Patent Application
20150360625
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, particularly of external add-on elements such as vehicle doors, covers and side rear view mirrors, are known from the state of the art. The position of vehicle doors, particularly whether they are open or closed, 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. There are similar approaches to the determination of the position of fuel tank caps, trunk lids and side mirrors.
After determining the position of the respective structural element, 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. Furthermore, 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. For example, 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.
This aspect is achieved by 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 image processing devices, processing the images acquired by the at least one camera and determining the position of the one or more structural elements of the vehicle from the processed images. Advantageous realizations and further developments are the subject matter of subclaims, wherein combinations and further developments of individual features are also conceivable.
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. Nowadays, 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. Furthermore, we already know systems in which the complete surroundings of the vehicle is covered by means of several cameras and, in particular, an overall image of the surroundings of the vehicle is generated from the individual images acquired by means of the cameras and is presented to the passengers. Such camera systems are also referred to as top view systems or as panoramic view, surround view or 360° view systems.
In particular, 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. For example, the structural elements may be arranged on the outside of the vehicle, and the position thereof can be changed mechanically or electromechanically. Thus, 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). In particular, 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. In particular, 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.
According to an aspect of the invention, 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. For example, 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. In particular, 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. In principle, 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. Furthermore, 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. According to the invention, 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. Furthermore, i.e., alternatively or additionally, 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. If the at least one camera is a stereo camera or a camera by means of which it is possible to obtain depth information, 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.
According to a preferred realization of the invention, the position of at least one of the following structural elements is determined:
To this end, in particular, 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.
According to a further preferred realization of the invention, 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.
According to a further preferred realization of the invention, 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. In particular, 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. In particular, the maximum positions are the forms “closed” and “completely open”. Between the maximum positions, the position of the respective structural element may be determined, e.g., as a degree of the state “open”, e.g., as infinite variables indicated in percent (e.g., from 0% (=closed) to 100% (=completely open), or, e.g., in increments (e.g., “closed”, “one quarter open”, “half open”, “three quarters open”, “completely open”). In particular, also 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. For example, 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.
According to a preferred realization of the invention, 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. Thus, 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. Moreover, 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.
According to an aspect of the invention, information may be outputted to passengers depending on the determined position of the one or more structural elements of the vehicle. For example, the passengers may be informed by means of suitable means when vehicle doors, tank caps, hoods and/or trunk lids are open. In particular, 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.
According to an aspect of the invention, 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. For example, 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. In particular, 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., contact switches.
This may be applied to, e.g., safety-critical vehicle functions.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2011 112 578.0 | Sep 2011 | DE | national |
This application is the U.S. National Phase Application of PCT/DE2012/100245, filed Aug. 21, 2012, which claims priority to German Patent Application No. 10 2011 112 578.0, filed Sep. 8, 2011, the contents of such applications being incorporated by reference herein.
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/DE2012/100245 | 8/21/2012 | WO | 00 | 7/8/2014 |
