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WO2003051671A1 - Systeme electronique de retroviseur conçu pour un vehicule - Google Patents

Systeme electronique de retroviseur conçu pour un vehicule Download PDF

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Publication number
WO2003051671A1
WO2003051671A1 PCT/EP2002/014484 EP0214484W WO03051671A1 WO 2003051671 A1 WO2003051671 A1 WO 2003051671A1 EP 0214484 W EP0214484 W EP 0214484W WO 03051671 A1 WO03051671 A1 WO 03051671A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
images
vehicle rear
rear view
image processing
Prior art date
Application number
PCT/EP2002/014484
Other languages
German (de)
English (en)
Inventor
Johann Stark
Original Assignee
Magna Auteca 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 Magna Auteca Ag filed Critical Magna Auteca Ag
Priority to AU2002361009A priority Critical patent/AU2002361009A1/en
Publication of WO2003051671A1 publication Critical patent/WO2003051671A1/fr

Links

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
    • B60R1/28—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 an adjustable field of view
    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • 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
    • B60R2300/101—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using cameras with adjustable capturing direction
    • 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
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple 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
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/207—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using multi-purpose displays, e.g. camera image and navigation or video on same display
    • 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
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • 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
    • 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
    • B60R2300/8046—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 replacing a rear-view mirror system
    • 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
    • B60R2300/8053—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 bad weather conditions or night vision
    • 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
    • B60R2300/806—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 aiding parking
    • 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
    • B60R2300/8066—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 rearward traffic

Definitions

  • the invention relates to an electronic vehicle rear view system that transmits image information from at least two video cameras to an image display unit and provides a panoramic view of the vehicle rear area.
  • Known vehicle rearview systems which usually consist of a left and a right exterior mirror and an interior vehicle mirror, have various disadvantages: For example, the view is often restricted by passengers in the rear seats of the vehicle, in the case of a conventional car through the B and C pillars of the vehicle Vehicle, or through rear neck supports.
  • the infamous "blind spot” stands prominently here.
  • video surveillance systems are used, for example for monitoring the rear area of trucks, a video image of the non-visible location being transmitted to a display device that can be monitored by the driver or other persons.
  • the invention is based on the object of providing a device and a method which provide an overall panoramic image of the vehicle rear area which has a wide viewing angle, that is to say the viewing area recorded at the same time is very large and in particular detects the "blind spots" of the vehicle rear area and has a high level of detail in all areas of the image.
  • the digital image processing means make it possible to generate an overall panorama image from these adjacent and overlapping video images and to display them on the image display unit, the overall panorama image being a time-continuous and quasi-delay-free overall representation of what is happening in the rear of the vehicle.
  • the system can be a complete replacement for conventional vehicle rear-view systems, so that not only the disadvantages described at the outset are eliminated, but also greater freedom is available in the design of the vehicle, so that the aerodynamic properties improve Fuel consumption can be reduced.
  • a considerably improved clarity is achieved in that there is a representation as an overall picture, which provides an even better viewing area compared to a conventional vehicle rear-view mirror, and at the same time has the advantage of free placement of the image display unit.
  • the image processing means are designed so that they seamlessly join the individual images of the mechanically coupled video cameras to a panoramic image.
  • the image processing means are advantageously designed such that they correct the image distortions of the mechanically firmly coupled video cameras before the individual images of the video cameras are joined together.
  • These falsifications include, on the one hand, camera-related, for example lens distortions, and on the other hand arrangement-related, for example position shifts.
  • the fixed spatial allocation of the video cameras is important if the image processing means are advantageously further developed in such a way that they have means for calibrating the electronic vehicle rear view system, i.e. Provide functions to permanently assign object points of the area to be displayed to pixels in the display.
  • the functionality for calibrating the system is also significant and advantageous, especially with regard to the aging of the components involved, in particular the video cameras, since a change in the properties of the components to a changed display geometry, i.e. leads to a changed mapping of object points in the area to be displayed to pixels in the display.
  • a calibration ie a reassignment of object points to pixels, compensates for these, for example age-related, changes.
  • means for selecting and / or enlarging sections of the overall image are provided in the image processing means, that is to say an image section of the vehicle rear area is selected and closer can be fetched due to the functionality provided by the image processing means, mechanical components, such as those required for adjusting the camera position and / or zooming in by an optical lens system, can be dispensed with.
  • the image processing means and / or the video camera with means that adjust the provided image to environmental lighting conditions, such as twilight, daylight, or to glare, such as those e.g. can be caused by vehicles approaching from behind with the high beam switched on.
  • environmental lighting conditions such as twilight, daylight, or to glare, such as those e.g. can be caused by vehicles approaching from behind with the high beam switched on.
  • This can include, for example, a very large dynamic range of over 100 dB, so that good detection properties are always guaranteed in the case of very strong brightness and / or darkness.
  • vehicle rear view system provides for the image processing means to be designed in such a way that they display and / or incorporate additional information and / or images from other video cameras, for example special views for reverse parking, into the overall display.
  • the image processing means it is inexpensive and also technically advantageous to provide the first processing means in the image processing means which are particularly suitable for processing the image data quickly and thus performing the data- and computation-intensive work, and providing second processor means for the rest Perform tasks, including the actual merging of the images, but also parts of or the full user interaction.
  • DSP processors Digital Signal JProcessing
  • a standard PC processor as a second processor means due to the high level of distribution and easy availability.
  • a reliable high-speed data bus which can be designed, for example, as a FireWire or CameraLink bus, is particularly suitable in order to meet the high demands on availability and display speed, e.g. in traffic, to be able to do justice.
  • the video cameras located in a fixed spatial association with one another are located in the immediate vicinity, that is to say as close as possible to one another, the cameras arranged around one another about the same axis to shift vertically to each other by which they are rotated. It becomes one Arranged in which the cameras are (quasi) one above the other and are rotated so that only a small proportion of the respective camera images overlap.
  • the method for providing the panoramic view of the rear area unfolds its advantages precisely in connection with the above-described devices of the vehicle rear-view system:
  • two video images are continuously captured in such a way that the perspective of the images deviates from one another as described in the device part and thereby changes
  • the image data are collected from the same viewing position in different viewing directions so that they can be preprocessed in the second method step with as little effort as possible, the preprocessing being able to include a correction of the respective camera-related geometric distortions of the video images / or a cylindrical projection of the video images
  • the video images are combined in such a way that a seamless, continuous and instantaneous real-time panorama image from the video image rn is put together and finally presented.
  • the digital preprocessing of the video images includes identifying those parts of the individual video images which represent one and the same object and those of different parts of the image in the respective images, that is to say those which do not represent the same objects differ.
  • the computational effort can be reduced in that the method uses previously calculated results, quasi as an intermediate result, in a look-up table and thus avoids unnecessary recalculations. These previously calculated results can be from a previous calibration process come .
  • the preprocessing that is to say the acquisition of the image, the correction of the distortions caused by the camera and the cylinder projection, and the identification of the overlapping image areas can be carried out separately and simultaneously for different cameras, as a result of which the results of the image preprocessing can be made available more quickly overall , It is necessary for the respective image preprocessing processes to communicate with one another.
  • one advantage of using digital image processing means, or of a method which digitally preprocesses the video images is that the selection of the image section or the enlargement or reduction of the displayed image is entirely electronic, that is, by means of digital image processing without mechanically moving parts. Furthermore, in comparison to a conventional vehicle rear view system, you can choose between a mirrored or a realistic representation.
  • FIG. 1 shows a positioning for the two video cameras capturing the vehicle review and for the image display device (display) representing the overall picture of the review
  • FIG 6 shows an overview of the image processing means in connection with the method in one possible embodiment for series production.
  • Fig. 1 illustrates the practical use of the vehicle rearview system when it is used in a passenger car 1.
  • the video cameras 2 and 3 are positioned in the area of the rear window 6. These cameras are oriented so that they capture the entire rear space 5 of the vehicle 1, including the blind spots.
  • cameras 2 and 3 are arranged offset from one another in terms of angle and / or height.
  • the image information which is processed by image processing equipment in the vehicle and combined to form an overall panorama image, are shown on an image display unit 4, which is located in the area 7 which is clearly visible to the driver.
  • the situation in the rear of the vehicle 5 is shown in the display device 4 free of distortions and without perceptible delays.
  • a flowing transverse movement through the vehicle rear area 5, that is to say transversely to the orientation of the vehicle is seamlessly displayed on the display device 4 as an equally continuous movement, even and especially when it changes from the viewing area of the camera 2 to the viewing area of the camera 3.
  • the display 4 is automatically adapted to the lighting conditions.
  • the cameras 2 and 3 are spatially assigned to each other, i.e. fixed immobile during operation. This allows the calibration of the vehicle rear view system, which means to adjust the system so that a fixed assignment of object points in the vehicle rear space 5 to be displayed to pixels in the display on the display unit 4 can be achieved. Such a calibration is possible, similar to the setting of the headlights of a motor vehicle, by using a uniformly patterned panel provided for this purpose in the rear area 5 of the vehicle.
  • a specific area is to be selected from the vehicle rear area 5 for display on the display unit 4, as it were the adjustment of the rear view mirror in conventional vehicle rear view systems, this is done by the provided image processing equipment without mechanically moving parts. Likewise, part of the scenery in the vehicle rear area 5 can be zoomed in or reduced. Here too, mechanically moving parts can be dispensed with thanks to the image processing means.
  • the overall panorama image is displayed on the display unit 4 either mirror-inverted or sideways. In addition to displaying the overall panorama image, animations to inform the driver, text and symbols, can be shown, as well as additional camera perspectives for certain driving conditions. The area near the bumper and the wheels are considered for parking.
  • FIG. 2 shows which areas basically arise when an image is captured by two video cameras 2 and 3.
  • areas 11 and 12 each of which is only captured by a camera 2 or 3.
  • Another area 10 is captured by both cameras 2 and 3 at the same time; this is the area where the two video images overlap, the image overlap area.
  • the area 13 is not captured by either of the two cameras 2 and 3.
  • the video cameras 2 and 3 are positioned such that the area 13, which is not covered by either of the two video cameras, is virtually non-existent. Furthermore, the cameras 2 and 3 are positioned in such a way that the area 10, which is captured by both cameras, is small, in order to reduce computing effort for digital image processing and thus to enable a very fast display, ie a quasi-delay-free real-time display , Such an arrangement of the cameras 2 and 3 and the resulting areas 10, 11 and 12 are shown accordingly in FIG. 3. Since the cameras themselves have a certain spatial extent, it is necessary to do not just the cameras by one
  • Cameras 2 and 3 is fixed, only the image information from the overlap area 10 has to be correlated in the course of the image processing, i.e. be brought into agreement and put together, while the height offset of the cameras to one another is taken into account and set in the aforementioned calibration process and therefore has to be corrected with little effort by the image processing means.
  • the basic structure of the electronic vehicle rear view system is shown in FIG. 4.
  • the cameras 2 and 3 are each connected to a unit consisting of a processor for digital image processing and memories 21 and 31. These units 21 and 31 communicate with one another and with additional memory and a graphics unit 41, which represents the overall image as a composite on the image display unit 4, via the FireWire or IEEE 1394 bus as a reliable high-speed bus.
  • FIG. 5 shows the mode of operation of the image processing.
  • the images of the video cameras 2 and 3 are first acquired and preprocessed. This preprocessing takes place here, as already shown in FIG. 4, for each of the video cameras 2 and 3 on a separate connected unit 21 and 31 from digital signal processing processor and memory, instead; for camera 2 these are steps 22, 23, 24, 25 and 26, for camera 3 steps 32, 33, 34, 35 and 36.
  • the video images from cameras 2 and 3 are captured in steps 22 and 32.
  • the image overlap area 10 is immediately identified and represented as an ROI parameter (region
  • step 23 and 33 the static image errors are corrected by lens distortions or camera geometry.
  • Previously calculated results in Lokup tables 28 and 38 are used to save computing effort.
  • step 24 or 34 a cylinder projection of the video images is carried out.
  • Parameter 50 is now differentiated between the image overlap area 10 (FIG. 3) and the non-overlapping areas 11 and 12 (FIG. 3) and in separate ways 25 and 35 for the overlap area and 26 and 36 for the non-overlapping area , further processed.
  • the non-overlapping areas are shifted in their image position by a simple fixed correction in 27 or 37 and are available for display in 46 after a memory shift.
  • the overlapping image areas are first correlated in 42, interpolated in 43 by triangulation, ie the overlapping image contents are estimated to be identified and 44 are identified assigned the same image content and corrected for misalignment and put it together in 45.
  • Steps 43 to 45 again use a lookup table 51 which contains previously calculated results.
  • step 46 the resulting overall image is displayed on the image display unit 4.
  • Vehicle rearview system improved. Furthermore, the image information is stored for a certain period before the airbag is deployed, and image sequences can thus be reproduced immediately before an accident.
  • the image processing system can be roughly divided into the subsystems image preprocessing 71, image main processing 72 and display and communication 73.
  • the subsystem for the image preprocessing 71 includes the image acquisition components 64 and the scaling components 65
  • the subsystem for the main image processing 72 includes the correlation component 66 and the merging component 67
  • the subsystem for display and communication 73 includes the display component 68, the system control component 69 and the network communication component 70.
  • the communication of the individual processing components takes place via the reliable high-speed bus 74, characterized here by the dic- ken arrow connections, while the thin arrow connections represent the data flow schematically.
  • the images from the video cameras are transmitted via the data flow 61 and 62 to a component 64 for image acquisition and locomotive table processing.
  • the high-speed bus 74 which is designed as a FireWire bus
  • the data is transmitted to the scaling component 65, which carries out an image size adjustment.
  • the overlapping part of the image data is transmitted to the correlation component 66 via the high-speed bus 74, while the non-overlapping part of the image data is transmitted directly to the assembling component 67 via the high-speed bus 74.
  • the correlation component 66 also transmits the result data to the assembly component 67 via the bus 74.
  • the data processed by the assembly component 67 now arrive via the bus 74 in the display component 68, which contains the image data and images of further video cameras 63, whose communication link to the image processing system is not shown in detail here, merges with the image and makes it available for display, as it should finally be displayed on the image display device.
  • User inputs and settings 77 are processed by the system control component 69 and forwarded via the high-speed bus 74 to the display component 68, which controls the actual image display unit 4 in FIG. 1 via the output data stream 75.
  • Also commute via the high-speed bus 74 identifies the network communication component 70 with the other components of the image processing system.
  • This network communication component creates the connection to the vehicle bus with which the information of the data stream 76 is to be exchanged.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un système électronique de rétroviseur conçu pour un véhicule, faisant appel à un dispositif et à un procédé permettant de fournir une vue arrière panoramique et comprenant au moins deux caméras vidéo (2, 3). Ces caméras vidéo sont agencées de manière fixe et disposées à proximité immédiate l'une de l'autre. Des moyens de traitement d'images numériques réunissent les images vidéo de façon à générer une image panoramique de l'espace arrière du véhicule (5) qui soit instantanée, continue et ne présente aucune transition.
PCT/EP2002/014484 2001-12-19 2002-12-18 Systeme electronique de retroviseur conçu pour un vehicule WO2003051671A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002361009A AU2002361009A1 (en) 2001-12-19 2002-12-18 Electronic rearview system for vehicles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10164516.3 2001-12-19
DE10164516A DE10164516A1 (de) 2001-12-19 2001-12-19 Elektronisches Fahrzeugrückblicksystem

Publications (1)

Publication Number Publication Date
WO2003051671A1 true WO2003051671A1 (fr) 2003-06-26

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DE (1) DE10164516A1 (fr)
WO (1) WO2003051671A1 (fr)

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CN102219001A (zh) * 2010-04-19 2011-10-19 Smr专利责任有限公司 外部镜模拟装置和用于外部镜模拟的方法
CN102529810A (zh) * 2011-11-04 2012-07-04 天津市五联科技有限公司 汽车电子数码倒车镜装置
CN103434447A (zh) * 2013-08-02 2013-12-11 浙江吉利汽车研究院有限公司 车辆内后视镜的取代装置及方法
US8908035B2 (en) 2006-11-09 2014-12-09 Bayerische Motoren Werke Aktiengesellschaft Method of producing a total image of the environment surrounding a motor vehicle
EP3024217A1 (fr) * 2014-11-21 2016-05-25 Industrial Technology Research Institute Système de surveillance de vision large et procédé associé
US10562452B2 (en) 2010-04-19 2020-02-18 SMR Patents S.à.r.l. Rear-view mirror simulation
US10703299B2 (en) 2010-04-19 2020-07-07 SMR Patents S.à.r.l. Rear view mirror simulation
DE102006036933B4 (de) 2006-08-08 2024-01-11 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Erzeugung eines Gesamtbilds aus überlappenden Einzelbildern

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DE102005055624A1 (de) * 2005-11-15 2007-05-24 Wilhelm König Weitwinkel-Realbilderfassung
DE102011077143B4 (de) 2011-06-07 2025-05-15 Robert Bosch Gmbh Fahrzeugkamerasystem und Verfahren zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung
DE102011077398B4 (de) 2011-06-10 2021-11-04 Robert Bosch Gmbh Fahrzeugkamerasystem zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung und entsprechendes Verfahren
DE102012203491B4 (de) * 2012-03-06 2024-01-04 Bayerische Motoren Werke Aktiengesellschaft Elektronisches Rückspiegel-System
DE102012012501B4 (de) 2012-06-21 2019-10-24 Volkswagen Aktiengesellschaft Kamerasystem für ein Kraftfahrzeug
DE102013213872B4 (de) * 2013-07-16 2023-10-05 Bayerische Motoren Werke Aktiengesellschaft Fahrzeug mit Auslöseeinrichtung
DE102013011927B4 (de) * 2013-07-17 2015-03-05 Diehl Bgt Defence Gmbh & Co. Kg Verfahren zum Steuern einer Überwachungseinrichtung
DE102021119951A1 (de) 2021-08-02 2023-02-02 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren, System und Computerprogrammprodukt zur Erkennung der Umgebung eines Kraftfahrzeugs

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