkeit des seitlichen Abstandes sowie der Entfernung ändern kann. Ist das Objekt vergleichsweise weit von dem Fahrzeug 1 entfernt, aber im Tot-Winkel-Bereich erfasst, kann das Objekt grün eingefärbt und/oder blinkend auf der Anzeigeeinheit A1 , A2 dargestellt werden. Verringert sich die Entfernung und/oder der seitliche Abstand kann die Farbe wechseln, wobei eine Kritikalitätsstufe anhand der gewählten farblichen Darstellung signalisiert werden kann. Display unit A1, A2 issued that the detected in the dead-angle area object flashes and thus the driver is signaled that the detected object is in the dead-angle area. Furthermore, it can be provided for this purpose that the object is marked in color as a function of the lateral distance and the distance, wherein the color may change depending on the lateral distance and the distance. If the object is relatively far away from the vehicle 1 but detected in the dead-angle range, the object can be colored green and / or flashing on the display unit A1, A2. If the distance decreases and / or the lateral distance, the color can change, whereby a criticality level can be signaled by the selected color representation.
In einer weiteren Ausführungsform kann mittels eines weiteren Pfeils als optisches Warnsignal dargestellt werden, dass sich das detektierte Objekt im Tot-Winkel-Bereich des Fahrzeuges 1 befindet. In a further embodiment, it can be represented by means of a further arrow as an optical warning signal that the detected object is in the dead-angle range of the vehicle 1.
Zusätzlich zu dem optischen Warnsignal kann auch ein akustisches Warnsignal ausgegeben werden, sofern ein Objekt im Tot-Winkel-Bereich des Fahrzeuges 1 detektiert wird. Dabei kann eine Frequenz der Ausgabe des akustischen Warnsignals in Abhängigkeit der ermittelten Entfernung und/oder des ermittelten seitlichen Abstandes variieren. In addition to the visual warning signal, it is also possible to output an acoustic warning signal if an object in the dead-angle range of the vehicle 1 is detected. In this case, a frequency of the output of the acoustic warning signal as a function of the determined distance and / or the determined lateral distance vary.
Denkbar ist auch, die Entfernung des im Tot-Winkel-Bereich detektierten Objektes mittels einer Balkenanzeige einer Einparkhilfevorrichtung, über die das Fahrzeug 1 verfügt, anzuzeigen. Die mittels der Bilderfassungseinheiten B1 , B2 erfassten Bilddaten sowie der mittels der Steuereinheiten S1 , S2 ermittelte seitliche Abstand sowie die ermittelte Entfernung des Objektes zu dem Fahrzeug 1 werden zumindest radarbasierten Vorrichtungen, die im Seitenbereich des Fahrzeuges 1 angeordnet sind, zur Verfügung gestellt, um deren Detektion zu verbessern. Dabei können diese Informationen Fahrerassistenzsystemen, wie beispielsweise einem Tot-Winkel-Assistenzsystem und/oder einem Spurwechsel- Assistenzsystem zugrunde gelegt werden. It is also conceivable to indicate the distance of the object detected in the dead-angle region by means of a bar display of a parking aid device which the vehicle 1 has. The image data acquired by the image acquisition units B1, B2 and the lateral distance determined by the control units S1, S2 and the determined distance of the object to the vehicle 1 are made available to at least radar-based devices arranged in the side area of the vehicle 1 Improve detection. This information can be based on driver assistance systems, such as a blind spot assistance system and / or a lane change assistance system.
Mittels des erfindungsgemäßen Verfahrens wird dem Fahrzeugführer des Fahrzeuges 1 positionsgenau angezeigt, wo sich das im Tot-Winkel-Bereich des Fahrzeuges detektierte Objekt befindet. By means of the method according to the invention, the driver of the vehicle 1 is shown with exact position, where the object detected in the dead-angle range of the vehicle is located.
Bezugszeichenliste LIST OF REFERENCE NUMBERS
1 Fahrzeug 1 vehicle
1.1 linke Fahrzeugseite  1.1 left side of the vehicle
1.2 rechte Fahrzeugseite  1.2 right vehicle side
1.3 Fahrzeuginnenraum  1.3 Vehicle interior
A1 erste Anzeigeeinheit A1 first display unit
A2 zweite Anzeigeeinheit  A2 second display unit
B1 erste Bilderfassungseinheit  B1 first image acquisition unit
B2 zweite Bilderfassungseinheit  B2 second image capture unit
51 erste Steuereinheit  51 first control unit
52 zweite Steuereinheit  52 second control unit

Claims

Patentansprüche claims
1. Verfahren zum Erfassen eines seitlichen Umfeldes eines Fahrzeuges (1), wobei mittels zumindest einer an jeweils einer Fahrzeugseite (1.1 , 1.2) angeordneten Bilderfassungseinheit (B1 , B2) fortlaufend Bilddaten erfasst und auf einer der jeweiligen Bilderfassungseinheit (B1 , B2) zugeordneten Anzeigeeinheit (A1 , A2) ausgegeben werden, 1. A method for detecting a lateral environment of a vehicle (1), wherein by means of at least one on each side of the vehicle (1.1, 1.2) arranged image acquisition unit (B1, B2) continuously recorded image data and on one of the respective image acquisition unit (B1, B2) associated display unit (A1, A2) are output,
dadurch gekennzeichnet, dass bei einem im Tot-Winkel-Bereich des  characterized in that at a dead-angle range of the
Fahrzeuges (1) erfassten Objekt in Abhängigkeit einer Position des Objektes ein optisches Warnsignal im Fahrzeug ausgegeben wird.  Vehicle (1) detected object depending on a position of the object, an optical warning signal is output in the vehicle.
2. Verfahren nach Anspruch 1 , 2. The method according to claim 1,
dadurch gekennzeichnet, dass das optische Warnsignal auf der  characterized in that the visual warning signal on the
Anzeigeeinheit (A1 , A2) ausgegeben wird.  Display unit (A1, A2) is output.
3. Verfahren nach Anspruch 1 oder 2, 3. The method according to claim 1 or 2,
dadurch gekennzeichnet, dass ein akustisches Warnsignal ausgegeben wird.  characterized in that an acoustic warning signal is output.
4. Verfahren nach einem der vorhergehenden Ansprüche, 4. The method according to any one of the preceding claims,
dadurch gekennzeichnet, dass die erfassten Bilddaten mindestens einer  characterized in that the captured image data at least one
Steuereinheit eines Fahrerassistenzsystems des Fahrzeuges (1) zugeführt werden.  Control unit of a driver assistance system of the vehicle (1) are supplied.
5. Verfahren nach einem der vorhergehenden Ansprüche, 5. The method according to any one of the preceding claims,
dadurch gekennzeichnet, dass zumindest ein seitlicher Abstand des Fahrzeuges (1) zu dem erfassten Objekt ermittelt wird.  characterized in that at least one lateral distance of the vehicle (1) to the detected object is determined.
PCT/EP2011/003254 2010-07-06 2011-06-30 Method and device for detecting the lateral surroundings of a vehicle WO2012003944A1 (en)

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DE102010026226A DE102010026226A1 (en) 2010-07-06 2010-07-06 Method for detecting lateral environment of motor vehicle using e.g. optical mirror, involves displaying optical warning signal to object in motor vehicle based on position of object, where object is detected in dead-angle-region of vehicle
DE102010026226.9 2010-07-06

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