Method and system for checking the position of a camera installed in a vehicle, computer program product and vehicle

Abstract

The invention relates to a method for checking the position of a camera (14) installed in a vehicle, comprising the following steps: a. capturing at least one image and / or video using the camera (14) and converting the image and / or video into image data; b. comparing the image data with reference image data, which includes a reference image and / or a reference video from a camera (14) installed in a vehicle in a reference position, using a data processing device (16); and c. outputting a signal using the data processing device (16) if the image data and the reference image data differ from each other. The invention further relates to a system (12) for checking the position of a camera (14) installed in a vehicle, a computer program product, and a vehicle with such a system (12).

Description

[0001] The present invention relates to a method for checking the position of a camera installed in a vehicle. The invention further relates to a system for checking the position of a camera installed in a vehicle, a computer program, and a vehicle with such a system.

[0002] Modern vehicles have at least one camera that can capture the vehicle's surroundings. For example, DE 10 2011 081 364 A1 discloses a method for evaluating a camera image, in which contrast values ​​and intensity levels of pixels in an area of ​​the image are first determined, where the contrast values ​​define a contrast between the respective pixel and at least one other pixel adjacent to the respective pixel, and then the contrast value distribution assigned to the intensity levels of the pixels is supplemented by the contrast values.

[0003] Currently, such a camera is mounted in a vehicle using a bracket, either by clipping or screwing it into place. During installation, problems can arise where the component is not clipped in at all or is only partially clipped in. Currently, installation is checked using a four-eyes principle. The camera can only detect angular deviations. Therefore, additional manual effort is currently required to ensure correct camera installation. In customer operation, the camera may be pushed out of its intended position in the bracket due to improper handling. This can lead to a reduction in functionality that the system itself does not detect unless it results in an angular deviation.

[0004] The present invention is based on the objective of creating a method, a system, a computer program product and a vehicle that enable process-reliable installation protection of a camera in a vehicle and detect a positional shift of a camera installed in a vehicle.

[0005] To solve the problem, a method with the features of claim 1, a system with the features of claim 7, a computer program product with the features of claim 9 and a vehicle with the features of claim 10 are proposed.

[0006] Advantageous embodiments of the process and the system are the subject of the respective dependent claims.

[0007] According to a first aspect of the invention, a method for checking the position of a camera installed in a vehicle is proposed. In the method, in a first step, at least one image and / or video is recorded by the camera, and the image and / or video is converted into image data. In a second step, the image data is compared with reference image data, which comprises a reference image and / or a reference video from a camera installed in a vehicle in a reference position, using a data processing device. In a third step, a signal is output by the data processing device if the image data and the reference image data differ from each other.

[0008] In this process, the camera installed in the vehicle records an image and / or video, which is then compared to a reference image and / or video. If there is a discrepancy between the images and / or videos, a signal is output. This allows for reliable detection of whether the camera is fully or incompletely connected to its mounting bracket. The process thus enables reliable installation of the camera and the detection of any positional shifts within the installed camera.

[0009] In an advantageous embodiment, the camera is attached to a bracket of the vehicle, for example by clipping and / or screwing it in place.

[0010] In an advantageous embodiment, the camera converts the captured image and / or video into image data and transmits this data to the data processing device. This can be done, for example, wirelessly, such as via Wi-Fi, or via a data line, such as a data cable.

[0011] The data processing unit may include a storage device for storing image data, reference image data, and an image comparison algorithm; a processing unit, such as a CPU, into which the image comparison algorithm, the image data, and the reference image data are loaded for the second step; and an interface for connecting the data processing unit to the camera. The data processing unit may also be a control unit of the vehicle.

[0012] The reference image and / or reference video is taken by a camera that is correctly installed in the vehicle, i.e., that is correctly connected to the vehicle's mounting bracket, for example by clipping or screwing it in place.

[0013] In an advantageous embodiment, an image of at least one section of the vehicle is captured, and the position of the section in the image data is compared with a target position of the section in the reference image data. This allows a comparison to be made as to whether a stationary section of the vehicle in the captured image is at the expected position, i.e., the target position in the reference image. If the position of the camera relative to the vehicle changes, for example, due to incorrect installation or an accident, the position of the vehicle section changes relative to its target position.

[0014] Advantageously, this section features a fixed vehicle geometry. Accordingly, the method is based on the understanding that a predefined contour or a fixed static geometry around the vehicle is used to determine the camera's position. When the relative position of the camera changes, the fixed static geometry, which is captured by taking at least one image, also changes, as the camera perspective and / or angle alters.

[0015] In an advantageous embodiment, the video image data and the reference image data of the reference video contain moving and / or stationary pixels, wherein the moving and / or stationary pixels of the image data are compared with the moving and / or stationary pixels of the reference image data. In this embodiment, the method is based on the understanding that a certain number of stationary pixels are always present in a video recorded by a camera mounted in the vehicle. If the position of the camera relative to the vehicle changes, for example, due to incorrect mounting or an accident, the number of stationary and / or moving pixels changes because the camera perspective and / or camera angle changes.

[0016] In an advantageous embodiment, the image data and the reference image data are compared using an image comparison algorithm stored in the data processing unit. This enables automatic and digital evaluation of the image data.

[0017] In an advantageous embodiment, the output signal indicates an error in the camera's assembly process. This results in a production error being reported.

[0018] In an advantageous embodiment, the signal output by the data processing unit is transmitted to a mounting system for the camera or to a control unit of the vehicle. Advantageously, the mounting system detects an error in the assembly process based on the signal. Furthermore, advantageously, the control unit of the vehicle detects a positional shift of the camera based on the signal.

[0019] According to a further aspect of the invention, a system for checking the position of a camera installed in a vehicle is proposed. The system comprises at least one camera configured to be installed in a vehicle and, in the installed state, to record at least one image and / or video and to convert the recorded image and / or video into image data, and a data processing device configured to compare the image data with reference image data, which includes a reference image and / or a reference video from a camera installed in a vehicle in a reference position.

[0020] The data processing unit may include a storage device for storing image data, reference image data, and an image comparison algorithm; a processing unit, such as a CPU, into which the image comparison algorithm, the image data, and the reference image data are loaded for the second step; and an interface for connecting the data processing unit to the camera. The data processing unit may also be a control unit of the vehicle.

[0021] In an advantageous embodiment, the camera is designed as a surround-view camera.

[0022] According to another aspect of the invention, a computer program product is proposed which includes commands that cause the system according to the invention to execute the method according to the invention.

[0023] According to another aspect of the invention, a vehicle with a system according to the invention is proposed.

[0024] The following section describes a vehicle, a system, and a method for checking the position of a camera installed in the vehicle, as well as further features and advantages, using exemplary embodiments that are schematically illustrated in the figures. These figures show: Fig. 1 a vehicle; Fig. 2 a system for checking the position of a camera installed in the vehicle; Fig. 3 A schematic representation of the sequence of a procedure for checking the position of the camera installed in the vehicle using the system of Fig. 2; Fig. 4. A comparison of image data from an image taken by a correctly mounted camera with reference image data; Fig. 5 a comparison of image data from an image taken by an incorrectly mounted camera with reference image data; Fig. 6. A comparison of image data from a video recorded by a correctly mounted camera with reference image data; and Fig. 7. A comparison of image data from a video recorded by an incorrectly mounted camera with reference image data.

[0025] In Fig. Figure 1 shows a vehicle 10 which has a drive unit (not shown) designed as an internal combustion engine and / or an electric motor and a camera 14 for capturing an environment.

[0026] The camera 14 is attached to the vehicle by means of a holder (not shown), by clipping and / or screwing the camera 14 to the holder.

[0027] To determine whether camera 14 is correctly connected to the holder, the following is done: Fig. System 12 is used, as shown schematically in two examples.

[0028] The system 12 comprises the camera 14 for recording at least one image and / or video, a data processing device 16 and a connection 18 that connects the camera 14 to the data processing device 16.

[0029] Camera 14 is set up to take a picture and / or a video from one of the Fig. The camera 14 is designed to record the environment 22 of the vehicle 10 as depicted in sections 4 to 7, to convert the image and / or video into image data, and to transmit it to the data processing unit 16 via the connection 18. The camera 14 is configured as a surround-view video camera 24.

[0030] Connection 18 is, in this case, a data cable 26 that connects the camera 14 to the data processing unit 16. Alternatively, connection 18 is a wireless connection, such as WLAN.

[0031] The data processing device 16 comprises a computing unit 28, for example a CPU, a storage unit 30 for storing the image data transmitted by the camera 14 as well as reference image data, which includes a reference image and / or a reference video from a camera installed in a vehicle in a reference position or target position, a computer program product for comparing the image data with the reference image data and an image comparison algorithm, and an interface 32 for connecting the data cable 26 to the data processing device 16.

[0032] The computer program product stored in memory unit 30 is loaded into processing unit 28 to perform the function described below and in Fig. 3 schematically illustrated procedures for checking the position of the camera 14 installed in the vehicle 10 to be carried out.

[0033] In the process, in a first step S1 an image is taken using the camera 14, and the image is converted into image data using the camera 14 and transmitted to the data processing unit 16 via the data cable 26.

[0034] In a second step S2, the image data are compared with reference image data stored in the storage unit 30, which has a reference image from a camera installed in a vehicle 10 in a reference position or target position, by means of the image comparison algorithm stored in the storage unit 30, by the computer program product loading the image comparison algorithm into the computing unit 28.

[0035] In a third step, S3, the data processing unit 16 outputs a signal to an assembly system that is not displayed if the image data and the reference image data differ. This signal indicates a production error.

[0036] The Fig. 4 and Fig. Figure 5 shows the comparison of an image taken by camera 14 with a reference image, where in Fig. Figure 4 shows the case where camera 14 is correctly mounted, and in Fig. Figure 5 shows the case where the camera is not mounted correctly.

[0037] As in Fig. As can be seen in Figure 4, to compare the image data with the reference image data, the position of at least one section 20 of the vehicle 10 is compared with the target position of section 20 in the reference image data using the image comparison algorithm. Section 20 of the vehicle 10 is, in this case, a fixed vehicle geometry 34. Thus, the image comparison algorithm compares whether the fixed vehicle geometry 34 in the captured image is at the expected position, i.e., the target position P. soll , in the reference image.

[0038] When the camera 14 is correctly mounted with the holder, the position P of the fixed vehicle geometry 34 recorded in the first step S1, which in this case forms a projection 36, corresponds to the target position P soll the fixed vehicle geometry 34 of the reference image data matches, as shown by the thick line in Fig. 4 can be seen.

[0039] If the camera 14 is not mounted correctly with the holder, the position of the camera 14 relative to the vehicle 10 changes, which changes the size of the object 38 in the environment 22 captured in the image, namely, in this case, reduces it, as shown in Fig. 5 can be seen. This changes the position P of the fixed vehicle geometry 34 (corresponding to line S1), in this case the projection 36, to the target position P. soll or the reference position of the fixed vehicle geometry 34, in this case the projection 36, as shown by the two thick lines in Fig. 5 is evident.

[0040] The Fig. 6 and Fig. Figure 7 shows a comparison of a video recorded by camera 14 with a reference video, where in Fig. Figure 6 shows the case where camera 14 is correctly mounted, and in Fig. Figure 7 shows the case where the camera is not mounted correctly.

[0041] If the comparison of the image data with the reference image data is based on a recorded video and a reference video, then the number of moving pixels and / or stationary pixels in the image data is compared with the number of moving and / or stationary pixels in the reference image data using the image comparison algorithm.

[0042] When camera 14 is correctly mounted with the holder, the number of stationary pixels and moving pixels in the recorded video or image data matches the number of moving pixels and stationary pixels in the reference video or reference image data, as indicated by the thick circle in Fig. 6 is evident.

[0043] If the camera 14 is not mounted correctly with the holder, the position of the camera 14 relative to the vehicle 10 changes, which changes the size of the object 38 in the surroundings 22 recorded in the video, namely, in this case, reduces it, as shown in Fig. 7 can be seen. This changes the number of moving and stationary pixels in the recorded video or image data compared to the number of moving and stationary pixels in the reference video or reference image data, as shown by the thick circle in Fig. 7 is evident.

[0044] System 12 and the procedure are characterized by the fact that camera 14 records an image and / or a video and compares it with a reference image and / or a reference video. If there is a deviation between the images and / or videos, a signal is output. This allows for reliable process detection of whether camera 14 is correctly connected to a bracket provided for mounting camera 14. Reference symbol list 10 vehicles 12 System 14 Camera 16 Data processing equipment 18 connection Section 20 22 surroundings 24 Surround Video Camera 26 data cables 28 computing units 30 storage units 32 interface 34 fixed vehicle geometry 36 lead 38 recorded item S1 first step S2 second step S3 third step P Position of the stationary vehicle geometry in the recorded image P Soll Target position of the fixed vehicle geometry in the reference image QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2011 081 364 A1

[0002]

Claims

[1] Method for checking the position of a camera (14) installed in a vehicle (10) comprising the following steps: a. Recording at least one image and / or video using the camera (14) and converting the image and / or video into image data; b. Comparing the image data with reference image data, which includes a reference image and / or a reference video from a camera (14) installed in a vehicle (10) in a reference position, using a data processing device (16); and c. Output of a signal by means of the data processing device (16) when the image data and the reference image data differ from each other. [2] Method according to claim 1, characterized by , that an image is taken of at least one section (20) of the vehicle (10), wherein a position (P) of the section (20) in the image data is linked to a target position (P soll) of section (20) is compared in the reference image data. [3] Method according to claim 2, characterized by , that section (20) has a fixed vehicle geometry (34). [4] Method according to claim 1, characterized by , that the image data of the video and the reference image data of the reference video contain moving and / or stationary pixels, wherein the moving and / or stationary pixels of the image data are compared with the moving and / or stationary pixels of the reference image data. [5] Method according to any one of the preceding claims, characterized by , that the image data and the reference image data are compared using an image comparison algorithm stored in the data processing unit (16). [6] Method according to any one of the preceding claims, characterized by, that the signal output by the data processing unit (16) is transmitted to a mounting system for the camera (14) or a control unit of the vehicle (10). [7] System (12) for checking the position of a camera (14) installed in a vehicle (10) comprising at least one camera (14) which is configured to be installed in a vehicle (10) and, when installed, to record at least one image and / or video and to convert the recorded image and / or video into image data, and a data processing device (16) which is configured to compare the image data with reference image data comprising a reference image and / or a reference video from a camera (14) installed in a vehicle (10) in a reference position. [8] System (12) according to claim 7, characterized by , that the camera (14) is designed as a surround-view camera (14). [9] Computer program product comprising instructions that cause the system (12) according to claim 7 or 8 to execute the method according to any one of claims 1 to 6. [10] Vehicle (10) with a system (12) according to one of claims 7 or 8.

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