Image capture device for a vehicle, method and device for operating an image capture device and vehicle

Abstract

The invention relates to an image capture device (102) comprising an optical unit (204) designed to direct light (206) onto a capture region (208), a sensor carrier (200) arranged at least partially in the capture region (208), an image sensor (202) for capturing an image using the light (206) directed onto the capture region (208), wherein the image sensor (202) is arranged on the sensor carrier (200) and in the capture region (208), and at least one detector unit (210) for detecting at least one property of the light (206) directed onto the capture region (208), wherein the at least one detector unit (210) is arranged adjacent to the image sensor (202) on the sensor carrier (200) and in the capture region (208).

Description

State of the art

[0001] The invention relates to an image capture device, in particular for a vehicle, a method and a device for operating an image capture device, and a vehicle according to the preamble of the independent claims. The present invention also relates to a computer program.

[0002] US 2008 / 0278580 A1 describes a surveillance camera system in which image recording is initiated by an external trigger. US 2016 / 0295195 A1 concerns a stereo camera system in which, by analyzing an image from the first camera, a decision is made as to whether the second camera should be activated to enable stereo reconstruction. DE 103 57 488 A1 describes a camera system with a zoom lens and a separate white balance sensor, which is controlled so that the image section of the white balance sensor is identical to that of the image sensor. Disclosure of the invention

[0003] Against this background, the approach presented here provides an improved image capture device, an improved method for operating an image capture device, an improved device using this method, and finally a corresponding computer program and an improved vehicle according to the main claims. The measures listed in the dependent claims enable advantageous refinements and improvements of the device specified in the independent claim.

[0004] Advantageously, the approach presented can create a possibility for implementing additional functions for an image capture device cost-effectively and easily. The approach described can advantageously be implemented, in particular, in conjunction with a return channel via an interface with which the image capture device is connected, for example, to a control unit. For example, a white balance or spectrum, brightness, focus or distance, and / or a reduction in energy consumption can be implemented as an additional function. Furthermore, existing components of the image capture device can be used for this purpose, and the energy required to operate the image capture device can be reduced.

[0005] An image capture device is presented that has an optical unit configured to direct light onto a capture region. Furthermore, the image capture device comprises a sensor carrier that is at least partially arranged in the capture region, an image sensor for capturing an image using the light directed onto the capture region, wherein the image sensor is arranged on the sensor carrier and in the capture region, and at least one detector unit for detecting at least one property of the light directed onto the capture region, wherein the at least one detector unit is arranged adjacent to the image sensor on the sensor carrier and in the capture region.

[0006] The image capture device can, for example, be implemented as a camera that can be used in a vehicle, such as a passenger car, a truck, or a commercial vehicle. Alternatively, however, the image capture device can also be used in other areas. The image capture device can, for example, be used for assistance systems that are safety-relevant and can additionally or alternatively improve user comfort. The optical unit can, for example, be a camera lens that can have a plurality of lenses that can direct incident light and / or, for example, focus it on a point. The sensor carrier can, for example, be formed as a circuit board that can be coupled to a control unit, for example, or formed as a control device. The image sensor can be arranged on the sensor carrier.Advantageously, the optical unit can be arranged above the image sensor, allowing the image sensor to be positioned within the detection zone, allowing the light guided through the optical unit to be directed onto the image sensor, and allowing the image sensor to capture the image. Advantageously, the detector unit can use the same components as the image sensor, allowing the image capture device to be operated in an energy-efficient manner. Furthermore, this advantageously allows for savings in manufacturing costs and the advantageous use of available installation space.

[0007] According to one embodiment, the image capture device can have at least one additional detector unit for detecting at least one property of the light directed onto the capture area. The at least one additional detector unit can be arranged adjacent to the image sensor on the sensor carrier and in the capture area. Advantageously, detection accuracy can be improved by using multiple detector units. For example, the image capture device can thus also fulfill a plurality of functions.

[0008] The detector unit and the at least one further detector unit can be arranged symmetrically to each other in the detection area. Symmetrically can advantageously mean that the detector units can be arranged on the sensor carrier at the same distance from the image sensor. For example, both detector units can have the same vertical position.

[0009] Furthermore, the optical unit can be designed to be rotationally symmetrical. The detection area can be realized as an image circle. Advantageously, the image sensor can be arranged within the image circle. More precisely, the image circle can advantageously be realized such that the image sensor is arranged entirely within the image circle.

[0010] According to one embodiment, the image sensor can be polygonal. Advantageously, the image sensor can be square or rectangular.

[0011] The image sensor can divide the detection area, here realized as an image circle, into four circular segments. The circular segments can be separated from each other, for example, with the smallest possible image circle. This means that the circular segments cannot overlap, as the edges and corners of the polygonal image sensor can limit the image circle.

[0012] Furthermore, the at least one detector unit can be arranged in one of the circular segments of the detection area. Advantageously, by arranging the at least one detector unit in one of the circular segments, areas of the image circle not used by the image sensor can be used for the at least one detector unit. This advantageously eliminates the need for additional optical units, thus saving costs. Furthermore, the existing surface area of ​​the sensor carrier and detection area can be further utilized.

[0013] According to one embodiment, the additional detector unit can be arranged in the same circular segment in which the detector unit is arranged. Additionally or alternatively, the at least one additional detector unit can be arranged in another of the circular segments. This can advantageously improve detection accuracy. Furthermore, for example, additional functions for the image capture device can be implemented. In this case, the surface area of ​​the sensor carrier and the detection area can also be further utilized.

[0014] The at least one detector unit can be configured as a point sensor or as a photodiode. Advantageously, the detector unit, as a photodiode, can determine a focus measure using a phase difference or a contrast.

[0015] According to one embodiment, the at least one detector unit can be configured to detect color information, brightness, and additionally or alternatively a focus as the property. Advantageously, the color information can be used for algorithmic determination of a white point. The brightness can advantageously be used to adjust a gain and additionally or alternatively an exposure time, so that, for example, averaging is not necessary. Furthermore, the detector unit can advantageously determine a measure of the focus using a phase difference or a contrast.

[0016] In addition, a method for operating an image capture device in a previously mentioned variant is presented, wherein the method comprises a step of receiving detector data from an interface to the at least one detector unit, wherein the detector data represents at least one property of the light directed onto the detection area, a step of comparing the detector data with reference data to obtain a comparison result, and a step of controlling the image sensor to set or leave the image sensor in an activated or deactivated state depending on the comparison result.

[0017] The method can advantageously be carried out in a vehicle. The reference data with which the detector data can be compared can advantageously be stored in an internal vehicle memory unit. The comparison result can advantageously indicate an exceedance or undershoot of a brightness value, a change in the spectral composition of ambient light, and additionally or alternatively a change in difference signals, for example due to a change in the environment of the image capture device caused by an object moving into or out of the field of view of the image capture device. This can advantageously be defined as an on or off condition for the image sensor. The image sensor can advantageously be placed into a sleep state or an active state depending on the comparison result.Additionally, depending on the calibration result, the image sensor can be left in its current operating state if no change was detected in the environment of the image capture device during the calibration step. This advantageously reduces the operating energy required by the image sensor, as it is not continuously recording.

[0018] This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

[0019] The approach presented here further provides a device designed to perform, control, or implement the steps of a variant of a method presented here in corresponding devices. This embodiment of the invention in the form of a device also allows the problem underlying the invention to be solved quickly and efficiently.

[0020] For this purpose, the device can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting data or control signals to the actuator, and / or at least one communication interface for reading or outputting data embedded in a communication protocol. The computing unit can be, for example, a signal processor, a microcontroller, or the like, wherein the memory unit can be a flash memory or a magnetic storage unit.The communication interface can be designed to read in or output data wirelessly and / or wired, wherein a communication interface that can read in or output wired data can read this data, for example, electrically or optically from a corresponding data transmission line or output it to a corresponding data transmission line.

[0021] In this case, a device can be understood as an electrical device that processes sensor signals and outputs control and / or data signals depending on them. The device can have an interface, which can be implemented in hardware and / or software. In a hardware implementation, the interfaces can, for example, be part of a so-called system ASIC, which contains various functions of the device. However, it is also possible for the interfaces to be separate integrated circuits or to consist at least partially of discrete components. In a software implementation, the interfaces can be software modules that are present, for example, on a microcontroller or an FPGA alongside other software modules.

[0022] Also advantageous is a computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out, implement and / or control the steps of the method according to one of the embodiments described above, in particular when the program product or program is executed on a computer or a device.

[0023] Furthermore, a vehicle with an image capture device in a variant mentioned herein and a device mentioned above which is coupled to the image capture device is presented.

[0024] The vehicle may advantageously be designed to transport persons and additionally or alternatively objects.

[0025] Examples of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows: Fig. 1 is a schematic representation of an embodiment of a vehicle with an image capture device; Fig. 2 is a schematic side view of an embodiment of an image capture device; Fig. 3 is a schematic representation of an embodiment of an image capture device; Fig. 4 is a flowchart of an embodiment of a method for operating an image capture device; and Fig. 5 a block diagram of a device according to an embodiment.

[0026] In the following description of advantageous embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and having a similar effect, whereby a repeated description of these elements is omitted.

[0027] Fig. 1 shows a schematic representation of an embodiment of a vehicle 100 with an image capture device 102 as shown in Fig. 2 and / or Fig. 3. The vehicle 100 also has a device 104 that is coupled to the image capture device 102 and is designed to operate the image capture device 102. A corresponding method for operating the image capture device 102 is described in Fig. 4. The device 104 is shown in Fig. 5 described in more detail.

[0028] For example, the vehicle is implemented as a passenger car or, alternatively, as a truck. The image capture device 102 is embodied, for example, as a camera, which, according to one embodiment, is used for assistance systems. Alternatively, the image capture device 102 can also be used for other devices or machines and is shown merely as an example in connection with a vehicle.

[0029] Fig. Figure 2 shows a schematic side view of an embodiment of an image capture device 102, as shown for example in Fig. 1. The image capture device 102 has a sensor carrier 200, which is designed, for example, as a circuit board. An image sensor 202 is arranged on the sensor carrier 200 and is designed to capture an image from an environment of the image capture device 102. For this purpose, the image capture device 102 has an optical unit 204 that is designed to direct light 206 onto a detection area 208. This means that the light 206 enters the optical unit 204 as incident light on a first side of the optical unit 204 and exits the optical unit 204 as exit light on a second side facing away from the first side and strikes the image sensor 202 in the detection area 208. The optical unit 204 has, for example, a plurality of lenses that are designed to guide the light through the optical unit 204. Since Fig. Since Figure 2 merely represents a schematic representation of the image capture device 102, the lenses according to this embodiment are not shown or described in detail. A specific path of the light 206 through the optical unit 204 is also not explained in detail and is merely sketched as an example according to this embodiment.

[0030] The sensor carrier 200 is arranged at least partially in the detection area 208. The image sensor 202 is designed to capture the image using the light 206 directed onto the detection area 208. Furthermore, the image capture device 102 has at least one detector unit 210 for detecting at least one property of the light 206 directed onto the detection area 208. The detector unit 210 is arranged adjacent to the image sensor 202 on the sensor carrier 200 and in the detection area 208. The detector unit 210 is designed, for example, as a point sensor or as a photodiode.

[0031] According to one embodiment, the image capture device has at least one further detector unit 212 for detecting at least one property of the light 206 directed onto the capture area 208, wherein the further detector unit 212 is arranged adjacent to the image sensor 202 on the sensor carrier 200 and in the capture area 208. The detector units 210, 212 are arranged, for example, symmetrically to one another in the capture area 208. This means that they are arranged, for example, at the same distance from the image sensor 202 on the sensor carrier 200 and / or, for example, have the same vertical position.The detector unit 210 and the further detector unit 212 are, for example, designed similarly and are configured, for example, to detect color information as the property for, for example, an algorithmic determination of the white point, a brightness for adjusting a gain and / or an exposure time, and / or a focus. For example, the detector units 210, 212 are configured to determine a measure of the focus via a phase difference or a contrast.

[0032] In other words, according to this exemplary embodiment, the image capture device 102 is described as a camera with at least one additional detector 210 and / or 212, which can be operated independently of the image sensor 202 installed in the image capture device 102 and thereby expands or improves the functionality of the image capture device 102. The additional detector 210 and / or 212 uses the same optical unit 204 as the image sensor 202 of the image capture device 102 and is mounted on the same circuit board, which is described here as the sensor carrier 200.

[0033] The described approach describes the detection of environmental conditions in addition to or as a replacement for what the image sensor 202 detects. This can be used to improve the function of the image sensor 202 or to deactivate the image sensor 202 and reactivate it only when certain events occur, thereby saving energy.

[0034] The at least one detector unit 210 and / or 212 for the additional function is located on the same sensor carrier 200 as the image sensor 202 and uses the same optical unit 204. This eliminates the need for corrections or adjustments for image angle, transmission, contamination, or the like. The additional components required are limited to the electronic components, enabling a very cost-effective implementation. Therefore, no further measures are required for mechanical attachment and shielding against environmental influences. The additional function enables, for example, white balance or spectrum, brightness, focus, or distance, and / or a reduction in energy consumption.

[0035] Fig. 3 shows a schematic representation of an embodiment of an image capture device 102, as used, for example, in at least one of the Fig. 1 to 2. In Fig. 3 shows the image capture device 102 from a top view. The optical unit 204 is rotationally symmetrical, so that the detection area 208 is realized as an image circle 300. The image circle 300 corresponds to the rotationally symmetrical shape of the optical unit 204, which is not shown in detail in this exemplary embodiment, since it would otherwise obscure the components of the image capture device 102 arranged in the detection area 208. For example, the image circle 300 of the optical unit 204 can be described by a smallest circle that covers the active part of the image sensor 202.

[0036] According to this exemplary embodiment, the image sensor 202 is polygonal and divides the detection area 208 into four circular segments 302, 304, 306, 308. The at least one detector unit 210 is arranged in one of the circular segments 302, 304, 306, 308 of the detection area 208. More precisely, the detector unit 210 is arranged in the circular segment 302. The further detector unit 212 can be arranged or is arranged in the same circular segment in which the detector unit 210 is arranged. Additionally or alternatively, the at least one further detector unit 212 is arranged in another of the circular segments 302, 304, 306, 308.

[0037] According to this exemplary embodiment, the detector unit 210 is arranged in the circular segment 302, and the further detector unit 212 is arranged opposite in the circular segment 306. Furthermore, the image capture device 102 has additional detector units 310, 312, 314, 316, so that the image capture device 102 has a total of, for example, six detector units 210, 212, 310, 312, 314, 316. According to this exemplary embodiment, three of the detector units 210, 212, 310, 312, 314, 316 are arranged in each of the circular segments 302, 304, 306, 308. More precisely, the detector units 210, 310, 312 are arranged opposite one another in the circle segment 302, and the detector units 212, 314, 316 are arranged opposite one another in the circle segment 306, merely by way of example.

[0038] In other words, the at least one detector unit 210 is arranged in the image circle 300 of the image capture device 102 next to and thus adjacent to the image sensor 202. According to this exemplary embodiment, the optical unit 204 is rotationally symmetrical, while the image sensor 202 is rectangular. As a result, the four circular segments 302, 304, 306, 308 remain free on the four sides of the image sensor 202 in the detection area 208.

[0039] Additional sensors, generally described here as detector units 210, 212, 310, 312, 314, 316, can be positioned in the four circular segments 302, 304, 306, 308, preferably symmetrically to one another. For example, detector units 210, 212, 310, 312, 314, 316 are arranged at the top and bottom of the illustration, at the same distance from image sensor 202 and at the same vertical position on sensor carrier 200. Depending on the circular segment 302, 304, 306, 308, multiple sensors are mounted. The position of the detector units 210, 212, 310, 312, 314, 316 perpendicular to a circuit board surface, and thus, for example, a height of the detector units 210, 212, 310, 312, 314, 316, preferably corresponds to that of the photosensitive area of ​​the image sensor 202 onto which the optical unit 204 focuses.However, positions above or below these can also be used if the detector units 210, 212, 310, 312, 314, 316 are designed as point sensors that do not require high spatial resolution. Separating them from the image sensor 202 allows independent operation of all functions, particularly with a higher temporal resolution.

[0040] To determine color information, several photodiodes, for example, which detect spectrally different ranges, are used as sensors or detector units 210, 212, 310, 312, 314, and / or 316. This eliminates the need for an algorithmic determination of the white point, for example, since a measured value is available. Furthermore, the brightness measured by the at least one additional sensor 210, 212, 310, 312, 314, and / or 316 is used to adjust the gain and / or exposure time, which would otherwise be done by averaging. Furthermore, a focusing unit can be controlled using appropriately designed photodiodes, which determine a measure of the focus based on phase difference or contrast.

[0041] Such an additional sensor 210 can also be used as a trigger. This makes it possible to switch off the image sensor 202 or put it into a sleep state. Only when a switch-on condition, which is determined using the additional sensor 210, occurs is the image sensor 202 reactivated and image acquisition started. Changes in individual signals or differences between signals, such as exceeding or falling below a (sum) brightness value, can be used as a switch-on condition, for example, which is preferably filtered to filter out slow changes, such as the progression of the sun or an increase or decrease in cloud cover. Furthermore, changes in a differential signal, for example from above and below, left and right, or diagonally across an optical axis, can be used as a switch-on condition, analogous to a quadrant photodiode (QPD).Further activation conditions include, for example, a change in a differential signal along an axis of the image sensor 202 to detect movements in this direction, and / or a change in the spectral composition of the detected ambient light. By arranging the at least one detector unit 210, 212, 310, 312, 314, and / or 316 around the image sensor 202, objects moving into or out of the field of view can be detected, enabling far more precise control than, for example, a light sensor that only detects ambient light.When using multiple detector units 210, 212, 310, 312, 314, and / or 316, such as in a surround-view system in a vehicle where fields of vision overlap, the detector units 210, 212, 310, 312, 314, and / or 316 can be used to supply the image capture device 102 located in the respective overlapping area with this information. Another application area to which this applies is, for example, so-called Automated Valet Parking (AVP). The transmission of information from the sensor 202 to the device takes place, for example, via existing interfaces. These include, for example, I2C or I3C channels. For example, a so-called Always-On Sentinel Conduit (AOSC) can be used.

[0042] The invention can be detected by additional sensors or detector units 210, 212, 310, 312, 314 and / or 316 on the sensor carrier 200 or the circuit board on which the image sensor 202 is mounted, within the image circle of the lens 204. For simplification, it can be assumed that the image circle of the lens 204 is described by the smallest circle that covers the active part of the image sensor 202.

[0043] The described approach can be implemented in particular in conjunction with a return channel via an interface with which the image capture device 102 is connected, for example, to a control unit or a device.

[0044] Fig. 4 shows a flowchart of an embodiment of a method 400 for operating an image capture device as described in at least one of the Fig. 1 to 3 or at least mentioned. For this purpose, the method 400 comprises a step 402 of receiving detector data from an interface to the at least one detector unit, wherein the detector data represents at least one property of the light directed onto the detection area. Furthermore, the method 400 comprises a step 404 of comparing the detector data with reference data in order to obtain a comparison result. The comparison result represents, for example, an exceedance or undershoot of a brightness value, a change in difference signals and / or a change in the spectral composition of the ambient light. In addition, the method 400 comprises a step 406 of controlling the image sensor in order to set the image sensor in an activated or deactivated state or to leave it in this state depending on the comparison result.This means that the image sensor is activated, for example, if the comparison result reveals at least one change in the environment, such as when an object moves into or out of the field of view. Alternatively, the image sensor is deactivated or put into a sleep state if the comparison result does not reveal any change in the environment.

[0045] According to one embodiment, in step 406 of the actuation, in addition to or alternatively to the image sensor, at least one functional unit arranged inside or outside the image capture device is actuated, which is, for example, an image sensor of another camera, a control unit, for example of a vehicle, which triggers further actions, for example in the vehicle, or the like.

[0046] Fig. 5 shows a block diagram of a device 104 according to an embodiment. The device 104 corresponds or is similar, for example, to the device shown in Fig. 1 and can therefore be used, for example, for a vehicle. The device 104 is designed to control and / or carry out a method for operating an image capture device, as described, for example, in Fig. 4. In other words, the device 104 is designed to comprise the image capture device of at least one of the Fig.1 to 3 or a similar image capture device or to control the operation thereof. For this purpose, the device 104 has, for example, a receiving unit 500, a calibration unit 502, and a control unit 504. The receiving unit 500 is designed to receive detector data 506 from an interface to the at least one detector unit 210, wherein the detector data 506 represents at least one property of the light directed onto the detection area. The calibration unit 502 is designed to compare the detector data 506 with reference data 508 to obtain a calibration result 510. The control unit 504 is designed to control the image sensor 202 to set the image sensor 202 in an activated or deactivated state or to leave it in an activated or deactivated state depending on the calibration result 510.

[0047] According to one embodiment, the control unit 504 is designed to control, in addition to or as an alternative to the image sensor, at least one functional unit arranged inside or outside the image capture device, which may be, for example, an image sensor of another camera, a control unit of, for example, a vehicle, which triggers further actions, for example, in the vehicle, or the like.

[0048] If an embodiment comprises an “and / or” link between a first feature and a second feature, this is to be read as meaning that the embodiment according to one embodiment has both the first feature and the second feature and according to another embodiment has either only the first feature or only the second feature. QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] US 2008 / 0278580 A1

[0002] US 2016 / 0295195 A1

[0002] DE 103 57 488 A1

[0002]

Claims

[1] Image capture device (102), wherein the image capture device (102) has the following features: - an optical unit (204) configured to direct light (206) onto a detection area (208); - a sensor carrier (200) which is arranged at least partially in the detection area (208); - an image sensor (202) for capturing an image using the light (206) directed onto the detection area (208), wherein the image sensor (202) is arranged on the sensor carrier (200) and in the detection area (208); and - at least one detector unit (210) for detecting at least one property of the light (206) directed onto the detection area (208), wherein the at least one detector unit (210) is arranged adjacent to the image sensor (202) on the sensor carrier (200) and in the detection area (208). [2] Image capture device (102) according to claim 1, comprising at least one further detector unit (212) for detecting at least one property of the light (206) directed onto the capture area (208), wherein the at least one further detector unit (212) is arranged adjacent to the image sensor (202) on the sensor carrier (200) and in the capture area (208). [3] Image capture device (102) according to claim 2, wherein the detector unit (210) and the at least one further detector unit (212) are arranged symmetrically to each other in the capture area (208). [4] Image capture device (102) according to one of the preceding claims, wherein the optical unit (204) is rotationally symmetrical, wherein the capture area (208) is realized as an image circle (300). [5] Image capture device (102) according to one of the preceding claims, wherein the image sensor (202) is polygonal, [6] Image capture device (102) according to claims 4 and 5, wherein the image sensor (202) divides the detection area (208) into four circle segments (302, 304, 306, 308). [7] Image capture device (102) according to claim 6, wherein the at least one detector unit (210) is arranged in one of the circular segments (302, 304, 306, 308) of the detection area (208). [8] Image capture device (102) according to one of claims 2 to 7, wherein the further detector unit (212) is arranged in the same one of the circle segments (302, 304, 306, 308) in which the detector unit (210) is arranged, and / or wherein the at least one further detector unit (212) is arranged in a further one of the circle segments (302, 304, 306, 308). [9] Image capture device (102) according to one of the preceding claims, wherein the at least one detector unit (210) is formed as a point sensor or a photodiode. [10] Image capture device (102) according to one of the preceding claims, wherein the at least one detector unit (210) is designed to detect color information, brightness and / or focus as the property. [11] A method (400) for operating an image capture device (102) according to any one of the preceding claims, wherein the method (400) comprises the following steps: - receiving (402) detector data (506) from an interface to the at least one detector unit (210), wherein the detector data (506) represents at least one property of the light (208) directed onto the detection area (208); - comparing (404) the detector data (506) with reference data (508) to obtain a comparison result (510); and - controlling (406) the image sensor (202) in order to set or leave the image sensor (202) in an activated or deactivated state depending on the calibration result (510). [12] Device (104) which is arranged to carry out and / or control the steps (402, 404, 406) of the method (400) according to one of the preceding claims in corresponding units (500, 502, 504). [13] Computer program configured to execute and / or control the steps (402, 404, 406) of the method (400) according to any one of the preceding claims. [14] A machine-readable storage medium on which the computer program according to claim 13 is stored. [15] Vehicle (100) with the following characteristics: - an image capture device (102) according to one of claims 1 to 10; and - a device (104) according to claim 12, which is coupled to the image capture device (102).

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