Method, device and data processing program product for determining orientation of external rearview component of road vehicle

Abstract

A method, an apparatus and a data processing program product are provided for determining an orientation of an external rear view component (1) relative to a reference body (20), in particular a vehicle body, in which: image data (15) of an image sensor (3) mounted to the external rear view component (1) or to the reference body (20) is analyzed with respect to technical image data (Des, Deb, G, B1, B2, 28, 29, FD, NFD), the technical image data comprises technical image parameter data (Des, Deb, G, B1, B2, 28, 29) and / or focus data (FD) and / or non-focus data (NFD); and deriving, from the technical image data (Des, Deb, G, B1, B2, 28, 29, FD, NFD) and / or from the deviations of the technical image data (Des, Deb, G, B1, B2, 28, 29, FD, NFD), an indication of an orientation of the external rearview component (1) relative to the reference body (20) and / or an indication of a deviation of the orientation of the external rearview component (1) relative to the reference body (20).

Description

Technical Field

[0001] The present invention relates to a method, apparatus, and data processing program product for determining the orientation of external rearview components (particularly for road vehicles). Background Technology

[0002] Vehicles, especially road vehicles, require external rearview systems that allow the driver to observe the vehicle's surroundings, which are outside the driver's peripheral vision. To enable the driver to observe their surroundings, external rearview systems are mounted on the exterior of the road vehicle. The vehicle's surroundings include the rear of the vehicle as well as its left and right sides. Furthermore, some external rearview systems are configured to effectively cover multiple blind spots for the driver.

[0003] External rearview systems typically employ some kind of reflective surface, particularly a mirror or camera system. Furthermore, external rearview systems (especially those housing camera systems) are configured to be attached to the vehicle body, and they incorporate numerous connectors, sensors, and / or actuators to ensure proper functionality.

[0004] Document DE 10 2021 203 267 B3 describes an external rearview assembly including a base frame comprising a side surface of a vehicle body configured to be attached to a vehicle body. Furthermore, the document describes a seal for such an external rearview assembly. The external rearview assembly is configured to carry a rearview camera, and the base frame is formed as a camera mounting arm. Cable harnesses may be configured, for example, as a power supply for the camera, and may also be configured, for example, as video signal lines from the camera to the vehicle infrastructure.

[0005] Features of the earlier patent application filed by the applicant of this patent application are thereby incorporated in the description of the present invention by reference, wherein those skilled in the art will find it useful to practice the invention disclosed herein in combination with such features of the earlier patent application and / or the features disclosed herein.

[0006] Document WO 2021 028 245 A1 describes a method for reliable and error-robust analysis of a visually captured vehicle surrounding environment. Deviations in camera orientation caused by forces impacting an external mirror carrying the camera can be compensated for completely automatically. This document also describes a method for measuring the positional deviation between a rearview mirror device and a preset position, the rearview mirror device including at least one position sensor; the method captures the vehicle surrounding environment via an imaging sensor integrated in the rearview mirror device, transmits the positional deviation and the captured vehicle surrounding environment to a control unit, and the control unit processes the captured vehicle surrounding environment based on the positional deviation. This document also describes a system apparatus for reliable error-tolerant assessment of a visually captured vehicle surrounding environment. The system device includes: a rearview mirror device having at least one position sensor configured to measure a position deviation from a preset position; an imaging sensor configured to capture the vehicle's surrounding environment; a data interface configured to transmit the position deviation and the captured vehicle's surrounding environment to a control unit; and a control unit configured to process the captured vehicle's surrounding environment based on the position deviation.

[0007] The second document specifically describes that a sensor at a particular location needs to identify the presence of an incorrect setting, but this incorrect setting alone cannot trigger a physical adjustment of the mirror. To address this, the document describes additional steps based on the correction of the entire captured image; that is, the entire image content needs to be captured and virtually offset to ultimately have sufficient information to perform mirror adjustment. Summary of the Invention

[0008] In view of the above, the object of the present invention is to provide a new and improved method, apparatus and data processing program product for determining the orientation of external rearview components (particularly for road vehicles).

[0009] According to the present invention, the following is provided:

[0010] A method for determining the orientation of an external rearview assembly relative to a reference body (particularly a vehicle body), as described in claims 1 and 5, respectively;

[0011] An apparatus for determining the orientation of an external rearview assembly relative to a reference body (particularly a vehicle body), as described in claims 8 and 12 respectively; and

[0012] A data processing product for determining the orientation of an external rearview assembly relative to a reference body (particularly a vehicle body), as described in claims 15 and 18, respectively.

[0013] The advantageous or preferred features of the invention are described in the dependent claims.

[0014] According to one aspect, the present invention provides a method for determining the orientation of an external rearview assembly relative to a reference body (particularly relative to a vehicle body), wherein:

[0015] Image data from image sensors mounted on external rearview components or on a reference body are analyzed using reference technical image data, which includes technical image parameter data and / or focus data and / or non-focus data.

[0016] Furthermore, an indication of the orientation of the external rearview component relative to the reference body is derived from the technical image data and / or from the deviation of the technical image data, and / or an indication of the deviation of the orientation of the external rearview component relative to the reference body is derived.

[0017] The foregoing methods may be configured to work in conjunction with or in other aspects or embodiments of the invention described in this document, including in apparatuses according to any aspect or embodiment described in this document and in methods having a data processing program product according to any aspect or embodiment described in this document.

[0018] According to one aspect of the invention, in the methods described above and in any other embodiments of the invention described herein (including those used in the form of a data processing program product), an edge detection algorithm can be performed on image data.

[0019] Focused and / or unfocused data can be derived from edge detection algorithms, particularly data associated with at least one image region of the image data.

[0020] An indication of the orientation of the external rearview assembly relative to a reference body and / or an indication of the deviation of the external rearview assembly from the orientation of the external rearview assembly relative to the reference body can be derived from focused data and / or unfocused data, particularly data associated with data of at least one image region.

[0021] According to a further aspect of the invention, in the methods described above and in any other embodiments of the invention as described in this document (including in embodiments having the form of a data processing program product), the technical image parameter data may include one or more of the following image parameter data: image blur parameter data and / or image sharpness parameter data and / or image brightness parameter data and / or image contrast parameter data and / or image saturation parameter data.

[0022] According to one aspect of the invention, in the method described above and in any other embodiment of the invention as described in this document (including in embodiments in the form of a data processing product), an indication of the folding of the external rearview assembly toward a reference body (particularly toward a vehicle body) is derived from technical image data associated with data of an image region, wherein the technical image data characteristics of the image region indicate defocusing of the first image data, and / or image blurring of the first image data, and / or low image brightness of the first image data.

[0023] According to a further aspect, the present invention provides a method (particularly in conjunction with any aspect and / or any method described above) for determining the orientation of an external rearview assembly relative to a reference body (particularly relative to a vehicle body), and the method is used in any other embodiment of the invention described in this document (including in embodiments having a data processing program product), the method comprising the following steps:

[0024] First image data is read from an image sensor that is mounted on an external rearview assembly or on a reference body;

[0025] The first image data is analyzed in terms of the first technical image data;

[0026] In terms of technical image data, the first image data is compared with the stored second image data, and / or the first technical image data is compared with the stored second technical image data, and / or the first technical image data is compared with the stored threshold of the technical image data;

[0027] And, based on the comparison, derive the orientation of the external rearview assembly relative to the reference body, and / or the deviation of the orientation of the external rearview assembly relative to the reference body.

[0028] According to aspects of the present invention, the method according to embodiments of the present invention (particularly the method described above) and the method used in any other embodiment of the invention described in this document (including the method used in the form of a data processing program product) may include the following steps:

[0029] The image region is analyzed, and at least one technical image data point exceeds or falls below a threshold for at least one technical image data point.

[0030] And an indication of the orientation of the external rearview component derived from the image region and / or from the deviation of the image region and / or an indication of the deviation of the orientation of the external rearview component, wherein at least one technical image data exceeds or falls below such a threshold.

[0031] According to aspects of the present invention, the method according to embodiments of the present invention (particularly the method described above) and the method used in any other embodiment of the invention described in this document (including the method used in the form of a data processing program product) may include the following steps:

[0032] Analyze data from at least one data source and / or data from at least one sensor (particularly time and / or position and / or acceleration and / or orientation and / or environmental data relating to a reference body).

[0033] Based on the foregoing analysis, a reasonableness check is performed regarding the technical image data, and / or the deviation of the technical image data, and / or the indication of the orientation of the external rearview component relative to the reference body, and / or the indication of the deviation of the orientation of the external rearview component relative to the reference body.

[0034] According to a further aspect, the present invention provides an apparatus for determining the orientation of an external rearview assembly relative to a reference body (particularly relative to a vehicle body), the apparatus comprising:

[0035] An image sensor, which is mounted on an external rearview assembly or on a reference body;

[0036] and a data processing unit, wherein such a data processing unit can be configured to:

[0037] Reading image data and / or technical image data from image sensors,

[0038] Technical image data analysis of the image data,

[0039] Orientation data indicating the orientation of the external rearview component relative to the reference body is derived from the technical image data, and / or deviation data indicating the deviation of the orientation of the external rearview component relative to the reference body is derived from the deviation of the technical image data.

[0040] This apparatus can be configured to perform methods according to the embodiments described above and other embodiments of the invention described in this document, and / or configured to perform embodiments having the form of a data processing program product described in this document.

[0041] According to aspects of the invention, in such an apparatus as described above and in other embodiments of the invention, the data processing unit can be configured to perform an edge detection algorithm on image data.

[0042] Used to derive focused and / or unfocused data (particularly data associated with at least one image region of the image data) from the edge detection algorithm.

[0043] And for deriving the orientation of the external rear-view component relative to a reference body from focused data and / or unfocused data (particularly data associated with data of at least one image region);

[0044] And for deriving the orientation of the external rear-view component relative to a reference body from focused data and / or unfocused data (particularly data associated with data of at least one image region);

[0045] According to a further aspect of the invention, in the apparatus as described above and in any other embodiment of the invention, the technical image parameter data may include one or more of the following data: image blur parameter data and / or image sharpness parameter data, and / or image brightness parameter data, and / or image contrast parameter data, and / or image saturation parameter data.

[0046] According to aspects of the invention, in the apparatus as described above and in any other embodiment of the invention, the data processing unit may be configured to derive an indication of the folding of the external rearview assembly toward a reference body (particularly toward the vehicle body) from technical image data associated with data of the image region, wherein the technical image data characteristics of the image region indicate unfocused image data, and / or image blurring of the image data, and / or low image brightness of the image data.

[0047] According to aspects of the invention, the means for determining the orientation of an external rearview assembly relative to a reference body (particularly relative to the vehicle body) in embodiments of the invention and any other embodiments of the invention described herein may include or additionally include:

[0048] A memory unit configured to store image data and / or technical image data, and

[0049] A data processing unit configured to:

[0050] Threshold data for reading image data and / or technical image data from image sensors and memory units.

[0051] Analyze and compare technical image data and / or threshold data of technical image data.

[0052] Furthermore, orientation data and / or deviation data are derived based on the comparison. The orientation data indicates the orientation of the external rearview assembly relative to the reference body, and the deviation data indicates the deviation of the external rearview assembly from the reference body.

[0053] According to aspects of the invention, in the apparatus as described above and in any other embodiment of the invention, the data processing unit may be configured to:

[0054] The image region is analyzed, and at least one technical image data point exceeds or falls below a threshold for at least one technical image data point.

[0055] And used to derive an indication of the orientation of the external rearview component from the image region and / or from the deviation of the image region and / or to derive an indication of the deviation of the orientation of the external rearview component, wherein at least one technical image data exceeds or falls below such a threshold.

[0056] According to aspects of the invention, in the apparatus as described above and in any other embodiment of the invention, the data processing unit may be connected to at least one data source and / or at least one sensor for providing time data and / or position data and / or acceleration data and / or orientation data and / or environmental data about the reference body;

[0057] Furthermore, the data processing unit can be configured to:

[0058] Analyze the time and / or position and / or acceleration and / or orientation and / or environmental data of the reference body.

[0059] Furthermore, based on the foregoing analysis, a reasonableness check is performed regarding the technical image data, and / or the deviation of the technical image data, and / or the indication of the orientation of the external rearview component relative to the reference body, and / or the indication of the deviation of the orientation of the external rearview component relative to the reference body.

[0060] The apparatus described in this document can be combined with various features of the earlier patent application DE 10 2021 203 267 B3, which was originally mentioned by the patent applicant of this patent application and is incorporated herein by reference, wherein, and by means of reference, those skilled in the art will find it useful to combine these various features of the earlier patent application with features of the invention disclosed herein and / or for practicing the invention disclosed herein.

[0061] According to a further aspect, the present invention provides a data processing program product for determining the orientation of an external rearview component relative to a reference body (particularly a vehicle body). The data processing program product includes instructions that, when executed by a data processing unit, cause the data processing unit to perform steps of the method according to any of the embodiments described above. The data processing program product can also be configured to work in conjunction with other embodiments of the invention described in this document, or to operate in other embodiments of the invention described in this document, including for use in apparatus according to any of the embodiments described in this document.

[0062] According to a further aspect, the present invention provides a data processing program product for determining the orientation of an external rearview component relative to a reference body (particularly a vehicle body) (particularly a data processing program product for use with any other embodiment of the invention described in this document, or a data processing program product according to any other embodiment of the invention described in this document), the data processing program product comprising instructions that, when executed by a data processing unit, cause the data processing unit to perform the following program steps:

[0063] The first procedure step reads first image data from an image sensor mounted on an external rearview assembly, or from an image sensor mounted on a reference body.

[0064] Intermediate procedure steps, which analyze the first image data in terms of technical image data including technical image parameter data and / or focus data and / or non-focus data, and

[0065] The final procedure step involves deriving orientation data indicating the orientation of the external rearview assembly relative to the reference body from the technical image data and / or from the deviations in the technical image data, and / or deriving deviation data indicating the deviations in the orientation of the external rearview assembly relative to the reference body.

[0066] According to an aspect of the present invention, the intermediate program steps of the data processing program product mentioned above may include:

[0067] The first intermediate procedure step performs an edge detection algorithm on the image data, and

[0068] The second intermediate procedure step derives focused data (FD) and / or unfocused data (NFD) from the edge detection algorithm (specifically, it is associated with data of at least one image region of the image data).

[0069] The final procedure steps may include deriving orientation data and / or deviation data from focus data and / or from non-focus data (particularly associated with data of the at least one image region), the orientation data indicating the orientation of the external rear-view component relative to the reference body, and the deviation data indicating the deviation of the orientation of the external rear-view component relative to the reference body.

[0070] According to an aspect of the invention, the technical image parameter data processed by the data processing program product in the aforementioned program steps may include image blur parameter data, and / or image sharpness parameter data, and / or image brightness parameter data, and / or image contrast parameter data, and / or image saturation parameter data.

[0071] And / or final procedure steps may include deriving folding indication data from technical image data associated with data of an image region that indicates folding of the external rearview component toward a reference body, wherein the technical image data characteristics of the image region indicate unfocused and / or blurred and / or low image brightness of the image data.

[0072] According to another aspect, the present invention provides a data processing program product for determining the orientation of an external rearview component relative to a reference body (particularly a vehicle body), particularly for use with any program steps described in any of the preceding embodiments, and for use with any other embodiment of the invention described in this document or according to any other embodiment of the invention described in this document. The data processing program product may include, either alone or additionally, instructions that, when executed by a data processing unit, cause the data processing unit to perform the following program steps:

[0073] The first procedure step involves reading first image data from an image sensor mounted on an external rearview assembly, or from an image sensor mounted on a reference body.

[0074] The second procedure step involves analyzing the first image data in terms of the first technical image data.

[0075] The third program step involves reading the stored second image data from the memory unit, and / or reading the stored second technical image data from the memory unit, and / or reading the threshold data of the stored technical image data from the memory unit;

[0076] The fourth procedure step involves comparing the first image data with the stored second image data in terms of technical image data, and / or comparing the first technical image data with the stored second technical image data, and / or comparing the first technical image data with a stored threshold of the technical image data;

[0077] The fifth procedure step derives orientation data and / or deviation data based on a comparison, whereby the orientation data indicates the orientation of the external rearview assembly relative to the reference body, and the deviation data indicates the deviation of the external rearview assembly from the reference body's orientation.

[0078] According to an aspect of the present invention, a data processing program product according to the present invention may include instructions that, when the program is executed by a data processing unit, cause the data processing unit to perform the following further program steps:

[0079] A first additional procedural step involves analyzing data from at least one data source and / or from at least one sensor (particularly time data, and / or position data, and / or acceleration data, and / or orientation data, and / or environmental data relating to a reference body);

[0080] The second additional procedural step, based on the foregoing analysis, performs a reasonableness check on the technical image data, and / or on deviations in the technical image data, and / or on orientation data, and / or on deviation data; and

[0081] The third additional procedure step, based on the results of the aforementioned rationality check, outputs the result message to the user and / or stores the result data in a memory unit.

[0082] If useful, the above embodiments can be combined with each other as needed. Further possible embodiments, configurations, and implementations of the invention also include combinations of features of the invention described herein with reference to the embodiments (not explicitly mentioned). In particular, those skilled in the art will thus add various aspects as improvements or additions to the corresponding basic form of the invention. Attached Figure Description

[0083] To gain a more complete understanding of the invention and its advantages, exemplary embodiments of the invention are explained in more detail in the following description with reference to the accompanying drawings, wherein like reference numerals denote like parts, and the following are illustrated in the drawings:

[0084] Figure 1 This is a schematic view of an image capturing device according to an embodiment of the present invention;

[0085] Figure 2a This is a schematic view of an external rearview assembly that includes an image capturing device according to an embodiment of the invention, wherein the external rearview assembly is shown in a first orientation (use orientation) relative to a reference body (particularly a vehicle body).

[0086] Figure 2b This is a schematic view of an external rearview assembly, which includes, according to... Figure 2aAn image capturing device according to an embodiment, wherein the external rearview component is shown in a second orientation (folding orientation) relative to a reference body (particularly the vehicle body);

[0087] Figure 3a It is based on an embodiment that is oriented in a first orientation relative to a reference body (such as according to...). Figure 2a A schematic view of image data captured by the image capturing device of the external rearview component in an embodiment;

[0088] Figure 3b This is based on an embodiment that is in a second orientation relative to a reference body (such as according to...). Figure 2a A schematic view of image data captured by the image capturing device of the external rearview component in an embodiment;

[0089] Figure 4a It is the distribution of sharp edge intensity in the captured image data relative to distance (such as according to...). Figure 3a and Figure 3b A schematic view (at the sharp edges);

[0090] Figure 4b It is the distribution of blurred edge intensity in the captured image data relative to distance (such as in according to Figure 3a and Figure 3b A schematic view (at the blurred edges);

[0091] Figure 5 This is a schematic view of a device for determining the orientation of an external rearview assembly relative to a reference body (particularly a vehicle body according to an embodiment of the invention);

[0092] Figure 6 This is a schematic flowchart of the sequential steps of a method implemented as a data processing program product, used to determine the orientation of an external rearview component according to an embodiment of the present invention.

[0093] Figure 7 This is a schematic flowchart of the sequential steps of a method implemented as a data processing program product, used to determine the orientation of an external rearview component according to a further embodiment of the present invention.

[0094] The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate specific embodiments of the invention and, together with the description, serve to explain the principles of the invention. Other embodiments of the invention and many accompanying advantages of the invention will be readily understood as they become more apparent from the following detailed description.

[0095] It should be understood that common and / or easily understood elements (which may be useful or necessary in commercially viable embodiments) need not be depicted in order to facilitate a more abstract view of the embodiments. Elements in the accompanying drawings need not be shown to scale relative to each other. It should also be understood that certain actions and / or steps in embodiments of the method may be described or depicted in a particular order of occurrence; however, those skilled in the art will understand that such particularity regarding the order is not actually necessary. It should also be understood that the terms and expressions used herein have their ordinary meaning in relation to their respective technical fields, unless otherwise specified herein. Detailed Implementation

[0096] Refer to the attached diagram. Figure 1 The image capturing device 2 is shown schematically in part, and the image capturing device 2 specifically includes an image sensor 3 and a lens 4.

[0097] The distance between image sensor 3 and lens 4 is the focal length 5 of image capture device 2. The minimum focusing distance 6 (also known as minimum object distance (MOD)) of image capture device 2 is also... Figure 1 As shown in the diagram, the minimum focusing distance 6 is another feature of the image capturing device 2. The minimum focusing distance 6 defines a minimum focusing distance plane 10, which can also be referred to as the minimum object distance (MOD) plane. The minimum focusing distance 6 of the image capturing device 2 depends on the focal length 5 of the lens 4 or the focal length 5 of the lens system (i.e., the optical system of the image capturing device 2).

[0098] according to Figure 1 The image capture device 2 can be part of an external rearview assembly 1, which includes a camera device as described with respect to the following figures. Specifically, it can be part of a digital rearview mirror system, particularly a camera monitoring system (CMS) mounted to the vehicle body, which serves as a reference body 20 in the sense of the invention disclosed herein. For the CMS system, it is necessary to determine the orientation of the CMS system relative to the vehicle body, particularly for providing fold detection. In the prior art as described above, different solutions with additional sensors and / or different solutions using complex image evaluation algorithms are known.

[0099] refer to Figure 1The field of view 7, lens 4, and minimum focusing distance plane 10 of the image capturing device 2 surround a non-focusing region 8 or "blurred region" 8 (hereinafter referred to as "non-focusing region 8 / blurred region 8") in space, meaning that multiple first objects 11 and / or first contours 11 (hereinafter referred to as "first object 11 / first contour 11") cannot be focused by the image capturing device 2. The edges of the first objects 11 / first contours 11 cannot be found to focus on the first objects 11 / first contours 11. This edge detection algorithm can be achieved by means of a data processing unit 21 (such as...) Figure 5 The data processing program product executed by the image sensor 3 is implemented. Therefore, the image data 15 (as shown) captured by the image sensor 3 is processed. Figure 3a and Figure 3b In the image capture device 2 shown, the image capture device 2 cannot focus on the first object 11 / first contour 11, therefore the first object 11 / first contour 11 will be captured as a blurred object 11 / blurred contour 11, which may have a blurred edge intensity distribution 29 (as shown in the reference). Figure 4b (as shown and described).

[0100] In the spatial focusing region 9 or “sharp region 9” (hereinafter referred to as “focusing region 9 / sharp region 9”) outside the minimum focusing distance plane 10 (i.e., region 9 limited by and including the minimum focusing distance plane 10), the second object 12 and / or the second contour 12 and the third object 13 and / or the third contour 13 (hereinafter referred to as “second object 12 (second contour 12) / third object 13 (third contour 13)”) can be focused by the image capturing device 2, and will produce corresponding focused and sharp objects 12 (contour 12) / object 13 (contour 13) in the image data 15 captured by the image sensor 3, as will be explained in the description below.

[0101] Therefore, when the second object 12 / second contour 12 is at a distance equal to the minimum focusing distance 6 from the image sensor 3, the image capturing device 2 can still focus on the second object 12 / second contour 12, as long as the object / contour is located within or beyond the minimum focusing distance plane 10. An edge detection algorithm can find the edges of the second object 12 / second contour 12 to focus on, and this edge detection algorithm can be achieved by means of a data processing unit 21 (such as...). Figure 5 The data processing program product (as shown) is implemented.

[0102] Therefore, in the image data 15 captured by image sensor 3 (such as...) Figure 3a and Figure 3bIn the diagram, the second object 12 / second contour 12 can be captured as a sharp object 12 / sharp contour 12, which can have a sharp edge intensity distribution 28 (e.g., ...). Figure 4a As shown), as long as the second object 12 / second contour 12 is located in the minimum focusing distance plane 10.

[0103] When the distance from the entire third object 13 / third contour 13 to the image sensor 3 is greater than the minimum focusing distance 6, the image capturing device 2 can focus on the entire third object 13 / third contour 13. Therefore, in the image data 15 captured by the image sensor 3 (such as... Figure 3a and Figure 3b As shown), the entire third object 13 / third contour 13 can be captured as a sharp object 13 / sharp contour 13, which can have a sharp edge intensity distribution 28 (as shown in the reference). Figure 4a (As shown).

[0104] refer to Figure 2a A schematic view of an external rearview assembly 1 including an image capture device 2 according to an embodiment of the present invention is shown, wherein the external rearview assembly 1 is shown in a first orientation (use orientation), i.e., an unfolded orientation relative to a reference body 20 (particularly the vehicle body). The minimum focusing distance 6 of the image capture device 2 is also shown. Figure 2a As shown in the figure. The minimum focusing distance 6 defines the minimum focusing distance plane 10, as already referenced. Figure 1 As stated above.

[0105] The image sensor of the image capture device 2 installed on the external rearview assembly 1 (not in) Figure 2a (as shown in the image sensor) The image sensor corresponds to, for example Figure 1 The image sensor 3 shown will capture image data 15 (as shown in...) Figure 3a (Illustrated schematically). The image data 15 from the image sensor is generated as follows: Figure 5 The data processing unit 21 shown above processes technical image data D. es D eb The image data was analyzed in terms of G, B1, B2, 28, 29, FD, and NFD. This technique utilizes image data D... es D eb G, B1, B2, 28, 29, FD, and NFD can, in one aspect, include technical image parameter data D. es D eb G, B1, B2, 28, 29 represent the image blur parameter D. eb The data, G, 29, and / or the image sharpness parameter D esData representing G, 28, and / or data representing image brightness parameters B1, B2, and / or data representing image contrast parameters, and / or data representing image saturation parameters. This technology uses image parameter data D. es D eb G, B1, B2, 28, 29 may relate to the characteristics of one or more image regions 18, 19 of image data 15.

[0106] On the other hand, the technical image data may include focused data FD and / or unfocused data NFD. Such focused data FD and / or unfocused data NFD can be derived from the edge detection algorithm described above, and in particular, such focused data FD and / or unfocused data NFD can be associated with data of at least one image region 18, 19 of image data 15, and / or with a description of at least one image region 18, 19 of image data 15, as will be explained in more detail with reference to the following figures.

[0107] The aforementioned at least one image region 18, 19 may be part of the total area of ​​image data 15, or at least one image region 18, 19 may be the entire area of ​​image data 15.

[0108] refer to Figure 2a The field of view 7 of the image capturing device 2, between the front lens (not shown) and the minimum focusing distance plane 10, again surrounds the unfocused area 8 / blurred area 8 (as already referenced). Figure 1 As described, the spatial region in which the object and / or contour cannot be focused by the image capturing device 2. Therefore, in the image data 15 captured by the image sensor (not shown) of the image capturing device 2, the image capturing device 2 cannot focus on the range 17 of the reference body 20, which is therefore the non-focused range 17 / blurred range 17 of the reference body 20 (especially the vehicle body), because the non-focused range 17 / blurred range 17 is located within the non-focused region 8 / blurred region 8.

[0109] This means that it can be achieved by means of data processing unit 21 (such as...) Figure 5The edge detection algorithm implemented by the data processing program product (shown) cannot find the edge of the reference body 20 (such as the vehicle body) in the non-focused range 17 / blurred range 17. Therefore, the image capturing device 2 cannot focus on the non-focused range 17 / blurred range 17 of the reference body 20, which is located within the field of view 7 of the image capturing device 2 and within the non-focused region 8 / blurred region 8. Therefore, the projected view of the non-focused range 17 / blurred range 17 of the reference body 20 (including the vehicle body) will be captured by the image sensor 3 of the image capturing device 2 in the image data 15 as the projected non-focused first image region 18 / blurred first image region 18 (such as the vehicle body). Figure 3a (Illustrated schematically).

[0110] All contours 11 / objects 11 in the unfocused first image region 18 / blurred first image region 18 projected in image data 15 are unfocused / blurred, and the intersection of the minimum focus distance plane 10 and the reference body 20 (i.e., with the vehicle body) defines a threshold line 16 that separates the projected unfocused first image region 18 / blurred first image region 18 from the second image region 19, which is captured as the projected focused second image region 19 / sharp second image region 19.

[0111] Based on the results of the edge detection algorithm executed by the data processing unit 21 using the data processing program product, the data processing unit 21 generates data output, which includes focused data FD and / or unfocused data NFD derived from the edge detection algorithm. Specifically, this data output including focused data FD and / or unfocused data NFD can be associated with data of at least one image region 18, 19 of the image data 15 (such as data regarding the size and / or size deviation of at least one image region 18, 19).

[0112] Specifically, the data processing unit 21 can generate data output including unfocused data NFD associated with data regarding the size and / or size deviation of the first image region 18, for which the edge detection algorithm cannot find edges and cannot focus on such edges of the reference body 20 (such as the vehicle body). This edge detection algorithm can be achieved by means of data processing unit 21 (such as...). Figure 5This is achieved by a data processing program product executed by (as shown). Alternatively or additionally, the data processing unit 21 can generate data output including focus data FD associated with data regarding the size and / or size deviation of the second image region 19, for which an edge detection algorithm can find edges and can focus on such edges of the reference body 20 (such as the vehicle body), the edge detection algorithm being implemented by means of a data processing unit 21 (such as...). Figure 5 The data processing program product (as shown) is implemented.

[0113] Then, the data processing unit 21 can (by means of a data processing program product) derive from the focused data FD and / or the unfocused NFD data (particularly data associated with data of at least one image region 18, 19) an indication or indication data characteristic of the orientation of the external rearview component 1 relative to the reference body 20 and / or an indication or indication data characteristic of the deviation of the orientation of the external rearview component 1 relative to the reference body 20. The corresponding result data and / or the corresponding result message are generated by the data processing unit 21 and are displayed to the user and / or stored in the memory unit 22 by means of the user interface unit 30.

[0114] Alternatively or additionally, the image brightness of the aforementioned range 17 may be lower than the image brightness of other areas in the field of view 7 of the image capturing device 2. This means that the image brightness parameter value B1 (particularly the average image brightness parameter value B1) in the first image region 18 projected in the image data 15 may be lower than the image brightness parameter value B2 (particularly the average image brightness parameter value B2) in the second image region 19. Therefore, the image brightness parameter values ​​B1 and B2 may fall below the threshold BT at one or more threshold lines 16, and then the threshold lines 16 separate one or more projected low-brightness first image regions 18 from one or more projected high-brightness second image regions 19 in the captured image data 15.

[0115] Alternatively or additionally, the image blur parameter data D eb G, 29, and / or image sharpness parameter data D esImage contrast parameter data and / or image saturation parameter data may also differ in the first projected image region 18 from those in the second image region 19, and the data may exceed or fall below the corresponding thresholds DT and GT at one or more threshold lines 16. This data can therefore be used as an alternative or additional indicator for indicating the orientation of the external rearview assembly 1 relative to the reference body 20 (particularly the vehicle body). The corresponding result data and / or the corresponding result message can be generated by the data processing unit 21 and can be displayed to the user and / or stored in the memory unit 22 by means of the user interface unit 30.

[0116] The thresholds (BT, DT, GT) (and any other comparable thresholds) can be stored in memory cell 22 (e.g., Figure 5 The predefined thresholds BT, DT, and GT are shown in the image data. Alternatively or additionally, the thresholds BT, DT, GT (and any other comparable thresholds) can be derived from the corresponding parameter value data of the second image region 19 of the image data 15. The image brightness threshold BT can be derived, for example, from the brightness parameter value data of the second image region 19 of the image data 15 as the average image brightness parameter value data BT.

[0117] The use of this invention as a specific external rearview component 1 in the CMS system allows for fold detection of the CMS system relative to the vehicle body, which serves as a reference body 20. When the CMS wing folds downwards along the vehicle direction (e.g., ...), ... Figure 2b When (as illustrated in the diagram), the minimum distance at which the camera needs to focus is no longer achieved. When focusing is no longer possible, edge detection can no longer find any edges.

[0118] As briefly mentioned above, there is also the possibility that the CMS system may track whether the area that the CMS camera, which serves as a specific image capture device 2, cannot focus on is offset. Typically, the camera is mounted so close to the vehicle that a portion of the camera's field of view 7 does not reach the minimum focal length 6 (e.g., ...). Figure 2a(Illustratively shown). In common CMS systems, the minimum focusing distance 6 is typically less than 1m, and this minimum focusing distance 6 can be in the range of 0.5m to 1.0m, particularly in the range of 0.6m to 0.8m. In common CMS systems, the field of view 7 is typically less than 120°, and this field of view 7 can be in the range of 50° to 100°, particularly in the range of 60° to 90°, for example, 70°. When the CMS wing carrying the CMS camera is folded down, the area that the CMS camera, as a specific image capture device 2, cannot focus on shifts, and based on the determination of the deviation or shift of such area, the CMS system can determine whether the CMS wing is in a usage orientation (i.e., in an open or driving position) or in a different orientation, such as in a folded position and / or in which direction the CMS wing has shifted.

[0119] As roughly described above, the detected brightness can be very low or even lower, especially in areas closer to the vehicle body; however (relative to the lower detected brightness mentioned earlier), the detected brightness may potentially remain brighter or even higher on the side farther from the vehicle body. Therefore, the system can determine that the CMS wing is in the folded position.

[0120] However, there may be situations where the CMS system can no longer detect the edge, yet the CMS wing may not necessarily be folded down. The environment around the vehicle may be dark, and / or the CMS system's lens may be dirty, and / or the CMS system may have another defect. To avoid making incorrect decisions, a plausibility check can be performed by the data processing unit 21 using a corresponding data processing program product, provided by one embodiment of the invention and described in more detail below. To verify the decision that the CMS wing is folded down, additional data and / or additional factors can be considered, such as: time of day, GPS location data, data considering brightness values ​​from the vehicle's brightness sensor, and / or data considering brightness values ​​from other cameras mounted on the vehicle (such as one or more surround view system (SVS) cameras). When the plausibility check indicates that the wing has been folded down, the corresponding message is displayed to the user by means of the user interface unit 30 and / or stored in the memory unit 22.

[0121] For reference Figure 2b A more general representation as shown is illustrated in the schematic diagram of the external rearview assembly 1, which includes, according to... Figure 2a The image capture device of the embodiment, wherein the external rearview component 1 is now shown in a second orientation (folding orientation) relative to the reference body 20 (in particular the vehicle body).

[0122] Similarly, the field of view 7 of the image capturing device 2, located between the front lens (not shown) of the image capturing device 2 and the minimum focusing distance plane 10, is as already referenced. Figure 2a The described non-focused region 8 / blurred region 8 refers to the spatial region where the edge detection algorithm cannot find edges and / or where objects and / or contours cannot be focused by the image capture device 2. This edge detection algorithm can be achieved by means of, for example, […]. Figure 5 The data processing unit 21 shown executes a data processing program product to achieve this. However, the orientation of the external rearview component 1, including the image capture device 2, relative to the reference body 20 (such as relative to the vehicle body) has now shifted.

[0123] As a result, the image sensor (not shown) of image capture device 2 will now capture image data D from different technologies. es D eb G, B1, B2, 28, 29, FD, NFD and / or different technical image data D es D eb G, B1, B2, 28, 29, FD, NFD are relative to, for example Figure 3b The deviation of the second image data 15 is schematically shown in the diagram. Specifically, the image sensor (not shown) of the image capture device 2 can capture technical image parameters D. es D eb Different data and / or technical image parameters D of G, B1, B2, 28, 29 es D eb The deviation of the data G, B1, B2, 28, and 29 represents the image blur parameter D. eb G, 29 and / or image sharpness parameter D es Different data and / or deviations in image brightness parameters (B1, B2) and / or image contrast parameters and / or image saturation parameters. This difference and / or deviation in technical image parameter data D es D eb G, B1, B2, 28, and 29 can again be associated with the characteristics of one or more image regions 18 and 19 of image data 15.

[0124] The image sensor (not shown) of the image capture device 2 can alternatively or additionally capture different focus data FD and / or non-focus data NFD, and / or deviations of focus data FD and / or non-focus data NFD, which in particular can be compared with, for example, Figure 3a and Figure 3bThe data associated with at least one image region 18, 19 of the image data 15 shown is described and / or associated with at least one image region 18, 19 of the image data 15, and the data processing unit 21 can (by means of a data processing program product) obtain data from focused data FD and / or unfocused NFD data (which is specifically associated with the data of at least one image region 18, 19 and has been referenced above). Figure 2a (Description) Derives an indication of the orientation of the external rearview assembly 1 relative to the reference body 20 and / or an indication of the deviation of the orientation of the external rearview assembly 1 relative to the reference body 20.

[0125] This means that this different technology image data D es D eb G, B1, B2, 28, 29, FD, NFD and / or image data of this technology D es D eb The deviations of G, B1, B2, 28, 29, FD, and NFD can provide an indication of the orientation of the external rearview assembly 1 relative to the reference body 20 and / or an indication of the deviation of the orientation of the external rearview assembly 1 relative to the reference body 20.

[0126] refer to Figure 2b The image capturing device 2 is again unable to focus on the unfocused area 17 / blurred area 17 of the reference body 20 (especially the vehicle body). However, due to the orientation deviation of the external rearview assembly 1 relative to the reference body 20 (i.e., relative to the vehicle body), especially due to the folding of the external rearview assembly 1 toward the reference body 20 (especially the vehicle body), the range of the unfocused area 17 / blurred area 17 of the reference body 20 (especially the vehicle body) has increased.

[0127] Therefore, the projected view of the non-focused range 17 / blurred range 17 of the reference body 20 (especially the vehicle body) will be represented by the image sensor of the image capture device 2 as a larger projected non-focused first image region 18 / blurred first image region 18 (in Figure 3b (Illustrated in the diagram) is captured in the second image data 15. In this second image data 15, more unfocused / blurred outlines / objects 11, 14 of the reference body 20 (such as the vehicle body) will now appear in this larger projected unfocused / blurred first image region 18 of the second image data 15, and the intersection of the minimum focus distance plane 10 with the reference body 20 (i.e., with the vehicle body) defines a shift threshold line 16, which separates the projected unfocused / blurred first image region 18 from the projected focused / sharp second image region 19.

[0128] The deviation of the orientation (folding orientation) of the external rearview assembly 1 relative to the reference body 20 (especially relative to the vehicle body) may even lead to the following effect: throughout the second image data 15, when the unfocused range 17 / blurred range 17 of the reference body 20 completely covers the field of view 7 of the image capture device 2, the image capture device 2 can no longer focus on any object / contour. In this case, it is possible to use a method such as Figure 5 The edge detection algorithm implemented by the data processing unit 21 shown cannot find any edge of the reference body 20 in the entire second image data 15; that is, the unfocused first image region 18 / blurred first image region 18 of the projection is the same as the entire region of the second image data 15. Therefore, when the edge detection algorithm cannot find any edge in the second image data 15, this can be an indication that the external rearview component 1 is completely folded relative to the reference body 20.

[0129] Therefore, deviations in the unfocused first image region 18 / blurred first image region 18 and / or the focused / sharp second image region 19 and / or the threshold line 16 will be captured, and such deviations, individually and / or together, are indications of the orientation deviation of the external rearview component 1 relative to the reference body 20.

[0130] Alternatively or additionally, a projected view of a larger area 17 of the reference body 20 having a lower image brightness value B1 will be captured by the image sensor of the image capture device 2 as such. Figure 3b The larger low-brightness first image region 18, schematically shown, is captured in the second image data 15. Therefore, the deviation of the projected low-brightness first image region 18 and / or the projected high-brightness second image region 19 and / or the image brightness threshold line 16 of the image brightness threshold BT will be captured, and such deviation may be, individually and / or together, an additional or alternative indication of the deviation of the orientation of the external rear-view component 1 relative to the reference body 20.

[0131] As mentioned above, Figure 4a It is shown that, such as in Figure 3a and Figure 3b A schematic view of the sharp edge intensity distribution 28 at the distance D in image data 15 at the sharp edges of the objects / contours 12, 13 shown. Figure 4b It is shown that, such as in Figure 3a and Figure 3b A schematic diagram of the intensity distribution I of the blurred edge 29 at distance D in image data 15 at the blurred edges of objects / contours 11 and 14.

[0132] The sharpness of the edges of objects / contours 11, 12, 13, 14 in image data 15, and / or whether the image capturing device 2 has been focused on such objects / contours 11, 12, 13, 14, is defined by and / or can be detected from the following image blur and / or image sharpness parameters: intensity rise distance D es D eb And / or the gradient G of intensity I increasing with distance D, wherein the intensity increases with distance D es D eb It is typically defined as the distance D at the edges of objects / outlines 11, 12, 13, and 14 where the intensity I increases from 10% to 90%.

[0133] When the aforementioned technical image parameters and / or characteristics D of image data 15 es D eb When the values ​​of 11, 28, and 29 exceed or fall below the corresponding thresholds DT and GT of at least one technical image parameter, the image capture device 2 is no longer able to focus on the objects / contours 11, 12, 13, and 14. Specifically, when, for example, the rising distance D... es D eb When the intensity I exceeds the threshold DT and / or when the gradient G of the rising intensity I over distance D falls below the threshold GT, the technical image parameters and / or characteristics D of image data 15 are... es D eb If G, 28, 29 exceed or fall below the threshold of at least one technical image parameter, the image capture device 2 is no longer able to focus on the object / contour 11, 12, 13, 14, and / or the edge detection algorithm as described above is no longer able to find the edge in the image data 15.

[0134] Depending on the orientation of the image capturing device 2 and the minimum focusing distance 6 of the image capturing device 2, there may be one or more image regions 18, 19 defining one or more threshold lines 16 of the image data 15, in which the technical image parameters and / or characteristics D of the image data 15 are defined. es D eb G, 28, 29 exceed or fall below the threshold of at least one technical image parameter, such as Figure 3a and Figure 3b As shown. The one or more threshold lines 16 separate the unfocused / blurred image regions 18 of one or more projections from the focused / sharp image regions 19 of one or more projections in the captured image 15.

[0135] Based on the foregoing description of the principles and possible embodiments of the present invention, it is clear that the present invention does not involve or rely on the image content of the image data 15 captured by the image sensor 3. This means that, on the one hand, complex image recognition technologies can be avoided, and on the other hand, additional position sensors for camera systems can be avoided.

[0136] Figure 5 An apparatus for determining the orientation of an external rearview assembly 1 relative to a reference body 20 (particularly a vehicle body) according to an embodiment of the invention is schematically illustrated. The apparatus includes an image capture device 2 comprising an image sensor (not shown) and mounted to the external rearview assembly 1. The external rearview assembly 1 particularly forms a digital rearview mirror system, particularly a camera monitoring system (CMS) mounted to the vehicle body, which serves as the reference body 20 in the sense of the invention disclosed herein. The external rearview assembly 1 is connected to the reference body 20, i.e., connected to the vehicle body, by means of an external rearview assembly orientation unit 24, which may include a motor and / or one or more hinge axes.

[0137] The image capture device 2, particularly its image sensor, has a data connection to a data processing unit 21, which in turn has a data connection to a memory unit 22. The data processing unit 21 also has data connections to at least one data source 23, 25, 26 and / or to at least one sensor 27 for providing time and / or position and / or acceleration and / or orientation and / or environmental data regarding the reference body 20.

[0138] Data processing unit 21 is configured to process data from the image sensor of the image capture device (such as according to...) Figure 1 The image sensor 3 shown reads image data 15 and / or technical image data D. es D eb G, B1, B2, 28, 29, FD, NFD, are used to analyze the technical image data D of the image data 15. es D eb G, B1, B2, 28, 29, FD, NFD, and used for technical image data D es D eb G, B1, B2, 28, 29, FD, NFD derive orientation data indicating the orientation of the external rearview assembly 1 relative to the reference body 20 (i.e., relative to the vehicle body), and / or are used to derive orientation data from technical image data D. es D eb The deviation data derived from the deviations of G, B1, B2, 28, 29, FD, and NFD indicate the deviation of the orientation of the external rear-view component 1 relative to the reference body 20, especially using data related to... Figures 1 to 4b, Figure 6 and Figure 7 The data, methods, and data processing procedures described are used to export the product.

[0139] Specifically, the data processing unit 21 is configured to process technical image data D es D eb G, B1, B2, 28, 29, FD, NFD and / or from technical image data D es D eb The deviations of G, B1, B2, 28, 29, FD, and NFD are used to derive folding orientation data indicating the folding of the external rearview assembly 1 toward the reference body 20 (i.e. toward the vehicle body).

[0140] according to Figure 5 In one embodiment, at least one data source 23, 25, 26 includes a communication unit 23 having a data connection to a data processing unit 21 and a data connection to a wireless receiver unit 25 configured for wireless data exchange and / or to an interface unit 26 configured for wired data exchange. The data source 23, 25, 26 can deliver to the data processing unit 21 data related to the location of the reference body 20, data related to the time (time of day, day of year) at the location of the reference body 20, data related to the brightness at the location of the reference body 20, and / or data related to the weather conditions at the location of the reference body 20, as well as any other useful environmental data about the reference body 20.

[0141] Additionally, at least one sensor 27 has a data connection to the data processing unit 21. Such a sensor 27 may be an optical sensor such as a brightness detection sensor or a camera sensor, a temperature sensor, a rain sensor, a position sensor (such as a GPS sensor), and any other useful environmental sensor mounted on the reference body 20. The optical sensor may be, for example, an optical sensor of a front-facing camera, a rear-facing camera, a parking system camera, a safety vision system camera, or a surround-view system (SVS) camera.

[0142] Data processing unit 21 can use the aforementioned data from data sources 23, 25, 26 and / or from at least one sensor 27 to perform technical image data D. es D eb G, B1, B2, 28, 29, FD, NFD and / or related technical image data D es D ebCheck the reasonableness of the deviations of G, B1, B2, 28, 29, FD, NFD and / or the derived indication data regarding the orientation of the external rearview assembly 1 relative to the reference body 20 and / or the derived deviation data regarding the deviations of the external rearview assembly 1 relative to the reference body 20.

[0143] This plausibility check can be performed to verify whether the finding that the orientation of the external rearview assembly 1 relative to the reference body 20 has changed (i.e., a deviation in the orientation of the external rearview assembly 1 relative to the reference body 20 has been detected) is correct. As mentioned above, a deviation in the orientation of the external rearview assembly 1 relative to the reference body 20 does not necessarily have to have occurred; in particular, the external rearview assembly 1 may not necessarily be folded towards the reference body 20. The environment within the reference body 20 may be dark, or the lens of the image capture device 2 may be dirty, or the lens may be covered by rain, mud, ice, or snow, or the image capture device 2 may have another defect. To avoid making incorrect decisions, this plausibility check can be performed by the data processing unit 21.

[0144] When the rationality check shows a high degree of rationality (the deviation in orientation of the external rearview component 1 relative to the reference body 20 has been detected, especially when the external rearview component 1 is folded toward the reference body 20), the rationality check result data and / or rationality check result message and / or corresponding confirmation result message can be generated by the data processing unit 21 and can be displayed to the user by means of the user interface unit 30 and / or stored in the memory unit 22.

[0145] refer to Figure 6 A schematic flowchart illustrating the sequential steps of a method for determining the orientation of an external rearview assembly according to an embodiment of the present invention is shown, the method being implemented by means of a data processing program product. Specifically, Figure 6 A schematic flowchart of a first embodiment of a data processing program product is shown. This data processing program product is used to determine the orientation of an external rearview assembly 1 relative to a reference body 20 (particularly the vehicle body). The data processing program product includes instructions that, when executed by the aforementioned data processing unit 21, cause the data processing unit 21 to perform the following program steps (such as...). Figure 6 (Illustrated in the middle)

[0146] The first program step 101 reads first image data 15 from the image sensor 3 installed on the external rearview assembly 1, or reads first image data 15 from the image sensor 3 installed on the reference body 2;

[0147] Intermediate procedure step 102, which involves technical image data (D) es D ebThe first image data 15 is analyzed in terms of (G, B1, B2, 28, 29, FD, NFD), and this technical image data includes technical image parameter data (D). es D eb (G, B1, B2, 28, 29) and / or focused data FD and / or unfocused data NFD; and

[0148] Final procedure step 105, which involves using technical image data (D) es D eb (G, B1, B2, 28, 29, FD, NFD) and / or from technical image data (D es D eb The deviations of the external rearview assembly 1 (G, B1, B2, 28, 29, FD, NFD) are used to derive orientation data and / or deviation data, the orientation data indicating the orientation of the external rearview assembly 1 relative to the reference body 20, and the deviation data indicating the deviation of the orientation of the external rearview assembly 1 relative to the reference body 20.

[0149] This data processing product can be further modified by including further steps or features in the further embodiments described in this document, and / or this data processing product can be used in any apparatus described in this document.

[0150] refer to Figure 7 A schematic flowchart illustrating the sequential steps of a method for determining the orientation of an external rearview assembly according to a further embodiment of the present invention is shown, the method being implemented by means of a data processing program product. Specifically, Figure 7 A schematic flowchart of a second embodiment of a data processing program product is shown. This data processing program product is used to determine the orientation of the external rearview component 1 relative to a reference body 20 (particularly the vehicle body). The data processing program product includes instructions that, when executed by the data processing unit 21, cause the data processing unit 21 to perform the following program steps:

[0151] The first program step 201 reads first image data 15 from the image sensor 3 installed on the external rearview assembly 1, or reads first image data 15 from the image sensor 3 installed on the reference body 20;

[0152] The second procedure step 202, which involves the first technical image data (D) es D eb The first image data 15 is analyzed in terms of (G, B1, B2, 28, 29, FD, NFD);

[0153] The third program step 203 reads the stored second image data 15 and / or second technical image data (D) from the memory unit 22. es Deb (G, B1, B2, 28, 29, FD, NFD) and / or the stored technical image data (D es D eb Threshold data (BT, DT, GT) for (G, B1, B2, 28, 29, FD, NFD);

[0154] Fourth procedure step 204, which involves technical image data (D es D eb The first image data 15 is compared with the stored second image data 15 in terms of (G, B1, B2, 28, 29, FD, NFD), and / or the first technical image data (D) is compared with the stored second image data 15 in terms of (G, B1, B2, 28, 29, FD, NFD). es D eb (G, B1, B2, 28, 29, FD, NFD) and the stored second technical image data (D) es D eb Compare (G, B1, B2, 28, 29, FD, NFD), and / or compare the first technology image data (D es D eb (G, B1, B2, 28, 29, FD, NFD) and technical image data (D es D eb The stored thresholds (BT, DT, GT) of (G, B1, B2, 28, 29, FD, NFD) are compared; and...

[0155] The fifth procedure step 205 derives orientation data and / or deviation data from the comparison, the orientation data indicating the orientation of the external rearview assembly 1 relative to the reference body 20, and the deviation data indicating the deviation of the orientation of the external rearview assembly 1 relative to the reference body 20.

[0156] Similarly, this second data processing product can be further modified by including further steps or features of the embodiments described in this document, and / or any means of use described in this document.

[0157] In the two accompanying figures mentioned above (i.e. in Figure 6 Neutralization Figure 7 (The image shows an additional procedure step, illustrated in the middle), which involves a reasonableness check performed by means of such a data processing program product; this procedure step includes instructions that, when the program is executed by the data processing unit 21, cause the data processing unit 21 to perform the following additional procedure steps:

[0158] The first additional procedure steps 106, 206 analyze data from at least one data source (23, 25, 26) and / or from at least one sensor 27, particularly time data and / or position data and / or acceleration data and / or orientation data and / or environmental data relating to the reference body.

[0159] The second additional procedure steps 107 and 207, based on the analysis mentioned above, concern the technical image data (D). es D eb In terms of G, B1, B2, 28, 29, FD, NFD and / or in terms of technical image data (D es D eb The reasonableness check is performed based on deviations from (G, B1, B2, 28, 29, FD, NFD); and

[0160] The third additional program steps 108 and 208, based on the results of the aforementioned rationality check, output the result message to the user and / or store the result data in the memory unit 22.

[0161] Furthermore, such a rationality check can be further refined by combining the corresponding procedural steps with additional steps or features that use such a rationality check, as well as additional embodiments as described in this document and / or with any apparatus described in this document.

[0162] Although specific embodiments of the invention have been illustrated and described herein, those skilled in the art will understand that various alternative and / or equivalent implementations exist. It should be understood that one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration in any way. Rather, the foregoing “Summary” and “Detailed Description” sections provide those skilled in the art with a convenient roadmap for implementing at least one exemplary embodiment, and it should be understood that various modifications can be made to the function and arrangement of the elements described in the exemplary embodiments without departing from the scope set forth in the appended claims and their legal equivalents. Generally, this application is intended to cover any modifications or variations of the particular embodiments discussed herein.

[0163] It should also be understood that, in this document, the terms “comprising,” “including,” “containing,” “having,” “owning,” and any variations thereof are intended to be understood in an inclusive (i.e., non-exclusive) sense, such that the process, method, apparatus, device, or system described herein is not limited to those features, parts, elements, or steps described herein, but may include other elements, features, parts, or steps not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, unless otherwise expressly stated, the terms “a” and “an” as used herein are intended to be understood as meaning one or more. Additionally, the terms “first,” “second,” “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their objects or to establish a particular ranking of their object importance.

[0164] List of reference numerals

[0165] 1 External rearview assembly

[0166] 2 Image Capture Device

[0167] 3 Image Sensors

[0168] 4 lenses

[0169] 5 focal length

[0170] 6 Minimum Focusing Distance

[0171] 7 fields of view

[0172] 8. Non-focused / blurred areas

[0173] 9 Focus Area / Sharp Area

[0174] 10 Minimum Focusing Distance Plane

[0175] 11 First Object / First Outline

[0176] 12 Second Object / Second Outline

[0177] 13 Third Object / Third Outline

[0178] 14 Fourth Object / Fourth Outline

[0179] 15 Image Data

[0180] 16 threshold lines

[0181] 17 range

[0182] 18 First Image Region

[0183] 19 Second Image Region

[0184] 20Reference ontology

[0185] 21 Data Processing Unit

[0186] 22 memory units

[0187] 23 Communication Units

[0188] 24 External Rearview Component Orientation Unit

[0189] 25 wireless receiver units

[0190] 26 interface units

[0191] 27 sensors

[0192] 28 Sharp Edge Intensity Distribution

[0193] 29. Fuzzy Edge Intensity Distribution

[0194] 30 User Interface Units

[0195] 101 First Procedure Steps

[0196] 102 Intermediate Program Steps

[0197] 103 First Intermediate Procedure Steps

[0198] 104 Second Intermediate Procedure Steps

[0199] 105 Final Procedure Steps

[0200] 106 First, another procedural step

[0201] 107 Second, additional procedural steps

[0202] 108. The third additional procedural step

[0203] 201 First Procedure Steps

[0204] 202 Second Procedure Steps

[0205] 203 Third Procedure Steps

[0206] 204 Fourth Procedure Step

[0207] 205 Fifth Procedure Steps

[0208] 206 First additional procedural steps

[0209] 207 Second additional procedural steps

[0210] 208 Third additional procedural steps

[0211] B1 First Image Brightness

[0212] B2 Second Image Brightness

[0213] gradient G

[0214] I Intensity

[0215] D distance

[0216] D es Sharp edge intensity increase distance

[0217] D eb Blur edge intensity rise distance

[0218] BT image brightness threshold

[0219] DT intensity rise distance threshold

[0220] GT gradient threshold.

Claims

1. A method for determining the orientation of an external rearview assembly (1) relative to a reference body (20), the reference body (20) being, in particular, a vehicle body, wherein: Regarding technical image data (D es D eb The technical image data (15) of the image sensor (3) mounted on the external rearview assembly (1) or the reference body (20) is analyzed in terms of (G, B1, B2, 28, 29, FD, NFD), the technical image data including technical image parameter data (D). es D eb (G, B1, B2, 28, 29) and / or focused data (FD) and / or unfocused data (NFD); and From technical image data (D es D eb (G, B1, B2, 28, 29, FD, NFD) and / or from technical image data (D es D eb The deviations of (G, B1, B2, 28, 29, FD, NFD) derive an indication of the orientation of the external rearview assembly (1) relative to the reference body (20) and / or an indication of the deviation of the orientation of the external rearview assembly (1) relative to the reference body (20).

2. The method according to claim 1, wherein An edge detection algorithm is performed on the image data (15); Focused data (FD) and / or unfocused data (NFD) are derived from the edge detection algorithm, and in particular, the focused data (FD) and / or unfocused data (NFD) are associated with data from at least one image region (18, 19) of the image data (15); and From the focus data (FD) and / or nonfocus data (NFD) specifically associated with the data of the at least one image region (18, 19), an indication of the orientation of the external rearview assembly (1) relative to the reference body (20) and / or an indication of the deviation of the orientation of the external rearview assembly (1) relative to the reference body (20) is derived.

3. The method according to claim 1 or 2, wherein The technical image parameter data (D) es D eb (G, B1, B2, 28, 29) includes image blur parameter data (D) eb (G, 29), and / or image sharpness parameter data (D es Image brightness parameter data (B1, B2), image contrast parameter data, and / or image saturation parameter data.

4. The method according to any one of the preceding claims, wherein Technical image data (D) associated with data of an image region (18) es D eb (G, B1, B2, 28, 29, FD, NFD), derive the indication that the external rearview assembly (1) folds toward the reference body (20), particularly derive the indication that the external rearview assembly (1) folds toward the vehicle body, wherein, The technical image data (D) of the image region (18) es D eb The characteristics (G, B1, B2, 28, 29, FD, NFD) indicate the non-focusing (NFD) and / or image blurring (D) of the image data (15). eb (G, 29), and / or low image brightness (B1).

5. A method for determining the orientation of an external rearview assembly (1) relative to a reference body (20), particularly a method for determining the orientation of an external rearview assembly (1) relative to a reference body (20) according to any one of the preceding claims, the reference body (20) being particularly a vehicle body, the method comprising the steps of: First image data (15) is read from the image sensor (3) which is mounted to the external rearview assembly (1) or to the reference body (20); Regarding the first technology image data (D es D eb The first image data (15) is analyzed in terms of (G, B1, B2, 28, 29, FD, NFD); Regarding technical image data (D es D eb The first image data (15) is compared with the stored second image data (15) in terms of (G, B1, B2, 28, 29, FD, NFD), and / or the first technical image data (D) is compared with the stored second image data (15). es D eb (G, B1, B2, 28, 29, FD, NFD) and the stored second technical image data (D) es D eb Compare (G, B1, B2, 28, 29, FD, NFD), and / or compare the first technical image data (D es D eb (G, B1, B2, 28, 29, FD, NFD) and technical image data (D es D eb The stored thresholds (BT, DT, GT) of (G, B1, B2, 28, 29, FD, NFD) are compared. as well as The orientation of the external rearview assembly (1) relative to the reference body (20) and / or the deviation of the orientation of the external rearview assembly relative to the reference body (20) are derived from the comparison.

6. The method according to any one of the preceding claims, further comprising: The image regions (18, 19) are analyzed, and at least one technical image data (D) is found within the image regions (18, 19). es D eb (G, B1, B2, 28, 29, FD, NFD) exceeds or falls below at least one of the technical image data (D) es D eb Thresholds (BT, DT, GT) for (G, B1, B2, 28, 29, FD, NFD); and An indication of the orientation of the external rearview assembly (1) is derived from the image regions (18, 19) and / or from the deviations of the image regions (18, 19) and / or an indication of the deviations of the orientation of the external rearview assembly (1), wherein at least one technical image data (D) is present in the image regions (18, 19). es D eb The values ​​of (G, B1, B2, 28, 29, FD, NFD) exceed or fall below the threshold (BT, DT, GT).

7. The method according to any one of the preceding claims further comprises: Data from at least one data source (23, 25, 26) and / or from at least one sensor (27) are analyzed, particularly time data, and / or position data, and / or acceleration data, and / or orientation data, and / or environmental data relating to the reference body (20); Based on the foregoing analysis, regarding the aforementioned technical image data (D) es D eb In terms of (G, B1, B2, 28, 29, FD, NFD) and / or in relation to the technical image data (D) es D eb A reasonableness check is performed on the deviation of the external rearview assembly (1) from the reference body (20) in terms of deviation, and / or on the indication of the orientation of the external rearview assembly (1) relative to the reference body (20), and / or on the indication of the deviation of the orientation of the external rearview assembly (1) from the reference body (20).

8. An apparatus for determining the orientation of an external rearview assembly (1) relative to a reference body (20), the reference body (20) being, in particular, a vehicle body; the apparatus comprising: Image sensor (3), which is mounted to the external rearview assembly (1) or to the reference body (20); Data processing unit (21), the data processing unit (21) being configured to: Image data (15) and / or technical image data (D) are read from the image sensor (3). es D eb ,G,B1,B2,28,29,FD,NFD); Technical image data (D) of the image data (15) es D eb The following (G, B1, B2, 28, 29, FD, NFD) were analyzed; From the image data of the technology (D) es D eb (G, B1, B2, 28, 29, FD, NFD) derive directional data and / or from the technical image data (D es D eb The deviation data is derived from the deviations of the external rearview assembly (1) (G, B1, B2, 28, 29, FD, NFD), and the orientation data indicates the orientation of the external rearview assembly (1) relative to the reference body (20). The deviation data indicates the deviation of the orientation of the external rearview assembly (1) relative to the reference body (20).

9. The means for determining the orientation of the external rearview assembly (1) according to claim 8, wherein, The data processing unit (21) is configured to: An edge detection algorithm is performed on the image data (15); Focused data (FD) and / or unfocused data (NFD) are derived from the edge detection algorithm, and in particular, the focused data (FD) and / or unfocused data (NFD) are associated with data from at least one image region (18, 19) of the image data (15); and The orientation indication of the external rearview assembly (1) relative to the reference body (20) is derived from the focus data (FD) and / or nonfocus data (NFD) specifically associated with the data of the at least one image region (18, 19); and / or The deviation of the orientation of the external rearview assembly (1) relative to the reference body (20) is derived from the focus data (FD) and / or nonfocus data (NFD) specifically associated with the data of the at least one image region (18, 19).

10. The means for determining the orientation of the external rearview assembly (1) according to claim 8 or 9, wherein The technical image parameter data (D) es D eb (G, B1, B2, 28, 29) includes image blur parameter data (D) eb (G, 29), and / or image sharpness parameter data (D eb Image brightness parameter data (B1, B2), image contrast parameter data, and / or image saturation parameter data.

11. The apparatus according to any one of claims 8 to 10, wherein, The data processing unit (21) is configured to: Technical image data (D) associated with data of an image region (18) es D eb The technical image data (D) of the image region (18) is derived from the following: G, B1, B2, 28, 29, FD, NFD. This indicates that the external rearview assembly (1) folds toward the reference body (20), particularly the external rearview assembly (1) folds toward the vehicle body. es D eb The characteristics (G, B1, B2, 28, 29, FD, NFD) indicate the non-focusing (NFD) and / or image blurring (D) of the image data (15). eb (G, 29), and / or low image brightness (B1).

12. An apparatus for determining the orientation of an external rearview assembly (1) relative to a reference body (20), particularly an apparatus for determining the orientation of an external rearview assembly (1) relative to a reference body (20) according to any one of claims 8 to 11, the reference body (20) being particularly a vehicle body, the apparatus comprising: Memory unit (22), the memory unit (22) being configured to store image data and / or technical image data (D). es D eb (G, B1, B2, 28, 29, FD, NFD); and Data processing unit (21), the data processing unit (21) being configured to: Image data (15) and / or technical image data (D) are read from the image sensor (3) and the memory unit (22). es D eb (G, B1, B2, 28, 29, FD, NFD) and / or technical image data (D es D eb Threshold data (BT, DT, GT) for (G, B1, B2, 28, 29, FD, NFD); For technical image data (D es D eb (G, B1, B2, 28, 29, FD, NFD) and / or technical image data (D es D eb The threshold data (BT, DT, GT) of (G, B1, B2, 28, 29, FD, NFD) are analyzed and compared. Based on the comparison, orientation data and / or deviation data are derived, wherein the orientation data indicates the orientation of the external rearview assembly (1) relative to the reference body (20), and the deviation data indicates the deviation of the orientation of the external rearview assembly (1) relative to the reference body (20).

13. The means for determining the orientation of the external rearview assembly (1) according to any one of claims 8 to 12, wherein, The data processing unit (21) is configured to: The image regions (18, 19) are analyzed, and at least one technical image data (D) is found within the image regions (18, 19). es D eb (G, B1, B2, 28, 29, FD, NFD) exceeds or falls below at least one of the technical image data (D) es D eb Thresholds (BT, DT, GT) for (B1, B2, B2, 28, 29, FD, NFD); and An indication of the orientation of the external rearview assembly (1) is derived from the image regions (18, 19) and / or from the deviations of the image regions (18, 19), wherein at least one technical image data (D) is present in the image regions (18, 19). es D eb The values ​​of (G, B1, B2, 28, 29, FD, NFD) exceed or fall below the threshold (BT, DT, GT).

14. The means for determining the orientation of the external rearview assembly (1) according to any one of claims 8 to 13, wherein The data processing unit (21) is connected to at least one data source (23, 25, 26) and / or at least one sensor (27), the at least one data source (23, 25, 26) and / or the at least one sensor (27) being used to provide time data, and / or position data, and / or acceleration data, and / or orientation data, and / or environmental data about the reference body (20); and The data processing unit (21) is configured to: The time data, and / or position data, and / or acceleration data, and / or orientation data, and / or environmental data of the reference body (20) are analyzed; and Based on the foregoing analysis, regarding the aforementioned technical image data (D) es D eb In terms of (G, B1, B2, 28, 29, FD, NFD) and / or in relation to the technical image data (D) es D eb A reasonableness check is performed on the deviation of the external rearview assembly (1) from the reference body (20) in terms of deviation, and / or on the indication of the orientation of the external rearview assembly (1) relative to the reference body (20), and / or on the indication of the deviation of the orientation of the external rearview assembly (1) from the reference body (20).

15. A data processing product for determining the orientation of an external rearview assembly (1) relative to a reference body (20), particularly for determining the orientation of the external rearview assembly (1) relative to a reference body (20) according to any one of claims 1 to 7, the reference body (20) being, in particular, a vehicle body; the data processing product comprising instructions that, when the program is executed by a data processing unit (21), cause the data processing unit (21) to perform the following program steps: First program step (101), the first program step (101) reads first image data (15) from the image sensor (3) installed on the external rearview assembly (1) or installed on the reference body (20); Intermediate procedure step (102), said intermediate procedure step (102) regarding technical image data (D es D eb The first image data (15) is analyzed in terms of (G, B1, B2, 28, 29, FD, NFD), and the technical image data includes technical image parameter data (D). es D eb (G, B1, B2, 28, 29) and / or focused data (FD) and / or unfocused data (NFD); and Final procedure step (105), said final procedure step (105) from the technical image data (D es D eb (G, B1, B2, 28, 29, FD, NFD) and / or from the technical image data (D es D eb The deviation data (G, B1, B2, 28, 29, FD, NFD) are used to derive orientation data and / or deviation data, the orientation data indicating the orientation of the external rearview assembly (1) relative to the reference body (20), and the deviation data indicating the deviation of the orientation of the external rearview assembly (1) relative to the reference body (20).

16. The data processing program product according to claim 15, wherein... The intermediate procedure step (102) includes: First intermediate procedure step (103): The first intermediate procedure step (103) performs an edge detection algorithm on the image data (15); The second intermediate procedure step (104) derives focused data (FD) and / or unfocused data (NFD) from the edge detection algorithm. In particular, the focused data (FD) and / or unfocused data (NFD) are associated with data of at least one image region (18, 19) of the image data (15). And among them The final procedure step (105) includes deriving orientation data and / or deviation data from focus data (FD) and / or non-focus data (NFD), the orientation data indicating the orientation of the external rearview component (1) relative to the reference body (20), and the deviation data indicating the deviation of the orientation of the external rearview component (1) relative to the reference body (20). In particular, the focus data (FD) and / or non-focus data (NFD) are associated with data of the at least one image region (18, 19).

17. The data processing program product according to claim 15 or 16, wherein The technical image parameter data (D) es D eb (G, B1, B2, 28, 29) includes image blur parameter data (D) eb (G, 29), and / or image sharpness parameter data (D es Image brightness parameter data (B1, B2), and / or image contrast parameter data, and / or image saturation parameter data; and / or in, The final procedure step (105) includes extracting technical image data (D... es D eb The technical image data (D, G, B1, B2, 28, 29, FD, NFD) derives folding indication data, which instructs the external rearview assembly (1) to fold toward the reference body (20). The technical image data is associated with data of an image region (18), wherein the technical image data (D) of the image region (18) is... es D eb The characteristics (G, B1, B2, 28, 29, FD, NFD) indicate the non-focusing (NFD) and / or image blurring (D) of the image data (15). eb (G, 29), and / or low image brightness (B1).

18. A data processing product for determining the orientation of an external rearview assembly (1) relative to a reference body (20), particularly for determining the orientation of an external rearview assembly (1) relative to a reference body (20) according to any one of claims 1 to 7 and / or according to any one of claims 15 to 17, the reference body (20) being, in particular, a vehicle body; the data processing product comprising instructions that, when the program is executed by a data processing unit (21), cause the data processing unit (21) to perform the following program steps: First program step (201), the first program step (201) reads first image data (15) from the image sensor (3) installed on the external rearview assembly (1) or installed on the reference body (20); The second procedure step (202) involves processing the first technical image data (D... es D eb The first image data (15) is analyzed in terms of (G, B1, B2, 28, 29, FD, NFD). The third program step (203) reads the stored second image data (15) and / or the stored second technical image data (D) from the memory unit (22). es D eb (G, B1, B2, 28, 29, FD, NFD), and / or technical image data (D es D eb The stored threshold data (BT, DT, GT) of (G, B1, B2, 28, 29, FD, NFD); Fourth procedure step (204), the fourth procedure step (204) regarding technical image data (D es D eb The first image data (15) is compared with the stored second image data (15) in terms of (G, B1, B2, 28, 29, FD, NFD), and / or the first technical image data (D) is compared with the stored second image data (15). es D eb (G, B1, B2, 28, 29, FD, NFD) and the stored second technical image data (D) es D eb Compare (G, B1, B2, 28, 29, FD, NFD), and / or compare the first technical image data (D es D eb (G, B1, B2, 28, 29, FD, NFD) and technical image data (D es D eb The stored thresholds (BT, DT, GT) of (G, B1, B2, 28, 29, FD, NFD) are compared. and Fifth procedure step (205), wherein the fifth procedure step (205) derives orientation data and / or deviation data based on the comparison, wherein the orientation data indicates the orientation of the external rearview component (1) relative to the reference body (20), and the deviation data indicates the deviation of the orientation of the external rearview component (1) relative to the reference body (20).

19. The data processing program product according to any one of claims 15 to 18, the data processing program product comprising instructions that, when the program is executed by the data processing unit (21), cause the data processing unit (21) to perform the following additional program steps: The first additional procedure step (106, 206) analyzes data from at least one data source (23, 25, 26) and / or from at least one sensor (27), the data being in particular time data, and / or position data, and / or acceleration data, and / or orientation data, and / or environmental data relating to the reference body (20); The second additional procedure step (107, 207), based on the aforementioned analysis, concerns the technical image data (D). es D eb In terms of (G, B1, B2, 28, 29, FD, NFD) and / or in relation to the technical image data (D) es D eb Perform a reasonableness check on the deviations of (G, B1, B2, 28, 29, FD, NFD) and / or on the directional data and / or on the deviation data; and The third additional procedure step (108, 208) outputs a result message to the user and / or stores the result data in the memory unit (22) based on the result of the aforementioned rationality check.

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