Method for adjusting a vehicle rearview mirror and / or screen and system for implementing the method

Abstract

The invention relates to a method for adjusting at least one vehicle rearview mirror, in particular at least one side mirror (20) and / or interior rearview mirror (25) and / or screen (30), comprising the following steps: a) detecting a head contour (70) of a driver (100) in relation to at least one vehicle geometry (81, 82, 83) of the vehicle interior (95) by means of an interior camera (40) of the vehicle (10), b) calculating the position of the driver's (100) head (65) by means of the detected head contour (70) and by means of calibration information about the at least one vehicle geometry (81, 82, 83) of the vehicle interior (95), c) determining a desired position of the at least one vehicle rearview mirror (20, 25) and / or screen (30) by means of the calculated head position, d) actuating an actuator of the at least one vehicle rearview mirror (20, 25) and / or screen (30) to establish the determined desired position of the vehicle rearview mirror (20, 25) and / or screen (30).

Description

Technical Field

[0001] The present invention relates to a method for adjusting at least one vehicle rearview mirror and / or screen. Furthermore, the present invention relates to a system for implementing the method according to the present invention for adjusting at least one vehicle rearview mirror and / or screen. The present invention also relates to a computer-readable storage medium. Background Art

[0002] It is known from the prior art to adapt the spatial arrangement of vehicle interiors, safety systems, and vehicle assistance systems to the respective needs of the driver. In this regard, it is known, for example, to store driver-specific information using a token or vehicle key so that the aforementioned systems or components can be individually configured when the driver-specific token or vehicle key is read.

[0003] This may relate, for example, to seat adjustment, vehicle mirror orientation, radio program selection, etc. However, this requires the collection of various driver-specific information even before the start of the journey, the storage of this information in a database, and the provision of correspondingly different tokens or vehicle keys.

[0004] Other systems rely on detecting driver-specific information before the start of a journey. This requires complex 3D camera systems, for example, to detect the driver's gaze. Based on this data, the vehicle's rearview mirrors can then be individually oriented. Such 3D camera systems require high computing power to detect the required information.

[0005] Therefore, there is a need to provide additional computing power in the vehicle for such applications. Summary of the Invention

[0006] It is therefore an object of the present invention to provide an improved method for adjusting at least one vehicle rearview mirror and / or screen, which method can be implemented in a simple manner.

[0007] In particular, the method according to the invention should be implementable with relatively little computing power.An additional aspect of the invention is to further develop the method for adjusting at least one vehicle rearview mirror and / or screen with regard to energy conservation.

[0008] Furthermore, the object of the present invention is to provide a system with which the method according to the present invention can be implemented. In particular, the system should be based on the fact that components and systems already present in the vehicle can also be used in conjunction with adjusting the vehicle's rearview mirrors and / or screens. In particular, no additional components and / or systems should be required to implement the method according to the present invention.

[0009] This object is achieved with respect to the method according to the invention, with respect to the system according to the invention, and with respect to the computer-readable storage medium according to the invention.

[0010] In particular, the object is achieved by a method for adjusting at least one vehicle rearview mirror and / or screen, the method comprising the following steps:

[0011] a) detecting the driver's head contour by means of an interior camera of the vehicle in relation to at least one vehicle geometry of the vehicle interior,

[0012] b) calculating the position of the driver's head using the detected head contour and using calibration information about the at least one vehicle geometry of the vehicle interior,

[0013] c) determining a desired position of the at least one vehicle rearview mirror and / or screen using the calculated head position,

[0014] d) Manipulating an actuator of the at least one vehicle rear view mirror and / or screen to establish the determined desired position of the vehicle rear view mirror and / or screen.

[0015] The concept is based on using a vehicle interior camera to detect the driver's head contour. Interior cameras are currently integrated into many vehicles as standard.

[0016] In step a), the driver's head contour is detected in relation to at least one vehicle geometry of the vehicle interior. The vehicle geometry of the vehicle interior is a fixed point and / or fixed edge and / or unchangeable geometry of the vehicle. In particular, the vehicle geometry is the geometry of the vehicle interior.

[0017] The unchangeable geometric structure may be, for example, a section of a vehicle A-pillar and / or a section of a vehicle B-pillar and / or a section of a vehicle C-pillar.

[0018] The driver's head outline is detected in relation to this unchangeable vehicle geometry. In other words, both the driver's head outline and a predefined vehicle geometry of the vehicle interior are detected using the interior camera, wherein the arrangement of the head outline is detected in relation to the at least one vehicle geometry during the detection. In other words, both the head outline and the predefined, unchangeable vehicle geometry of the vehicle interior are imaged in the image captured by the vehicle's interior camera.

[0019] In step b), the driver's head position is calculated using the detected head contour and calibration information about the at least one vehicle geometry of the vehicle interior. The calibration information can be used to detect the distance of the driver's head position relative to the at least one vehicle geometry.

[0020] In particular, these data can be used to actually calculate the position of the driver's head in the vehicle interior.

[0021] Then, in step c), the desired position of the at least one vehicle rearview mirror and / or screen is determined using the calculated driver's head position. For example, a plurality of comparison values ​​for the position of the driver's head in the vehicle interior can be stored in a database. For each comparison value in the database, the desired position to be occupied by the vehicle rearview mirror, in particular at least one side mirror and / or interior rearview mirror, and / or screen is also stored.

[0022] Side view mirrors are particularly exterior rear view mirrors of a vehicle.

[0023] In particular, the tilt angle of the vehicle rear view mirror and / or the screen relative to at least one mounting axis of the vehicle rear view mirror and / or the screen can be understood as the desired position of the vehicle rear view mirror and / or the screen.

[0024] Data regarding the desired angles of the vehicle's rearview mirrors and / or screens in relation to the driver's head position may be stored in the database.

[0025] In step d), the actuator of the at least one vehicle rearview mirror and / or screen is actuated to establish the determined desired position of the vehicle rearview mirror and / or screen. To this end, for example, the actual position of the vehicle rearview mirror and / or screen is first detected. Subsequently, it is determined how the actuator should be actuated to achieve the predetermined desired position of the vehicle rearview mirror and / or screen.

[0026] It is known to construct small servomotors in vehicle rearview mirrors, in particular in side mirrors and / or in interior rearview mirrors and / or in screens.

[0027] In one embodiment of the method according to the present invention, a standard interior camera of the vehicle is used to detect the driver's head outline in step a). In particular, an interior camera already installed in the vehicle is used. The interior camera is preferably a 2D camera or a fisheye camera. Evaluating images generated by a 2D or fisheye camera is significantly simpler than analyzing 3D images, such as those generated using a 3D camera. Consequently, the head outline detection according to step a) and the head position calculation according to step b) require significantly less computing power.

[0028] In one embodiment of the present invention, an elliptical shape is matched to the detected head contour. Thus, in the calculation step performed between steps a) and b), the head contour detected by the interior camera is reconstructed in a simplified form. Thus, an edge segmentation is first performed on the detected driver's head contour, with the edges then being reconstructed in the form of an ellipse.

[0029] In another embodiment of the present invention, the driver's head contour is detected multiple times in step a) and an average value of the detected driver's head contours is calculated. This calculated average value of the detected head contours is preferably subsequently used in step b).

[0030] Furthermore, it is possible to respectively match an elliptical shape to the detected head contour for a plurality of detected head contours. Thus, the average value of the matched elliptical shapes can be determined and used in step b).

[0031] In step c), previously determined average values ​​for head length and width can be used to determine the desired position of the vehicle rearview mirror and / or screen. This is preferably done while taking into account the adapted elliptical shape. By previously determining average values ​​for head length and width, step c can be implemented more simply. Thus, as long as calculated information about the actual head position is available, at least one vehicle rearview mirror and / or screen can be individually adjusted even when using average values ​​for head length and width.

[0032] Therefore, the decisive factor for adjusting the vehicle's rearview mirrors and / or screens is not the driver's actual head shape, but rather the position of the driver's head within the vehicle's interior. More precisely, the adjustment of the vehicle's rearview mirrors and / or screens is based on the head's height within the vehicle's interior. It is known that the eye axis is approximately at halfway up the head. Therefore, this information can be used to infer the driver's actual gaze direction. Consequently, it is no longer necessary to accurately detect or monitor the driver's eyes, and therefore employ complex detection methods, in order to adjust at least one vehicle rearview mirror and / or screen.

[0033] To improve and / or stabilize the results, the driver's upper body contour can also be detected in step a). These data can then be used in step b) to calculate the driver's head position.

[0034] In another embodiment of the present invention, the distance between the interior camera and at least one vehicle geometric structure can be detected during a calibration step. The at least one vehicle geometric structure is preferably a section of the vehicle's A-pillar, a section of the vehicle's B-pillar, and / or a section of the vehicle's C-pillar. The distance between the interior camera and the at least one vehicle geometric structure is preferably determined using a sensor, in particular an infrared sensor. Alternatively, the distance can be measured manually and entered into a computing unit of the vehicle and stored therein.

[0035] The at least one vehicle geometry is that immutable region or portion of the vehicle interior which can be clearly detected by the interior camera.

[0036] If the distance between the interior camera and the at least one vehicle geometry is known, the distance of the driver's head contour or the driver's head position from the interior camera can be determined when the driver's head contour is detected in relation to the at least one vehicle geometry.

[0037] In other words, calibration information about the at least one vehicle geometry of the vehicle interior can be provided based on the calibration step, so that depth information can be calculated from the detected two-dimensional image.

[0038] The calibration step can be performed once when the vehicle is manufactured. Preferably, the calibration step is performed before the manufactured vehicle is delivered. In another embodiment of the present invention, the calibration step can be performed before each adjustment of at least one vehicle rearview mirror.

[0039] Surprisingly, it has been found that for adjusting at least one vehicle rearview mirror and / or screen, an evaluation of the information ascertained by means of a 2D camera or fisheye camera is sufficient to be able to determine the correct desired position of the vehicle rearview mirror and / or screen.

[0040] The method according to the invention requires significantly less computing power than is known in connection with already known methods for adjusting vehicle rearview mirrors.

[0041] Another aspect of the present invention relates to a system for implementing the method according to the present invention. The system comprises:

[0042] at least one interior space camera,

[0043] at least one computing unit, and

[0044] At least one data connection from the computing unit to at least one actuator of the vehicle's rearview mirror and / or screen.

[0045] In a particularly preferred embodiment of the present invention, the interior space camera is a 2D camera or a fisheye camera.

[0046] The actuator of the vehicle rearview mirror can be the actuator of the side mirror and / or the exterior rearview mirror as well as the actuator of the interior rearview mirror. Said actuator is realized in the form of a small servomotor in accordance with standard.

[0047] The interior camera preferably has a viewing angle of 100° to 220°, in particular 110° to 160°, in particular 120° to 130°.

[0048] In a preferred embodiment of the present invention, the at least one interior camera is arranged on the vehicle's central axis, in particular in the area of ​​the roof or the base of the windshield. These positions of the interior camera have proven to be particularly advantageous for detecting the driver's head contour and, in addition, for detecting the unchangeable vehicle geometry of the vehicle interior.

[0049] The interior camera is preferably such an interior camera that is already used for other applications in the vehicle.

[0050] Furthermore, the system can include a memory in which average values ​​for the head length and head width are stored. Furthermore, values ​​for the distance from the interior camera to at least one vehicle geometric structure in the vehicle interior can be stored. In a preferred embodiment of the present invention, the memory is implemented in the computing unit.

[0051] In another embodiment of the present invention, the system comprises a distance sensor, in particular an infrared sensor, which is used in particular to determine the distance between the interior camera and the at least one vehicle geometric structure.

[0052] In conjunction with the system for carrying out the method according to the invention for adjusting at least one vehicle rearview mirror and / or screen, the same advantages result as have already been described in conjunction with the method according to the invention.

[0053] Another aspect of the present invention relates to a computer-readable storage medium containing instructions that cause at least one computing unit of a vehicle, in particular an onboard computer, to execute the method described above.

[0054] Further advantageous embodiments are disclosed in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The invention will be described below with regard to further features and advantages using exemplary embodiments, which are explained in more detail using the drawings.

[0056] Here:

[0057] Figure 1 a schematic diagram showing a top view of a vehicle;

[0058] Figure 2 a diagram showing a method step of the method according to the invention for adjusting at least one vehicle rearview mirror and / or screen; and

[0059] Figure 3 A flow chart of the method according to the invention for adjusting at least one vehicle rearview mirror and / or screen is shown. DETAILED DESCRIPTION

[0060] In the following description, the same reference numerals are used for identical and identically acting components.

[0061] Figure 1 The schematic diagram shows a top view of a vehicle 10 , which comprises a system according to the invention for carrying out a method for adjusting at least one vehicle rearview mirror and / or screen.

[0062] Thus, the side mirrors 20, which can also be referred to as exterior rearview mirrors, and the interior rearview mirror 25 can be adjusted by means of the method according to the invention. In addition, the screen 30, which is also shown, can be adjusted by means of the method according to the invention.

[0063] The system includes at least one interior camera 40. The interior camera 40 is also used for other applications in the vehicle. The interior space camera 40 is a 2D camera or a fisheye camera.

[0064] The system also has a computing unit 50. The computing unit 50 can be designed, for example, to be integrated in an onboard computer of the vehicle 10. Data connections (not shown) are provided between the computing unit 50 and the actuators of the mirrors 20 and 25 and the screen 30.

[0065] The structure of the A-pillar 81 , the B-pillar 82 and the C-pillar 83 is schematically shown at least for the left half of the vehicle. Pillars 81 to 83 are such unchangeable vehicle geometry. Pillars 81 - 83 can be detected by means of the interior camera 40 .

[0066] The distance between interior camera 40 and unchangeable vehicle geometry, for example, the distance between interior camera 40 and A-pillar 81 and / or B-pillar 82 and / or C-pillar 83, can be detected using infrared sensor 60. This detection of the distance is preferably performed in a calibration step, which is preferably performed once vehicle-specifically when vehicle 10 is manufactured.

[0067] It can be seen that interior camera 40 is arranged on a center axis M of vehicle 10 . It is possible for interior camera 40 to be arranged in the region of the vehicle roof or in the region of the base of the windshield.

[0068] When carrying out the method, firstly, a head contour 70 of the driver 100 is detected. The head contour 70 is detected in a side view of the head 65 .

[0069] When detecting the head contour 70 of the driver 100, the vehicle geometry is detected simultaneously, that is, in the illustrated case, the A-pillar 81, the B-pillar 82 and / or the C-pillar 83. Thus, the head contour 70 is detected in relation to at least one of the aforementioned vehicle geometries 81, 82 and 83.

[0070] The position of the driver's 100 head 65 is then calculated using the detected head contour 70 and the calibration information detected within the calibration step. The exact position of the head 65, including the depth information, can thus be calculated. The two-dimensional image data of the interior camera 40 are evaluated.

[0071] In step c), the desired positions of the vehicle's rearview mirrors 20 and 25 and the screen 30 are determined. The desired positions are determined using the calculated head position.

[0072] Subsequently, the actuators of the rear-view mirrors 20 and 25 and the screen 30 are respectively actuated. This serves to establish the determined desired positions of the vehicle's rear-view mirrors 20 and 25 and the screen 30.

[0073] Figure 2 It is shown how an elliptical shape 90 is implemented onto the detected head contour 70 . Thus, the elliptical shape 90 is placed around the head contour 70 in such a way that the elliptical shape 90 rests on as many detected edge sections 71 of the head contour 70 as possible.

[0074] In step c), the previously determined values ​​for the head length L and the head width B are preferably used to determine the desired position of the vehicle mirrors 20 , 25 and / or the screen 30 . This is done in particular taking the oval shape 90 into account.

[0075] exist Figure 3 In the figure, the individual steps of the method according to the invention which are carried out successively are shown in a simplified form.

[0076] In step 200, a calibration step is first performed, in which the distance between interior camera 40 and at least one vehicle geometry 81, 82, and 83 is ascertained using infrared sensor 60. In step 210, the corresponding value of the distance between interior camera 40 and the vehicle geometry is stored in a memory.

[0077] In step 220, the average values ​​for the head length L and the head width B are additionally stored in the memory. Steps 210 and 220 can also be performed simultaneously or in reverse order.

[0078] In step 230 , head contour 70 of driver 100 is detected in relation to vehicle geometries 81 , 82 , and 83 of vehicle interior 95 . This detection is performed by means of interior camera 40 .

[0079] In step 240 the elliptical shape 90 is matched to the detected head contour 70 (see Figure 2 ).

[0080] It is possible that the head contour 70 of the driver 100 is detected multiple times in step 230 . Therefore, in step 240 , the elliptical shape 90 needs to be matched to an average value of the detected head contours 70 .

[0081] In step 250, the position of the driver's 100 head 70 is calculated using the detected head contour 70, in particular taking into account the elliptical shape 90. Calculation step 250 is also performed using the calibration data detected in step 200 and stored in step 210. The calibration data can be used to determine the distance of the head contour 70 of the positioned head 65 of the driver 100 from the interior camera 40.

[0082] In step 260 , the desired positions of the vehicle's rearview mirrors 20 , 25 and the screen 30 are determined. This can be done, for example, with the aid of comparison data stored in a database. The comparison data are selected with the aid of the calculated head position.

[0083] In step 270 , the actuators (not shown) of the vehicle mirrors 20 and 25 and the screen 30 are finally manipulated to establish the previously determined desired positions of the vehicle mirrors 20 and 25 and the screen 30 .

[0084] It should be pointed out at this point that all the above-described components, considered per se and in any combination, especially the details shown in the drawings, are claimed as essential to the invention. Modifications thereto are familiar to those skilled in the art.

[0085] Reference Signs List

[0086] 10 vehicles

[0087] 20 side view mirrors

[0088] 25 Interior rearview mirror

[0089] 30 screens

[0090] 40 internal space cameras

[0091] 50 computing units

[0092] 60 infrared sensors

[0093] 65 head

[0094] 70 head outline

[0095] 71 edge segments

[0096] 81A column

[0097] 82B column

[0098] 83C column

[0099] 90 oval shape

[0100] 95 vehicle interior space

[0101] 100 drivers

[0102] B head width

[0103] L head length

[0104] M longitudinal axis

[0105] 200-270 Method Steps

Claims

1. Method for adjusting at least one vehicle rearview mirror and / or screen (30), wherein: The method comprises the following steps: a) detecting a head contour (70) of a driver (100) by means of an interior camera (40) of a vehicle (10) in relation to at least one vehicle geometry (81, 82, 83) of the vehicle interior (95), the at least one vehicle geometry being a fixed, non-variable location or part of the vehicle interior that can be clearly detected by the interior camera, b) calculating the position of the driver's (100) head (65) with the aid of the detected head contour (70) and with the aid of calibration information about the at least one vehicle geometry (81, 82, 83) of the vehicle interior (95), wherein the calibration information about the at least one vehicle geometry of the vehicle interior is provided based on the calibration step so that depth information can be calculated from the detected two-dimensional image, c) determining a desired position of the at least one vehicle rearview mirror (20, 25) and / or the screen (30) using the calculated head position, d) operating an actuator of the at least one vehicle rearview mirror (20, 25) and / or the screen (30) to establish the determined desired position of the vehicle rearview mirror (20, 25) and / or the screen (30).

2. The method according to claim 1, characterized in that The elliptical shape (90) is matched to the detected head contour (70).

3. The method according to claim 1 or 2, characterized in that In step a), the head contour (70) of the driver (100) is detected multiple times, and an average value of the detected head contours (70) of the driver (100) is calculated and used in step b).

4. The method according to claim 1 or 2, characterized in that In step c), previously determined average values ​​for head length and head width are used to determine a desired position of the vehicle rearview mirror (20, 25) and / or the screen (30).

5. The method according to claim 1 or 2, characterized in that In a calibration step (200), the distance between the interior camera (40) and the at least one vehicle geometry (81, 82, 83) is detected by means of a sensor or measured manually, and the distance is entered into a computing unit (50) of the vehicle (10) and stored.

6. The method according to claim 1 or 2, characterized in that The calibration step (200) is performed once when the vehicle (10) is manufactured or before each adjustment of at least one vehicle rearview mirror.

7. The method according to claim 1 or 2, characterized in that The at least one vehicle rearview mirror is designed as at least one side view mirror and / or interior rearview mirror.

8. The method according to claim 3, characterized in that In step c), previously determined average values ​​for head length and head width are used to determine a desired position of the vehicle rearview mirror (20, 25) and / or the screen (30).

9. The method according to claim 5, characterized in that The sensor is configured as an infrared sensor (60).

10. The method according to claim 5, characterized in that In a calibration step, the distance between the interior camera and a section of the vehicle's A-pillar and / or a section of the vehicle's B-pillar and / or a section of the vehicle's C-pillar is detected by means of a sensor or measured manually, and the distance is entered and stored in a computing unit (50) of the vehicle (10).

11. The method according to claim 5, characterized in that The calibration step (200) is performed once when the vehicle (10) is manufactured or before each adjustment of at least one vehicle rearview mirror.

12. A system for implementing the method according to any one of claims 1 to 11, comprising: at least one interior space camera (40), at least one computing unit (50), and At least one data connection to at least one actuator of a vehicle rearview mirror (20, 25) and / or screen (30).

13. The system according to claim 12, wherein: The at least one interior space camera (40) is a 2D camera or a fisheye camera.

14. The system according to claim 12 or 13, characterized in that The interior space camera (40) has a viewing angle of 100° to 220°.

15. The system according to claim 12 or 13, characterized in that The interior space camera (40) has a viewing angle of 110° to 160°.

16. The system according to claim 12 or 13, characterized in that The interior space camera (40) has a viewing angle of 120° to 130°.

17. The system according to claim 12 or 13, characterized in that The at least one interior camera (40) is arranged on a central axis of the vehicle (10).

18. The system according to claim 17, wherein: The at least one interior camera (40) is arranged in the region of the vehicle roof or the base of the windshield.

19. The system according to claim 12 or 13, characterized in that A memory is provided in which values ​​are stored for an average value of the head length and the head width and / or a distance of an interior camera (40) from at least one vehicle geometric structure (81, 82, 83) of the vehicle interior (95).

20. The system according to claim 19, wherein: The memory is configured in the computing unit (50).

21. The system according to claim 12 or 13, characterized in that Equipped with a distance sensor.

22. The system according to claim 21, wherein: The distance sensor is configured as an infrared sensor (60).

23. A computer-readable storage medium containing instructions for causing at least one computing unit (50) of a vehicle (10) to implement the method according to any one of claims 1 to 11.

24. The computer-readable storage medium according to claim 23, wherein: The computing unit (50) is designed as an onboard computer.

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