Arrangement with a motor vehicle and a camera system

Abstract

Arrangement (1) comprising a motor vehicle (2) with a control unit (3) and a motor vehicle communication means (4) and comprising at least one camera system (6) - a holding agent (7) and - at least one camera (8) with a camera-side communication device (9), wherein the communication means (4, 9) are provided for establishing a wireless communication connection (10) for transmitting image data from the camera (8) to the control unit (3), wherein the camera (8) can be reversibly attached by means of the holding means (7) at at least one position on an outside of the motor vehicle (2) and / or a trailer (5) attached to the motor vehicle (2), wherein the holding means (7) is rigidly coupled to the camera (8), and wherein, in the event of a repositioning of the camera system (6), the camera (8) together with the holding means (7) can be removed.

Description

[0001] The invention comprises an arrangement comprising a motor vehicle with a control unit and a motor vehicle-side communication means and at least one camera system which has a holding means and at least one camera with a camera-side communication means, wherein the communication means are configured to establish a wireless communication connection for transmitting image data from the camera to the control unit, wherein the camera can be reversibly attached by means of the holding means at at least one position on an outside of the motor vehicle and / or a trailer attached to the motor vehicle.

[0002] Currently, many vehicles are equipped with multiple external cameras that can assist the driver, for example, during parking maneuvers. These cameras are permanently installed and therefore cover a fixed and unchangeable field of view. Consequently, some areas, such as directly in front of or underneath the vehicle, are not visible. In specific driving situations, such as off-road driving, the journey must be interrupted by certain obstacles, and the driver or passenger must exit the vehicle to check from the outside whether, for example, gravel has accumulated between the underbody and the ground, which can make driving difficult. If a trailer is attached to a vehicle, the view to the rear is blocked or at least obstructed. In such cases, neither a rearview mirror nor a reversing camera is helpful in improving the view to the rear.On the motorway, for example, it is difficult to see traffic behind you when overtaking. Furthermore, when reversing, especially with a long trailer, it is difficult to get close to obstacles.

[0003] US 2019 / 0299862 A1 describes a vehicle camera docking station mounted on a vehicle, a trailer camera docking station mounted on the rear of a trailer, and a camera used to capture image data and transmit captured image data to a data receiver on the vehicle. When the trailer is not attached to the vehicle, the camera is located in the vehicle camera docking station; when the trailer is attached to the vehicle, the camera is removed from the trailer camera docking station and placed in the trailer camera docking station.

[0004] DE 10 2018 218 735 A1 describes a camera system for a vehicle comprising a mounting device that can be attached to the vehicle and has a first communication interface, and a camera that has a second communication interface. The camera is detachably attached to the mounting device. The camera and the mounting device are designed to exchange both information and power wirelessly.

[0005] JP 2023 140 351 A describes a clip for attaching an in-vehicle product, such as a reversing camera, inside a motor vehicle. The clip comprises an installation part for holding the in-vehicle product and a mounting part for attaching the clip to the vehicle.

[0006] The invention is based on the objective of providing an improved arrangement with a more flexibly usable camera system.

[0007] To solve this problem, in an arrangement of the type mentioned at the outset, it is provided according to the invention that the holding means is firmly coupled to the camera, wherein, in the event of a repositioning of the camera system, the camera together with the holding means can be removed.

[0008] The camera can therefore be connected to the mounting device in such a way that it cannot be detached from the camera without damage. Accordingly, the camera system is designed as a single unit. If the driver moves the camera system from a first position, for example at the rear of the vehicle, to a second position, for example on the underbody of the vehicle, then, unlike in the prior art, not only is the camera itself removed from one holder and inserted into another holder on the vehicle, but the entire camera system, i.e., the camera and the mounting device connected to it, is moved.

[0009] This offers the advantage that the driver does not need to attach multiple mounting devices to the vehicle or trailer to, for example, position the camera in different locations. If the driver only has one mounting device, the arrangement according to the invention offers the advantage that the driver does not need to remove the corresponding mounting device to reposition the camera on the vehicle or trailer. Accordingly, the camera system can be flexibly and easily positioned in various locations on the vehicle and / or trailer. Furthermore, the use of the camera system enhances at least one driver assistance system for specific driving situations, thus ensuring, for example, improved visibility when towing a trailer and in off-road situations.Removing the camera system leaves no mounting hardware on the vehicle that could negatively affect its appearance. The camera system is easy to handle and can be conveniently stored as a whole when not in use, for example, when neither off-road driving nor trailer towing is planned.

[0010] In a further development of the invention, the holding means can comprise a magnet and / or a hook and loop fastener, in particular a hook and loop fastener loop.

[0011] The magnet can be located externally on the camera, for example on the bottom, or inside a housing surrounding the camera. Using the magnet, the camera can be attached to a vehicle roof or underbody. Of course, other positions on the vehicle or trailer using the magnet are also possible, as long as a magnetic interaction can be established.

[0012] The hook-and-loop fastener is preferably attached to the outside of the camera, for example, to an outer wall of the camera or an outer wall of the housing surrounding the camera. Ideally, the hook-and-loop fastener is long enough to form a sufficiently large loop for attaching the camera.

[0013] This design offers the advantage of highly flexible camera positioning. In particular, when the camera is equipped with both a magnet and Velcro as a mounting device, it can be positioned in any desired position on the vehicle and / or trailer.

[0014] Preferably, a detection device arranged in the motor vehicle can be configured to read out an information carrier arranged on at least one camera system, wherein the information carrier comprises communication information relating to the establishment of the communication connection, and wherein the control device is configured to establish the communication connection between the communication means depending on the detected communication information.

[0015] Reading the information carrier serves, in particular, to establish a connection between the camera of the camera system and the vehicle's control unit. The communication information can expediently include pairing information, whereby the control unit can be configured to establish a persistent pairing based on this information, enabling automatic restoration of the communication connection even after it is lost. For example, the communication connection can be established according to the Bluetooth standard based on a corresponding, generally known pairing protocol. Other communication standards and / or proprietary protocols can, of course, also be used, such as WLAN.

[0016] Advantageously, the information carrier can be an optical information carrier, in particular a QR code, and the detection device can be an interior camera installed in the vehicle. For example, the interior camera can be an observation camera already directed at a driver or driver's seat.

[0017] The driver can then hold the QR code, which is located, for example, on the camera system's camera, housing, or mounting bracket, in front of the interior camera, allowing the QR code to be recognized. The communication information encoded by the QR code can then be decoded by the control unit, and in particular, a connection can be established between the camera system's camera and the vehicle's control unit. This allows for a simple communication link.

[0018] Alternatively or additionally, the information carrier can be an electronic information carrier, in particular a passive radio module, for example an RFID chip, wherein the detection device for reading RFID chips is designed, in particular in a specified reading area of ​​the interior of the motor vehicle.

[0019] In this configuration, the detection device can be a corresponding reading device, such as an RFID scanner. The RFID chip can be located on the camera of the camera system, the housing, or the mounting bracket. For example, a reading device already present in the vehicle, such as an NFC device, can be used. Whether combining the interior camera with the optical information carrier or combining an existing reading device with an electronic information carrier, the vehicle's existing infrastructure can be put to additional use, particularly for the simple and convenient establishment of the communication connection, especially the pairing, so that the camera is, in effect, "registered" with the vehicle.

[0020] According to a further development of the invention, the control device for determining position information indicating the position and orientation of the camera can be designed from communication data of the camera and / or by means of a positioning system of the arrangement.

[0021] The position information refers to a vehicle coordinate system, in particular one in which sensor data from at least one sensor installed in the vehicle are processed. Accordingly, the control unit can be configured to determine, using the sensor data in conjunction with image data from the camera, a positioning system, and / or camera system-related means, how the camera of the camera system is positioned relative to one or more cameras or sensors permanently installed on the vehicle. Subsequently, the control unit can convert image data from the camera of the camera system and / or other communication data from the camera of the vehicle with spatial reference into the vehicle coordinate system.Based on this position information, the control unit can, generally speaking, use the camera of the camera system like a sensor permanently installed in the vehicle and integrate it accordingly into the vehicle's sensor system for capturing image data or, more generally, the surrounding environment. The camera's position can be determined continuously, for example, throughout the entire operation of the camera system, i.e., from the establishment of the communication connection until its termination. Preferably, the camera's position can be determined at least with each repositioning, or possibly once each time the communication connection is established, i.e., when the camera system is activated. Additionally or alternatively, as described, regular re-registration with the vehicle's coordinate system is conceivable.

[0022] The position, which is specified via the position information, can refer in particular to where the camera is mounted on the vehicle, for example, at the rear or on the underbody, especially in coordinates of the vehicle coordinate system. The orientation, which is also specified via the position information, can refer in particular to the direction in which the camera of the camera system is pointed, for example, in the direction of travel or against the direction of travel.

[0023] Alternatively or in addition to determining the position information from communication data, it can also be determined using the tracking system, which will be discussed in more detail in the following section.

[0024] Preferably, the tracking system can be an ultra-wideband tracking device and / or a Bluetooth tracking device.

[0025] Accordingly, the camera of the camera system can be located using an ultra-wideband (UWB) tracking device. For this purpose, an ultra-wideband tracking system can be used, in which several permanently installed "anchors" are positioned in the vehicle. These "anchors" are equipped with fixed coordinates and serve as reference points for position calculation. The camera of the camera system, or even the mounting device, can carry at least one ultra-wideband tag that emits ultra-wideband pulses, enabling real-time localization. Using ultra-wideband technology to locate the camera system offers the advantage of precise positioning with low latency.

[0026] Alternatively, the tracking system can be a Bluetooth tracking device, preferably using Bluetooth versions of the 5th or 6th generation.

[0027] Using Bluetooth to locate the camera of a camera system offers the advantage that a large number of devices are Bluetooth-enabled, meaning that, for example, a mobile device can also be used for camera location, particularly as an additional method. The potentially greater inaccuracy of location tracking via Bluetooth compared to, for example, location tracking using an ultra-wideband tracking device, can be improved by additionally using the inertial sensors or image registration described below.

[0028] Preferably, the camera can have inertial sensors for determining communication data describing its orientation.

[0029] Using the communication data acquired with inertial sensors, the control unit can determine position information, at least with regard to orientation, as described previously. Such inertial sensors are generally known, even in extremely small form factors, from other mobile devices and can, for example, include accelerometers that measure their orientation relative to gravity.

[0030] In a preferred embodiment, the position information can be determined at least partially by comparing environmental data captured by the camera system with environmental data determined by sensors on the vehicle.

[0031] The environmental data captured by the camera system can be compared with the environmental data determined by the vehicle's sensors during image registration or, more generally, content registration. The environmental data transmitted as communication data includes, in particular, image data from the camera of the camera system.

[0032] For example, if the camera of the camera system sends image data to the control unit showing a scene at the rear of the vehicle, this image data can be compared with environmental data, in particular with other image data acquired by the vehicle's sensors. Other environmental data, such as objects detected (and possibly classified) by radar sensors that are also visible in the camera system's image data, can also be used. If there is a match between the camera system's image data and the image data from the vehicle's sensors, the control unit can determine the camera system's position and orientation on the vehicle.

[0033] Advantageously, the at least one camera system can comprise at least one sensor device, in particular a radar sensor and / or a lidar sensor and / or an ultrasonic sensor, wherein a control unit of the at least one camera system is provided for transmitting sensor data generated by means of the at least one sensor device to the control unit of the motor vehicle via the wireless communication link.

[0034] As with the previously mentioned communication data, which in particular includes image data from the camera of the camera system, the sensor data can also be transmitted to the control unit of the motor vehicle, so that the sensor device of the camera system can also be used for the direct and integrative extension of the sensor technology permanently installed in the motor vehicle.

[0035] This offers the advantage of additional sensors that can be used and integrated into the vehicle's existing sensor system, allowing for the collection of even more and more precise information. Naturally, their sensor data can also be used in the third option described above as environmental data for the camera system when determining position information and / or verifying its accuracy.

[0036] Preferably, the control unit of the motor vehicle can be configured to use the image data of the camera and / or the sensor data of the sensor device when operating at least one driver assistance system of the motor vehicle, in particular to check compliance with a condition for action and / or to execute a measure associated with a condition for action.

[0037] The image and / or sensor data from the camera system can thus be used by the control unit to trigger a specific action. The processing by the control unit can also include preparatory evaluation, for example, for obstacle detection. When verifying compliance with the action condition, the image and / or sensor data can be used to check, for example, whether a certain distance to an obstacle has been breached. If this action condition (falling below a certain distance) is met, the corresponding action can be executed, such as the output of the image data, as explained in more detail later, or the issuance of a warning message.

[0038] In a second option, the image data from the camera and / or the sensor data from the sensor device can be included in sensor data fusion and / or information fusion, in particular to determine an environment model of the motor vehicle.

[0039] In addition to the vehicle's own image, sensor, and information data from its sensors, image and, if applicable, sensor data associated with the camera system can also be used to create an environmental model of the vehicle. The corresponding image and sensor data from the camera system, or the information it contains, can be fused with the image, sensor, and information data from the vehicle's sensors based on positional information. This increases the quality and accuracy of the environmental model, which can then be used by various vehicle systems, particularly driver assistance systems.

[0040] For example, a driver assistance system can also explicitly focus on protecting the vehicle's underbody and / or wheels, thus warning of obstacles during off-road driving or displaying related image data based on the camera system's data. Maneuvering assistance systems and general collision avoidance systems also benefit from the additional data provided by the camera system. Finally, the system can also improve the foundation for at least partially autonomous driving.

[0041] In a further development of the invention, the control device can be configured to use image data from the camera to determine output data for controlling an output device arranged in the motor vehicle and / or a mobile device for displaying the output data.

[0042] The image data acquired by the camera of the camera system can be processed by the control unit, which preferably includes an image processing unit, to generate output data. This output data can then be displayed on the vehicle's output device, such as an on-board computer display, and / or on a mobile device, such as a smartphone. Displaying the output data on the mobile device requires a connection between it and the vehicle's control unit, for example, via mobile network, particularly using a backend server, and / or via WLAN and / or Bluetooth. The output of the image data from the camera of the camera system can be triggered, as described, for example, by at least one driver assistance system.

[0043] Preferably, at least two camera systems and / or a camera permanently installed on the motor vehicle can be provided, wherein the control unit is configured to determine the output data at least partially by fusion and / or superimposition of image data from at least one first of the camera systems with that of at least one further of the camera systems and / or with image data from the camera permanently installed on the motor vehicle.

[0044] The at least two camera systems and / or the camera permanently installed on the vehicle are preferably aligned in a similar position or orientation so that image data of a similar area can be generated, or their detection ranges at least partially overlap. Accordingly, the image data from the first camera system can be used to fuse and / or overlay it with the image data from the second camera system and / or the image data from the camera permanently installed on the vehicle, so that they complement each other. To accomplish this, the control unit can, for example, use the previously determined position information to ascertain where the respective camera systems or the camera permanently installed on the vehicle are located, in order to then fuse the corresponding image data.Alternatively or additionally, image registration can also be used, in which the control unit utilizes the overlapping parts in the images to be registered that show the same object or scene, i.e., the same environment.

[0045] Alternatively or additionally, besides merging or overlaying image data, a joint display is also conceivable. Here, the output device can, for example, display two different images via a split screen. This is useful if the image data from at least two camera systems, or from the first camera system and the camera permanently installed on the vehicle, cannot be fused because, for example, they show two different scenes with different positions.

[0046] Advantageously, the control unit can be designed to evaluate image data from the camera of at least one camera system using at least one trained image analysis function and to determine the output data for displaying at least one analysis result of the image analysis function.

[0047] The trained image analysis function can be, in particular, an artificial intelligence model, allowing the image data to be enriched with results from this AI model to determine the output data. The image analysis function was trained using machine learning. It can, for example, comprise a neural network, especially a deep neural network, preferably a convolutional neural network (CNN), which are particularly well-suited for processing image data. For instance, the trained image analysis function can include a classifier that assigns an object class to objects.

[0048] This can be used, for example, to highlight people, other road users, obstacles, and / or traffic signs in the output data displayed by the display device. This offers the advantage that the driver receives the relevant information at a glance via a simple and intuitive presentation. Furthermore, the AI ​​models can also be used, for example, to predict the movement trajectories of other road users. This can be particularly useful during overtaking maneuvers. Results from the trained image analysis function can also be used for at least one driver assistance system.

[0049] In a further development of the invention, the control device for determining the output data by superimposing image data from the camera of at least one camera system with additional information available on the vehicle side can be configured.

[0050] This additional information can include, for example, the current speed of the vehicle or the distance to a preceding or following vehicle or an obstacle. This additional information can be determined primarily by the vehicle's sensors, but also by the camera system itself, for example, from its image data and, if applicable, sensor data.

[0051] If the camera system is used as a reversing camera, for example, the distance to a wall or other obstacle, determined by the vehicle's sensors, can be displayed on the output device. General status information can also be displayed, such as whether reverse gear is engaged.

[0052] As another example, if the camera system is mounted on the underbody, the distance between the underbody and the ground can be determined using the appropriate sensors. Alternatively or additionally, sensor data from the camera system's own sensor array can also be used as supplementary data.

[0053] Preferably, the control unit of the motor vehicle can be configured to generate and output control commands relating to the operation of the camera of the at least one camera system and / or the output of image data from the camera of the at least one camera system, depending on operating information from the motor vehicle which relates to a driver-specified operating setting and / or a driver's direction of view.

[0054] In this embodiment, the operating setting can, for example, involve manually selecting the camera of the camera system, particularly via the on-board computer and / or the mobile device, and / or engaging reverse gear and / or activating a trailer maneuvering function. It should be noted that this list of possible operating settings is not exhaustive.

[0055] Furthermore, the choice of operating setting is preferably dependent on the position and orientation of the camera in the camera system. For example, if the camera is located at the rear of the vehicle, it can be activated by engaging reverse gear. However, if the camera is attached to a side mirror, for example, engaging reverse gear preferably does not automatically activate the camera. Using this operating setting, the camera in the camera system can be activated both from a standby mode and, while already active, controlled to capture image data for output.

[0056] Alternatively or additionally, the camera of the at least one camera system can also be activated and / or controlled to output image data by means of the control unit by means of a glance by the driver, for example at the rearview mirror or the display of the output device, whereby the glance is detected by means of the interior camera, in particular a driver observation camera.

[0057] With this first option, the camera of the camera system may not be continuously active, but only activated by the driver's operating settings or the detected direction of the driver's gaze. This offers the advantage that the camera of the camera system is only active when needed, thus saving battery power.

[0058] In another option, the vehicle's control system can be configured to generate and issue control commands based on environmental information regarding the presence of an obstacle in the vehicle's vicinity. These commands are directed at outputting image data of the obstacle acquired by at least one camera system. This is particularly useful during off-road driving.

[0059] The environmental information, which may be contained in image and / or video data, can be determined by the camera of the camera system and transmitted to the control unit.

[0060] In this second option, the camera of the camera system is continuously active, as otherwise no environmental information can be determined by the camera of the camera system.

[0061] The camera system expediently includes at least one energy storage device, in particular a rechargeable battery, for operating the components of the camera system, especially the camera and the communication device. Due to the wireless connection and flexible arrangement, the camera system therefore has its own power supply.

[0062] Advantageously, the motor vehicle may have a storage device for stowing the at least one camera system when not in use, together with a charging device for an energy storage device of the at least one camera system.

[0063] The storage compartment can be, for example, a compartment in the center console, a glove box, or a dedicated compartment or bag for the camera system. Preferably, a charging device is provided within the storage compartment, which can be, for example, a USB plug or, more preferably, an inductive charging device, so that the driver can charge the camera either wirelessly or by connecting it to the USB plug when the camera system is stowed away. Thus, when the camera system is not in use, it can be conveniently stowed and, in particular, charged.

[0064] Further advantages and details of the present invention will become apparent from the exemplary embodiments described below and from the drawings. These show: Fig. 1 a schematic representation of an arrangement according to the invention comprising a motor vehicle and a camera system, wherein the camera system according to an exemplary embodiment is arranged in a first application situation on a trailer attached to the motor vehicle, and Fig. 2 a schematic representation of the arrangement according to Fig. 1, wherein the camera system is arranged on the motor vehicle in a second application situation according to the exemplary embodiment.

[0065] Fig. Figure 1 shows an arrangement according to the invention comprising a motor vehicle 2 with a control unit 3 and a vehicle-side communication means 4, as well as a trailer 5 attached to the motor vehicle, on which a holding means 7 and a camera 8 are arranged at the rear, the trailer 5 having a camera system 6. The camera 8 has a camera-side communication means 9, so that a wireless communication connection 10 (dashed line) can be established by means of the vehicle-side communication means 4 and the camera-side communication means 9.

[0066] In the present application scenario, a driver wants to attach the camera system 6 to the trailer 5 in order to use the camera 8 as a reversing camera. Accordingly, the camera 8 must first be paired with the control unit 3 of the vehicle 2. An optical information carrier 23 in the form of a QR code is attached to the housing of the camera 8. The driver holds this QR code against a detection device, for example, an interior camera 11 of the vehicle 2, so that the communication information encoded by the QR code is decoded by the control unit 3.The communication information includes in particular coupling information, so that after decoding the communication information the control unit 3 establishes the communication connection between the vehicle-side and the camera-side communication means 4, 9 whenever the camera 8 is within communication range and in operation, and thereby couples the camera 8 with the control unit 3 of the vehicle 2.

[0067] Alternatively, the information carrier 23 could also be, for example, an RFID chip whose communication information is read using an RFID scanner.

[0068] After successful coupling, the camera 8 is attached to the trailer 5. The camera 8 is firmly connected to its mounting device 7. In the present embodiment, the mounting device 7 comprises a magnet by means of which the camera system 6 is attached to a metallic part of the trailer 5, and a hook-and-loop fastener loop which is threaded through an eyelet of a cover of the trailer 5 in order to attach the camera 8 to the trailer 5.

[0069] To utilize the image data generated by camera 8, both the position of camera 8 on the vehicle 2 and its orientation must be known. For this purpose, the control unit 3 can generate position information from the communication data of camera 8, which refers to a vehicle coordinate system. In the present embodiment, the control unit 3 can use image data acquired by camera 8 to determine position information that describes the position (trailer) in coordinates of the vehicle coordinate system and the orientation (here, rearward) of camera 8. This can be achieved, for example, by registering other environmental data from the vehicle's sensors 20.

[0070] Alternatively or additionally, a tracking system 12, in particular an ultra-wideband tracking device, is used to determine at least the position in the position information.

[0071] Camera 8 also features inertial sensors, which are used to determine communication data describing its orientation.

[0072] The camera system 6 includes, in addition to the camera 8, a sensor device 13, which in the present embodiment comprises a radar sensor. If the radar sensor detects that the trailer 5, for example, is approaching a wall while parking, particularly when reversing the vehicle, this sensor data, in addition to the acquired image data, is wirelessly transmitted to the control unit 3 of the vehicle 2 via a control unit 22 on the camera system side. The evaluation of the sensor data from the radar sensor, which is continuously transmitted to the control unit 3, can also take place there.

[0073] In the present embodiment, the sensor data and image data are used by the control unit 3 during the operation of at least one driver assistance system 14 to evaluate a condition for action and / or to execute a measure associated with the condition for action, as well as for information fusion. The measure is, for example, the output of a distance display. The image data acquired by the camera 8 is fused with the information from the sensor data and then displayed as output data on an output device 15 of the vehicle 2. Alternatively, the output data can also be displayed on a mobile device of the driver, for example, a smartphone, which is connected to the control unit 3 of the vehicle 2.

[0074] Alternatively or additionally, the control unit 3 also uses the image and sensor data directly or indirectly to verify compliance with a trigger condition. This trigger condition might be, for example, falling below a predetermined distance to an obstacle, after which the corresponding image and sensor data are visualized at the output unit 15.

[0075] Furthermore, the sensor data acquired by the sensor device 13 and the vehicle-side sensors 20, and / or the image data from the camera 8, are used by the control unit 3 within the framework of sensor data fusion to determine an environment model, which can of course also be used by at least one driver assistance system 14. In other words, the camera 8 and its sensor device 13 are fully integrated into the operation of the vehicle.

[0076] Camera 8 does not necessarily have to be permanently active. If camera 8 is in a standby mode, for example because no image data has been required by camera 8 for an extended period, and the driver then engages reverse gear to park the vehicle 2 along with the trailer 5, the engagement of reverse gear is recognized as operating information by the control unit 3, whereupon camera 8 is activated based on control commands from the control unit 3 and image data is output.

[0077] Alternatively or additionally, if a sleep mode is provided, a driver monitoring camera can also detect the driver looking at a rearview mirror or at a display of the output device 15, whereupon the control unit 3 generates control commands both to activate the camera 8 and to output its image data.

[0078] In principle, when outputting image data from camera 8 or output data derived from it, an enrichment takes place with additional information available on the vehicle side and / or results of a trained image analysis function, for example to highlight relevant objects, and / or a joint, for example at least partially superimposed display with image data from a camera installed on the vehicle side, in order to provide the driver with the best possible information.

[0079] The vehicle 2 has a storage compartment 16 with a charging device 17. The storage compartment 16 is, for example, a glove compartment or a dedicated compartment, and the charging device 17 is an inductive charging station. When the camera system 6 is not in use, it can be placed in the storage compartment 16, whereby an energy storage device of the camera 8 is charged via the charging device 17, at least when the vehicle 2 is in operation.

[0080] Fig. Figure 2 shows the arrangement according to the invention. Fig. 1, where the camera system 6 is arranged at the rear 18 of the motor vehicle 2 itself. In addition, a camera 19 permanently installed on the motor vehicle 2 and the vehicle-side sensors 20 are arranged at the rear 18.

[0081] The for Fig. The explanations in section 1 apply analogously here. Only further characteristics or differences are presented here.

[0082] In the present application example, while the vehicle 2 is parking, camera 8 detects an obstacle, for example a person 21, as part of gathering environmental information. This obstacle is also detected by both the camera 19 permanently installed on the vehicle and the vehicle's sensors 20. Due to the obstacle, the control unit 3 generates control commands aimed at outputting the image data via the output unit 15.

[0083] In addition to outputting the image data from camera 8, this image data is evaluated by the control unit 3 using a trained image analysis function. This function is specifically a machine-learned artificial intelligence model used to enrich the image data and the information it contains. For example, person 21 can be highlighted in the output data using the trained image analysis function.

[0084] Furthermore, the image data from camera 8 and camera 19, which is permanently installed on the vehicle 2, are fused by means of the control unit 3, so that a superimposed image is displayed via the output unit 15.

[0085] In addition, supplementary information, determined via the vehicle's sensors 20, is displayed as a further overlay on the image via the output device 15. This supplementary information could, for example, be the distance between the vehicle 2 and the person 21 and / or the vehicle's speed.

[0086] In summary, in the present application case, the image data from camera 8, the fixed camera 19 and the sensor data from sensor 20 are fused by means of the control unit 3 and enriched by means of the trained image analysis function and additional information, so that a superimposed image is displayed to the driver as output data at the output unit 15.

[0087] It may also be provided that image data from two or more cameras 8 of two or more camera systems 6 are fused or superimposed and enriched using AI models and additional information.

[0088] The flexible positioning of the camera system 6 allows it to be mounted in a position directed below the vehicle 2 in an application case not illustrated here, which is particularly advantageous in off-road operation to detect obstacles below the vehicle 2. 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 2018 218 735 A1

[0004] JP 2023 140 351 A

[0005]

Claims

[1] Arrangement (1) comprising a motor vehicle (2) with a control unit (3) and a motor vehicle communication means (4) and comprising at least one camera system (6) - a holding agent (7) and - at least one camera (8) with a camera-side communication means (9), wherein the communication means (4, 9) are configured to establish a wireless communication connection (10) for transmitting image data from the camera (8) to the control unit (3), wherein the camera (8) can be reversibly attached by means of the holding means (7) at at least one position on an outside of the motor vehicle (2) and / or a trailer (5) attached to the motor vehicle (2), characterized by , that the holding means (7) is firmly coupled to the camera (8), wherein, in the event of a repositioning of the camera system (6), the camera (8) together with the holding means (7) is removable. [2] Arrangement (1) according to claim 1, characterized by, that the retaining means (7) comprises a magnet and / or a hook and loop fastener, in particular a hook and loop fastener loop. [3] Arrangement (1) according to claim 1 or 2, characterized by a detection device arranged in the motor vehicle (2) which is configured to read out an information carrier (23) arranged on at least one camera system (6), wherein the information carrier (23) comprises communication information relating to the establishment of the communication connection (10), wherein the control device (3) is configured to establish the communication connection (10) between the communication means (4, 9) depending on the detected communication information. [4] Arrangement (1) according to claim 3, characterized by that the information carrier (23) is an optical information carrier (23), in particular a QR code, wherein the detection device is an interior camera (11) arranged in the motor vehicle (2). [5] Arrangement (1) according to any of the preceding claims, characterized by , that the control device (3) is designed to determine position information indicating the position and orientation of the camera (8) from communication data of the camera (8) and / or by means of a positioning system (12) of the arrangement (1). [6] Arrangement (1) according to claim 5, characterized by , that the camera (8) has an inertial sensor for determining communication data describing its orientation and / or the positioning system is an ultra-wideband positioning device and / or a Bluetooth positioning device and / or the position information is determined at least partially by comparing environmental data acquired by the camera system (6) and environmental data acquired by a vehicle-side sensor system (22). [7] Arrangement (1) according to claim 5 or 6, characterized by, that the at least one camera system (6) comprises at least one sensor device (13), in particular a radar sensor and / or a lidar sensor and / or an ultrasonic sensor, wherein a control unit (22) of the at least one camera system (6) is configured to transmit sensor data generated by means of the at least one sensor device (3) via the wireless communication link (10) to the control unit (3) of the motor vehicle (2). [8] Arrangement (1) according to any one of claims 5 to 7, characterized by, that the control unit (3) of the motor vehicle (2) is configured to use the image data of the camera (8) and / or the sensor data of the sensor device (13) when operating at least one driver assistance system (14) of the motor vehicle (2), in particular to verify compliance with a condition for action and / or to execute a measure associated with a condition for action, and / or to include the image data of the camera (8) and / or the sensor data of the sensor device (13) in sensor data fusion and / or information fusion, in particular to determine an environment model of the motor vehicle (2). [9] Arrangement (1) according to any of the preceding claims, characterized by , that the control unit (3) is set up to use image data from the camera (8) to determine output data for controlling an output device (15) arranged in the motor vehicle (2) and / or a mobile terminal for displaying the output data. [10] Arrangement (1) according to claim 9, characterized by , that at least two camera systems (6) and / or a camera (19) permanently installed on the motor vehicle are provided, wherein the control device (3) is configured to determine the output data at least partially by fusion and / or superposition of image data from at least one first of the camera systems (6) with that of at least one further of the camera systems (6) and / or with image data from the camera (19) permanently installed on the motor vehicle. [11] Arrangement (1) according to claim 9 or 10, characterized by , that the control device (3) is designed to evaluate image data from the camera (8) of the at least one camera system (6) using at least one trained image analysis function and to determine the output data for displaying at least one analysis result of the image analysis function. [12] Arrangement (1) according to any one of claims 9 to 11, characterized by, that the control device (3) is equipped to determine the output data by superimposing image data from the camera (8) of the at least one camera system (6) with additional information available from the motor vehicle. [13] Arrangement (1) according to any of the preceding claims, characterized by, that the control unit (3) of the motor vehicle (2) is configured to generate and output control commands relating to the operation of the camera (8) of the at least one camera system (6) and / or the output of image data from the camera (8) of the at least one camera system (6), depending on operating information from the motor vehicle (2) relating to a driver-specified operating setting and / or a driver's viewing direction, and / or that the control unit (3) of the motor vehicle (2) is configured to generate and output control commands relating to the operation of the camera (8) of the at least one camera system (6) and / or the output of image data from the camera (8) of the at least one camera system (6), depending on environmental information relating to the presence of an obstacle in the environment of the motor vehicle (2). [14] Arrangement (1) according to any of the preceding claims, characterized by, that the motor vehicle (2) has a storage device (16) for storing the at least one camera system (6) when not in use, with a charging device (17) for an energy storage device of the at least one camera system (6).

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