Camera equipment for a vehicle, vehicle, procedure, computer program and data carrier

Abstract

The invention relates to a camera device for a vehicle (1) comprising at least one camera (3) and a control unit (4) connected to the camera (3), wherein the camera (3) has an image sensor (13), a lens arrangement (17) and at least one actuator (20) by means of which the image sensor (13) is movable relative to the lens arrangement (17), and wherein camera images produced with the at least one camera (3) can be used to provide at least one driver assistance function of the vehicle (1), wherein one or more operating instructions (25) for the operation of the at least one camera (3) and authorization information (26) are stored in the control unit (4).wherein the operating instructions (25) each include a different control of the image sensor (13) via the at least one actuator (20) before and / or during the generation of at least one camera image by the camera (3) and the authorization information (26) for at least a part of the operating instructions (25) describes whether these are currently available for generating a camera image to provide the driver assistance function, wherein the camera images for the at least one driver assistance function can only be generated on the basis of at least one operating instruction (25) of the several operating instructions (25) described as currently available.

Description

[0001] The invention relates to a camera device for a vehicle comprising at least one camera and a control unit connected to the camera, wherein the at least one camera has an image sensor, a lens arrangement comprising at least one lens, and at least one actuator by means of which the image sensor is movable relative to the lens arrangement, and wherein camera images produced by the at least one camera can be used to provide at least one driver assistance function of the vehicle. The invention further relates to a vehicle, a method for operating a camera device, a computer program, and a data carrier.

[0002] Cameras are used in modern vehicles, for example, to detect objects in the vehicle's surroundings. Individual cameras can capture, for instance, part of the vehicle's interior or an area in front of, beside, behind, and / or underneath the vehicle. The images generated by one or more cameras and / or a view of the surroundings derived or combined from these images can be displayed to the driver as part of a driver assistance function, for example, to facilitate maneuvering in tight spaces or parking. Furthermore, such camera images can also be processed using a computer to provide other types of driver assistance functions based on the vehicle's surroundings.

[0003] To capture images, cameras typically include an image sensor that detects light or electromagnetic radiation in the visible spectrum and / or electromagnetic radiation in the infrared spectrum. To enable the image sensor to be moved relative to other camera components, some types of cameras use an actuator to couple the image sensor, allowing for different functions and / or improvements in image capture. Several approaches for this are known from the prior art.

[0004] US 2021 / 0354979 A1 describes a camera with an image sensor that can be adjusted relative to a lens of the camera via an actuator. The image sensor can be moved along the optical axis of the camera to achieve focus depending on a temperature.

[0005] WO 2022 / 115932 A1 describes an actuator for the image sensor of a camera, which enables movement of the image sensor with up to five degrees of freedom. Using this actuator, an autofocus function and an increase in the resolution of the image sensor can be achieved.

[0006] Further prior art is known from publications US 2024 / 0 205 540 A1 and EP 1 777 106 B1.

[0007] The ability to move a vehicle camera's image sensor via an actuator allows for manipulation of the camera images and the representation of the vehicle's surroundings within those images. This also affects the function of the vehicle's driver assistance systems, which display the camera images and / or use them to implement further functions, such as autonomous or semi-autonomous driving maneuvers.

[0008] Since expectations and / or requirements for such a driver assistance system may change over the course of a vehicle's life, it is desirable that the characteristics and / or performance of a camera device used to provide the driver assistance system can also be improved and / or adapted to the current needs of a user after the manufacture of a vehicle incorporating the camera device.

[0009] The invention is therefore based on the objective of providing an improved camera device which, in particular, makes it possible to change the generation of camera images via the camera device after the camera system has been manufactured.

[0010] To solve this problem, in a camera device of the type mentioned at the outset, the invention provides that the control unit contains several operating instructions for operating the at least one camera as well as authorization information, wherein the operating instructions each include different control of the image sensor via the at least one actuator before and / or during the generation of at least one camera image by the at least one camera, and the authorization information describes for at least some of the operating instructions whether they are currently available for generating a camera image to provide the at least one driver assistance function, wherein the camera images for the at least one driver assistance function can only be generated on the basis of at least one of the several operating instructions described as currently available.

[0011] The camera system comprises one or more cameras and an associated control unit. The cameras can be, in particular, cameras that each serve to capture at least part of the vehicle's surroundings. For example, the at least one camera can be a front camera, a side camera, and / or a reversing camera of a vehicle, or a camera intended for such an arrangement on a vehicle. The one or more cameras of the camera system each comprise an image sensor, a lens assembly comprising at least one lens, and at least one actuator by which the image sensor can be moved relative to the lens assembly. The actuator allows the image sensor to be moved into different positions before and / or during the generation of a camera image. In other words, the actuator allows the image sensor to be moved relative to the lens assembly.The camera can be moved relative to a projection image of the vehicle's surroundings generated by the lens array, allowing camera images to be captured in various relative positions between the lens array and the image sensor. The image sensor movements can occur at different speeds and / or in different sequences.

[0012] The camera system's control unit can, for example, be a vehicle control unit and / or include a processor, a microcontroller, or another type of computing device. The control unit also includes, in particular, a non-volatile storage device in which information such as computer programs, control commands for controlling components of the at least one camera, and the like can be stored.

[0013] The control unit, in particular its storage unit, contains several operating instructions for operating the at least one camera. Each operating instruction involves a different control of the image sensor via the at least one actuator before and / or during the generation of at least one camera image by the at least one camera. The operating instructions are, or contain, for example, a program or a sequence of control instructions or a movement pattern that specifies how the control unit should control the camera and its components, in particular the actuator and the image sensor, to capture one or more camera images. The operating instructions may also contain further instructions or...They contain commands that describe how the control unit can generate the camera image from image data produced using the image sensor, for example by assembling it from several partial images, based on image information generated in different arrangement positions of the image sensor, or similar methods.

[0014] The actuator is preferably a microelectromechanical system (MEMS) or a MEMS actuator. The actuator enables movement of the image sensor relative to the lens assembly along one or more degrees of freedom. These degrees of freedom can be translational, in particular along a direction of the camera's optical axis, as well as along two directions that are orthogonal to each other and to the optical axis. The camera's image sensor is thus movable via the camera's actuator, in particular along the camera's optical axis and within the camera's image plane, specifically within a plane orthogonal to the camera's optical axis.It is also possible that one or more of the degrees of freedom are rotational degrees of freedom, which in particular allow rotation around the optical axis and / or around one or more spatial directions orthogonal to the optical axis of the camera.

[0015] Depending on the available degrees of freedom for the movement of the image sensor relative to the lens assembly, the orientation of the image sensor to the lens assembly and to a projected image of the vehicle's surroundings generated by the lens assembly can be adjusted. This makes it possible, for example, to at least partially compensate for various misalignments between the image sensor and at least one other camera component and / or to influence the image generation by the lens assembly on the image sensor.

[0016] The control unit also contains authorization information that describes, for at least some of the operating instructions, whether they are currently available for generating a camera image to provide at least one driver assistance function. This authorization information is specifically modifiable; that is, the authorization information stored in the control unit describes a changeable assignment of authorization information, particularly to several operating instructions stored in the control unit. In other words, the current availability of stored operating information in the camera system can be changed even after its manufacture, by making additional operating instructions available and / or by making previously available operating instructions unavailable or blocked.A key or license may be required to change the authorization information, whereby the authorization information or the available operating regulations can be permanently or temporarily activated depending on the type of key or license.

[0017] The camera images for the at least one driver assistance function can only be generated based on at least one of the operating instructions described as currently available. In this way, the authorization information can be used to determine which operating instructions allow the at least one camera of the camera system to generate camera images.

[0018] The solution according to the invention advantageously enables the functionality of a camera system to be adapted. By allowing the image sensor to be moved using the actuator, not only the driver assistance function itself, but also the underlying image acquisition via at least one camera of the vehicle can be advantageously adapted or individually and / or temporarily configured. In this way, a scalable camera system can be advantageously created whose scalability does not require the replacement of hardware components. In other words, the functional and / or performance scope of the camera image generation can be adapted and changed via software. A user of the vehicle can thus activate different functions and / or different functional scopes as needed, without having to commit to a specific scope when purchasing the vehicle.Furthermore, it is advantageous to manufacture camera systems with different functionalities in the same way or with identical components, thereby reducing production costs for different variants to be implemented.

[0019] According to the invention, the control unit may have a communication interface, whereby the authorization information can be changed via the communication interface and / or one or more operating instructions can be changed and / or additionally stored in the control unit. Changing the authorization information can, in particular, include changing which of the stored operating instructions are currently available and which are not. Additionally or alternatively, further operating instructions can be added, or existing operating instructions can be changed or removed, via the communication interface. Changes to the authorization information and / or the operating instructions can be made, for example, by a user via an app store and / or by a service center or workshop.

[0020] In a preferred embodiment of the invention, the operating instructions may at least partially include instructions for evaluating and / or processing the at least one camera image by the control unit. In addition to the method of image acquisition via the image sensor, which can be moved by means of the actuator, the operating instructions may also include an evaluation of image data generated by the image sensor, particularly if the method of image acquisition set by means of the actuator requires or enables processing that differs from the normal use of the image data generated by the image sensor. Additionally or alternatively, the operating instructions may specify how the camera image is to be processed, for example, for display on a vehicle display and / or for processing by the driver assistance function.

[0021] According to the invention, the operating instructions may each include at least one translational movement of the image sensor along an optical axis of the at least one camera and / or in at least one direction orthogonal to the optical axis of the camera, in particular in an image plane of the camera, and / or each include at least one rotational movement of the image sensor about an axis of rotation parallel to the optical axis of the camera and / or about an axis of rotation orthogonal to the optical axis of the camera, in particular about an axis of rotation extending in the image plane of the camera. The operating instructions may include a single movement or a combination of several identical and / or different movements of the image sensor.The movement or movements of the image sensor can occur before or during the recording of a camera image, or before or during the recording of image information or partial images used to create a camera image.

[0022] In a preferred embodiment of the invention, at least part of the operating instructions may include moving the image sensor before a plurality of camera images are acquired with a stationary image sensor, one or more movements of the image sensor between the acquisition of individual camera images, and / or one or more movements of the image sensor during the acquisition of a single camera image. As will be described in more detail below, moving the image sensor before acquiring a plurality of camera images can, for example, compensate for an offset or misalignment between the image sensor and the lens assembly.

[0023] By moving the image sensor one or more times between capturing individual camera images, the camera's recording characteristics, which result from the geometric relationship between the lens arrangement and the image sensor, can be influenced. This allows for advantageous camera images with two or more different recording characteristics, which can, for example, improve environmental perception within the context of driver assistance functions implemented using camera images.

[0024] By moving the image sensor during the acquisition of a camera image, a composite image can be obtained from several partial images generated in different positions of the image sensor. This allows, for example, the recording area to be enlarged by moving the image sensor between two or more positions in the image plane, and / or different spectral ranges and / or different distance ranges or object distances to be captured sharply by moving the image sensor along the optical axis.

[0025] According to the invention, at least one of the operating instructions can be an operating instruction for correcting aging effects, which is configured to adjust the position of the image sensor along the optical axis and / or in the image plane depending on aging information assigned to the at least one camera. The movement of the image sensor is performed, in particular, once before the acquisition of a plurality of camera images. By moving the image sensor depending on the aging information, age-related effects, for example, age-related misalignment between the image sensor and the lens assembly and / or aging effects of the lens assembly and / or the image sensor, can be compensated for.

[0026] The aging information can, for example, specify the operating time and / or age of at least one camera in the camera system and may be stored in the control unit. Additionally or alternatively, the aging information can also be generated by one or more measurements of the value of an image parameter in one or more positions of the image sensor. The one or more measured values ​​of the image parameter can be compared with one or more reference values, whereby one of the image sensors is moved to a compensation position determined based on a deviation between the at least one measured value and the at least one reference value.

[0027] Additionally or alternatively, the invention may provide that at least one of the operating rules is an operating rule for correcting temperature influences, which is configured to adjust the position of the image sensor along the optical axis depending on temperature information describing the current ambient temperature of the vehicle. The temperature information can, for example, be a temperature measurement determined by a temperature sensor of the vehicle or transmitted to the vehicle via a communication link. A correction for temperature influences can be made, for example, when the vehicle is started and / or when there is a temperature change exceeding a limit value between the current temperature and a temperature associated with a previous setting of the image sensor.

[0028] According to the invention, it can be provided that at least one of the operating instructions is an operating instruction for correcting a roll angle offset of the image sensor, which is configured to move the actuator as a function of orientation information describing a current orientation of the image sensor relative to a surface on which the vehicle is located, such that at least one row of a detector pixel array of the image sensor is aligned horizontally or approximately horizontally.

[0029] The image sensor can be moved before multiple camera images are captured, thereby correcting any misalignment between the image sensor and the lens assembly, particularly on a permanent basis. Additionally or alternatively, the roll angle misalignment can also be corrected based on vehicle tilt information, which describes the vehicle's inclination around a longitudinal axis or its roll angle. This tilt information can, for example, be determined by a vehicle tilt sensor and transmitted to the camera's control unit.

[0030] In a further embodiment, it can be provided according to the invention that at least one of the operating instructions is an operating instruction for reducing and / or compensating for imaging errors of an optical element arranged in front of the at least one camera, wherein the operating instruction is configured to determine a first value of an imaging parameter with the image sensor in a first arrangement position on the basis of an image taken with the at least one camera, wherein the image sensor can then be moved to a second arrangement position depending on the first value by means of the actuator, which is assigned to a second, optimized value of the imaging parameter.

[0031] The optical element can be, in particular, a transparent or at least partially transparent component positioned in front of the camera's lens assembly, for example, a vehicle window such as a windshield, a cover, or a section of the body or an add-on part. The image can be, for example, a recording of the vehicle's surroundings, or it can be a recording of a test target, especially a target such as those frequently used for calibrating camera systems. The second position of the arrangement, which can also be referred to as the camera target position, is, for example, determined once and maintained, or continuously determined in an iterative process and continuously approached by the actuator.

[0032] The movement of the image sensor, according to the operating instructions, for the reduction and / or compensation of imaging errors of the optical element arranged in front of the at least one camera, can be carried out during the vehicle's continuous operation or during a repair, e.g., when replacing a windshield. In particular, the reduction and / or compensation of imaging errors can always be carried out when the relative position of the at least one camera relative to the optical element has changed.

[0033] The optimal second arrangement position, or the actuator target position assigned to this camera target position, can be determined continuously or at predefined times, particularly periodically; that is, continuous optimization can be performed. However, it is also possible to perform the reduction and / or compensation once and / or to determine an optimal camera and actuator target position for different configurations, whereby the respective camera and actuator target positions can be stored, for example, in the control unit and retrieved as needed.

[0034] In a preferred embodiment of the invention, it can be provided that at least one of the operating instructions is an operating instruction for improving the image quality of objects on the image sensor, wherein the operating instruction is configured to adjust the position of the image sensor on the optical axis depending on a current vehicle speed, to adjust it depending on vehicle environment information that at least partially describes the current vehicle environment and / or to continuously change it between at least two arrangement positions.

[0035] The operating procedure for improving image quality allows the actuator's position on the optical axis to be adjusted based on the current vehicle speed. This enables the selection of the object distance at which the best image quality is achieved in the image plane or on the camera's image sensor, depending on the vehicle speed. This counteracts the effect that lenses, especially those with a large aperture, have a shallow depth of field, which severely limits the perfect imaging of objects at varying distances from the vehicle. For vehicle operation, and for driver assistance systems supporting the driver, the relevant object distance can differ depending on the vehicle speed.For example, when driving at low speeds, objects close to the vehicle may be more relevant, whereas at high speeds, objects further away from the vehicle may be particularly relevant. The vehicle's speed can be determined, for example, by a vehicle speed sensor and transmitted to the control unit.

[0036] The environmental information can, for example, describe the color of at least one object and / or an environmental section in the vehicle's environment, where the selected position of the image sensor on the optical axis corresponds to the focus point on the optical axis assigned to the color.

[0037] Additionally or alternatively, the environmental information can describe the ambient brightness of at least part of the vehicle's surroundings. If the ambient brightness is below a certain threshold, the image sensor is positioned at a focal point corresponding to a longer wavelength than if the ambient brightness is above this or a further threshold. Furthermore, if the ambient brightness decreases, the image sensor's position is shifted to focal points of increasing wavelengths. In this way, the operating procedure for improving image quality in poor lighting conditions can achieve a better representation of the environment using longer-wavelength or infrared light.

[0038] Additionally or alternatively, the position of the image sensor can also be continuously, and in particular periodically, changed between at least two positions along the optical axis by the operating procedure to improve image quality. Continuously changing the position of the image sensor along the optical axis makes it possible to continuously capture camera images optimized for different parts of the electromagnetic spectrum, thus obtaining overall improved image data from the camera. This data includes, in particular, sharply rendered objects in the vehicle's vicinity for different spectral ranges. In other words, for example, image data can be obtained by combining camera images captured with differently positioned image sensors, resulting in an overall improved depth of field.Additionally or alternatively, sharp images from different focus positions or wavelength ranges can be superimposed to generate an image or image information with increased information content. For example, an image captured in the visible spectrum and an image captured in the infrared spectrum can be superimposed and / or at least partially supplemented by the other image.

[0039] According to the invention, at least one of the operating instructions can be an operating instruction for the situation-dependent adjustment of a camera field of view, wherein the lens arrangement in an image plane of the camera projects a projection image onto a recording surface of the image sensor, which is larger than the recording surface in at least one direction, wherein the operating instruction is configured to determine a target position for the image sensor in the image plane depending on driving state information describing a current driving state of the vehicle and / or vehicle environment information that at least partially describes the current vehicle environment, and to move the image sensor to the target position by means of the actuator if there is a deviation between a current sensor position in the image plane and the target position.

[0040] Within the framework of the operating procedure for situation-dependent adjustment of a camera's field of view, the position of the image sensor in the image plane is selected depending on the current vehicle operation or the current vehicle environment. This advantageously allows the proportion of the vehicle environment displayed in the camera images to be adapted to the current vehicle operation or the current vehicle environment. This also makes it advantageous for the camera to capture a portion of the projected image that is projected next to the image sensor's recording area when the image sensor is initially positioned, for example, centered relative to the projected image and / or the optical axis. This enables a larger portion of the vehicle environment to be considered for functions based on the camera images.Compared to an image sensor which is not movable relative to the lens arrangement, this offers the advantage that a larger part of the vehicle's surroundings can be captured.

[0041] The projected image can be larger than the image sensor's recording area, at least in the vehicle's transverse direction. The currently set steering angle of the vehicle, measured, for example, by the vehicle's steering angle sensor, is used as driving status information. The target position can be selected such that an additional portion of the vehicle's surroundings, located in the direction of travel, is projected onto the recording area. A projected image that is larger than the image sensor, at least in the vehicle's transverse direction, contains image information from the vehicle's surroundings to the sides, which cannot be captured by the image sensor. This can include both sides of the vehicle, i.e., the surroundings to the left and right of the vehicle in the direction of travel.

[0042] Depending on the vehicle status information describing the currently set steering angle, the target position for the image sensor can now be selected such that a portion of the vehicle's surroundings lying in the set direction of travel, which is not depicted on the recording surface in the current sensor position, will be depicted on the recording surface when the image sensor is in the target position. In other words, the target position, relative to the current sensor position, is such that a portion of the projected image lying in the direction of travel and not previously depicted on the image sensor's recording surface is now projected onto the recording surface in the target position and is therefore detectable by the camera. This advantageously allows the camera images captured by the camera to be adapted to the current direction of travel or the selected direction of travel.The adjustment of the image sensor's position in the image plane can be performed both when the vehicle is moving and when it is stationary.

[0043] It is also possible that the projected image is larger than the image sensor's recording area, at least in the vehicle's vertical direction, using the vehicle's current speed as driving condition information, and that the target position is continuously selected as the vehicle's speed decreases or falls below a predetermined limit value, such that an additional part of the vehicle's surroundings above the vehicle is mapped onto the recording area at the target position.

[0044] This allows for the detection of an additional part of the vehicle's surroundings above the vehicle, which cannot be captured from the current sensor position, even at low vehicle speeds or when the vehicle is stationary. This enables, for example, a greater proportion or even the complete mapping of traffic infrastructure elements located above the vehicle, such as signs, traffic lights, or similar features.

[0045] According to the invention, at least one of the operating instructions can be an operating instruction for generating a camera image with increased information content, wherein the image sensor has a plurality of pixels and a filter device, and wherein different filters are assigned to individual pixels by the filter device, wherein, to generate a camera image comprising one or more pixels, the image sensor is moved via the actuator relative to the lens arrangement between at least a first arrangement position and a second arrangement position, wherein, for at least one pixel of the camera image, at least one image information filtered via the same filter or via a different filter is received via a pixel of the image sensor in each of the at least two arrangement positions.wherein the camera image contains, for at least one pixel, at least two pieces of image information and / or a quantity derived from at least two pieces of image information.

[0046] The operating procedure for generating a camera image with increased information content makes it possible, for example, to measure the missing image information from a defective pixel of the image sensor using another, functioning pixel, thus obtaining complete image information for a camera image. Alternatively, in the second arrangement position, a different pixel of the image sensor, assigned a different type of optical filter from the filter assembly, can be used for at least some of the pixels of the camera image. In this way, a second image information can be determined for the pixel of the camera image, which was generated via a different optical filter than the first image information in the first arrangement position.This advantageously allows for the acquisition of image information for individual pixels of the camera image not only filtered via an optical filter, but also for the acquisition of image information generated by at least one further, different type of optical filter. It is possible to move to one or more additional positions after the second lens arrangement position, from which further image information can be acquired. By capturing multiple sets of image information for the portion of the projection image of the lens arrangement corresponding to a pixel, a camera image with increased information content can be generated.

[0047] The invention further relates to a vehicle with a camera device according to the invention. All advantages and embodiments described above in relation to the camera device according to the invention also apply analogously to the vehicle according to the invention and vice versa.

[0048] The invention further relates to a method for operating a camera system of a vehicle comprising at least one camera and a control unit, wherein the at least one camera is connected to the control unit and has an image sensor, a lens arrangement comprising at least one lens, and at least one actuator by means of which the image sensor is movable relative to the lens arrangement, wherein camera images generated with the at least one camera are used to provide at least one driver assistance function of the vehicle, wherein several operating instructions for the operation of the at least one camera and authorization information are stored in the control unit.wherein the operating instructions each include a different control of the image sensor via the at least one actuator before and / or during the generation of a camera image by the at least one camera, and the authorization information for at least part of the operating instructions indicates whether these are currently available for generating a camera image to provide the at least one driver assistance function, wherein the camera images for the at least one driver assistance function are generated only on the basis of at least one of the several operating instructions described as currently available.

[0049] All advantages and features described above in relation to the camera device and vehicle according to the invention also apply analogously to the method according to the invention and vice versa.

[0050] Further advantages and features will become apparent from the exemplary embodiments described below and from the figures. The figures are schematic representations and show: Fig. 1 an embodiment of a vehicle according to the invention with a camera device according to the invention, Fig. 2 an embodiment of a camera of the camera device according to the invention in a side view, Fig. 3 an embodiment of a camera of the camera device according to the invention in a top view of an image sensor of the camera and Fig. 4 A schematic representation of the camera device according to the invention to illustrate an embodiment of a method according to the invention.

[0051] In Fig. Figure 1 shows an embodiment of a vehicle 1. The vehicle 1 can be, for example, a motor vehicle, in particular a passenger car, a truck, or another type of commercial vehicle. It is also possible that the vehicle 1 is an unmotorized vehicle, such as a trailer, or that it is a combination of a towing vehicle and a trailer. The vehicle 1 can also be a rail-bound vehicle, such as a tram or the like, or a robot.

[0052] The vehicle 1 comprises an embodiment of a camera system 2, which includes one or more cameras 3 and a control unit 4. In the present embodiment, the vehicle 1 comprises four cameras 3, which form a camera arrangement configured as a surround-view system. A first camera 5 is arranged as a front camera of the vehicle 1, a second camera 6 as a rear-view camera of the vehicle 1, and a third camera 7 and a fourth camera 8 each as a side camera of the vehicle 1. The number and arrangement of the cameras 3 are exemplary; the camera system 2 can also comprise a different number and / or cameras 3 arranged at different locations on the vehicle 1.

[0053] The control unit 4 can be configured, for example, as a microcontroller, a processor, or another type of computing device. The control unit 4 comprises a storage device 9 in which data can be stored and / or in which one or more computational instructions or algorithms can be implemented, which, for example, can implement one or more functions, in particular driver assistance functions, for the vehicle 1 by evaluating the camera images from the cameras 3. The control unit 4 is configured to carry out a method for operating at least one of the cameras 3 of the vehicle 1, wherein the control unit 4 and the at least one camera 3 form a camera device 2 according to the invention.

[0054] The vehicle 1 further includes a display device 10, which can present graphical information to a driver or user of the vehicle 1. The display device 10 can, for example, be one or more screens or displays arranged in the interior of the vehicle 1, or the like.

[0055] Each camera 3 can generate image data from a specific area of ​​the vehicle 1's surroundings. The cameras 3 are connected to the control unit 4 via a communication link 11. This communication link 11 can, for example, comprise multiple point-to-point connections or be a bus connection such as a CAN bus or similar. Camera images or image data are transmitted continuously from the cameras 3 to the control unit 4 via the communication link 11. At least some of the camera images and / or a view of the surroundings generated from multiple camera images can then be displayed on the display unit 10 for the driver of the vehicle 1.

[0056] Furthermore, the vehicle 1 includes a sensor device 12, which may comprise one or more sensors. The sensor device 12 includes, in particular, a temperature sensor for generating temperature information describing the current ambient temperature of the vehicle 1, a position sensor that can measure orientation information describing the inclination of the vehicle 1 along its longitudinal axis, a speed sensor for determining the current vehicle speed describing the vehicle 1's travel speed, an environment sensor for determining vehicle environment information that at least partially describes the current vehicle environment, and / or a steering angle sensor that measures the steering angle of the vehicle 1.

[0057] In Fig. Figure 2 shows a side view of a camera 3 of the vehicle 1. The camera 3 includes an image sensor 13 for capturing camera images, which is arranged, for example, on a circuit board 14. Furthermore, the camera 3 includes a lens arrangement 17, comprising at least one lens 16, which is arranged along an optical axis 15 of the camera 3 extending in the z-direction and offset from the image sensor 13. The lens arrangement 17 projects an image of the section of the vehicle's surroundings captured by the camera 3 onto an image plane 18 of the camera 3, which in this case extends in the x- and y-directions.

[0058] The image sensor 13 has a recording area 19, which is, for example, an array of photosensitive points or pixels, and which is also located in the image plane 18. The pixels can be arranged, for example, in rows and columns as a rectangular array. The image sensor 13 can, for example, be a semiconductor image sensor (CMOS image sensor). The image sensor 13 can, in particular, receive light or electromagnetic radiation in the visible spectral range and, if applicable, also in the infrared spectral range from a sub-area of ​​the vehicle's surroundings. The image sensor 13 can, for example, be connected to other electrical components of the camera 3 and / or to the circuit board 14 via one or more flexible electrical connections, such as cables, spring contacts, bond wires, or the like.

[0059] The camera 3 further comprises an actuator 20, via which the image sensor 13 can be moved relative to the lens assembly 17 into various positions along the optical axis 15. The image sensor 14 can, for example, be attached to the circuit board 14 via the actuator 20, the circuit board 14 being fixedly mounted on a support structure 21 of the camera 3, such as a camera housing or the like, so that the image sensor 13 can also be moved relative to the support structure 21. Similarly, the lens assembly 17 can also be attached to the support structure 21 and / or an associated structure, thus allowing the image sensor 13 to be moved relative to the lens assembly 14.

[0060] Fig. Figure 3 shows a top view of the image sensor 13 of the camera 3, whose recording surface 19 extends in the x- and y-directions, or in an xy-plane, and thus in or parallel to the image plane. The optical axis 15 of the camera 3 runs orthogonally to the recording surface 19 in the z-direction.

[0061] In Fig. 2 and Fig. In section 3, the image sensor 13 is located relative to the support structure 21, for example, in a first relative position or arrangement position. The actuator 20 enables the image sensor 13 to be moved relative to the support structure 14 along one or more degrees of freedom. Depending on the design of the actuator 20, the degrees of freedom can be translational degrees of freedom, which allow a displacement of the image sensor 13 in the x-direction, y-direction, and / or z-direction. Additionally or alternatively, the actuator 20 can also enable a rotational movement, i.e., a rotation of the image sensor 13, about the x-axis, the y-axis, and / or the z-axis. Combined movements consisting of a translational movement in the direction of one or more of the axes and / or a rotational movement about one or more of the axes are also possible.

[0062] In the present embodiment, the actuator 20 is designed as a MEMS actuator, which, as in Fig. As shown in Figure 3, the actuator 20 comprises a stationary first part 22, which is attached to the circuit board 14, and a second part 23, which is movable relative to the first part 22 and is attached to the image sensor 13. For example, by applying one or more electrical voltages to the stationary first part 22 of the actuator 20, the relative position of the second part 23 of the actuator 20, and thus also of the image sensor 13, in the image plane 18 can be changed or set. Similarly, at least one third part 24 of the actuator 20, which is attached to the circuit board 14, can also be used to change or set the relative position of the second part 23 of the actuator 20, and thus also of the image sensor 13, in the image plane 18. Fig. As shown in Figure 2, the actuator is adjusted in the z-direction and thus along the optical axis 15. The adjustments shown in the Fig. 2 and Fig. The embodiment of the actuator 20 shown in Figure 3 is purely exemplary; in principle, one or more different actuator shapes or types can be used, which can generate the translational and / or rotational movements of the image sensor 13 relative to the lens arrangement 17 required for the respective operating instructions.

[0063] Fig.Figure 4 shows a schematic representation of the camera device 2. The control unit 4 of the camera device 2 contains several operating instructions 25 for operating the at least one camera 3, as well as authorization information 26. The operating instructions 25 each include different control of the image sensor 13 via the at least one actuator 20 before and / or during the generation of at least one camera image by the at least one camera 3. The authorization information 26 describes, for at least some of the operating instructions 25, whether they are currently available for generating a camera image to provide the at least one driver assistance function, and the camera images for the at least one driver assistance function can only be generated based on at least one of the operating instructions 25 described as currently available.The current availability of an operating regulation 25 is symbolized here by the checkmark and a non-current availability by the X.

[0064] The driver assistance function, which uses the camera images from one or more of the vehicle's cameras 3 1, can, for example, display the camera images or images derived from them on the vehicle's display unit 10. It is possible that additional graphic information, such as text or a graphic overlay, is added to the camera images. Such graphic information can be generated, at least partially, based on an evaluation of the image content from one or more camera images, for example, by the control unit 4 and / or by another control unit implementing a driver assistance function.

[0065] In addition to or as an alternative to displaying the camera images, the control unit 4 can evaluate the image content of the camera images from one or more of the cameras 3 to determine information about the vehicle's surroundings 1 and, depending on this information, implement, for example, an autonomous or semi-autonomous driving function as a driver assistance function. For this purpose, the control unit 4 can, for example, at least partially take over lateral and / or longitudinal control of the vehicle 1 or, depending on the information about the vehicle's surroundings obtained from the camera images, control one or more vehicle actuators 27, such as longitudinal control actuators and / or lateral control actuators.

[0066] The control unit 4 also has a communication interface 28, via which the authorization information 26 can be changed. Additionally or alternatively, one or more of the operating instructions 25 can also be changed, deleted, or added to the storage unit 9 of the control unit 4 via the communication interface 28. The communication interface 28 can be for wired or wireless communication.

[0067] At least some of the operating instructions 25 stored in the control unit 4 each include at least one instruction for the control unit 4 to evaluate and / or process the at least one camera image. For example, the control unit 4 can generate environmental information that at least partially describes the current surroundings of the vehicle 1 by evaluating the image content of one or more camera images. This evaluation can be carried out, in particular, using methods of artificial intelligence or machine vision, such as semantic segmentation or the like. Additionally or alternatively, the operating instruction can specify how the camera image is to be processed, for example, for display on a display unit 10 of the vehicle 1 and / or for processing by the driver assistance function.

[0068] The operating instructions 25 each include at least one translational movement of the image sensor 13 along an optical axis 15 of the camera 3 and / or in at least one direction orthogonal to the optical axis 15 of the camera 3. The operating instructions 25 may additionally or alternatively also each include at least one rotational movement of the image sensor 13 about a rotation axis in the z-direction parallel to the optical axis 15 of the camera 3 and / or about a rotation axis orthogonal to the optical axis 15, i.e., in the x-direction or in the y-direction.

[0069] At least part of the operating instructions 25 may involve moving the image sensor 13 before a multiple of camera images are generated using a stationary image sensor 13. This allows, among other things, the adjustment of a sensor position to compensate for long-term effects or effects that change only irregularly and / or relatively slowly, such as a misalignment between the image sensor 13 and the lens assembly 17, a temperature influence on the arrangement of the image sensor 13 relative to the lens assembly 17, or the like. Sensor position settings that depend on a vehicle speed and / or a steering angle can also be maintained for a multiple of image acquisitions.

[0070] At least part of the operating instructions 25 may also include one or more movements of the image sensor 13 between the generation of individual camera images and / or one or more movements of the image sensor 13 during the generation of a single camera image. This can be implemented in particular to achieve improved image quality in a given situation or to generate a camera image of a situation with increased information content.

[0071] Specifically, it may be provided that at least one of the operating instructions 25 is an operating instruction 25 for correcting aging effects, which sets a position of the image sensor 13 along the optical axis 15 and / or in the image plane 18 depending on one of the aging information assigned to the at least one camera.

[0072] Additionally or alternatively, at least one of the operating instructions 25 can be an operating instruction for correcting temperature influences, which sets a position of the image sensor 13 along the optical axis 15 depending on temperature information describing a current ambient temperature of the vehicle 1.

[0073] Another possibility is that at least one of the operating instructions 25 is an operating instruction 25 for correcting a roll angle offset of the image sensor 13, which moves the image sensor 13 via the actuator 20 depending on an orientation information describing a current orientation of the image sensor 13 relative to a base surface on which the vehicle 1 is located, such that at least one row of the detector pixel array of the image sensor 13 is aligned horizontally or approximately horizontally.

[0074] At least one of the operating instructions 25 can be an operating instruction 25 for the reduction and / or compensation of imaging errors of an optical element arranged in front of the at least one camera 3, for example a window of the vehicle 1, which determines a first value of an imaging parameter with the image sensor 13 in a first arrangement position on the basis of an image taken with the at least one camera 3, wherein the image sensor 13 is then moved, depending on the first value, by means of the actuator 20 into a second arrangement position, which is assigned to a second, optimized value of the imaging parameter.

[0075] Additionally or alternatively, at least one of the operating instructions 25 can be an operating instruction for improving the image quality of objects on the image sensor 13, wherein the operating instruction sets the position of the image sensor 13 on the optical axis 15 depending on a current vehicle speed of the vehicle 1, depending on vehicle environment information that at least partially describes the current vehicle environment and / or continuously, in particular periodically, changes between at least two arrangement positions on the optical axis 15.

[0076] It is also possible that at least one of the operating instructions 25 is an operating instruction 25 for the situation-dependent adjustment of a camera field of view of the camera 3, wherein the lens arrangement 17 projects a projection image onto the recording surface 14 of the image sensor 13 in an image plane 18 of the camera 3, which is larger than the recording surface 14 of the image sensor 13 in at least the x-direction and / or the y-direction. The operating instruction 25 for the situation-dependent adjustment of the camera field of view determines a target position for the image sensor 13 in the image plane 18 based on driving condition information describing a current driving state of the vehicle 1 and / or vehicle environment information that at least partially describes the current vehicle environment.Subsequently, if there is a deviation between the current sensor position in the image plane 18 and the target position, the image sensor 13 is moved to the determined target position by means of the actuator 20.

[0077] At least one of the operating instructions 25 can be an operating instruction 25 for generating a camera image with increased information content. The image sensor 13 has a plurality of pixels, which form the recording area 19 of the image sensor 13, as well as a filter device (not shown) which assigns different filters to individual pixels.To generate a camera image comprising one or more pixels, the image sensor 13 is moved via the actuator 20 relative to the lens arrangement 17 between at least a first arrangement position and a second arrangement position, wherein for at least one pixel of the camera image in the at least two arrangement positions at least one image information filtered via the same filter or via a different filter is received via a pixel of the image sensor 13, wherein the camera image for the at least one pixel contains the at least two image information pieces and / or a quantity derived from the at least two image information pieces.

[0078] The operating instructions 25 described above can be stored in the control unit 4 in any combination. Furthermore, these operating instructions 25 can be assigned a current availability or unavailability status in any way via the authorization information 26. The driver assistance function can accordingly use the camera images acquired by one or more of the operating instructions 25 marked as currently available.

Claims

[1] Camera device for a vehicle (1) comprising at least one camera (3) and a control device (4) connected to the camera (3), wherein the at least one camera (3) comprises an image sensor (13), a lens arrangement (17) comprising at least one lens (16) and at least one actuator (20) by means of which the image sensor (13) is movable relative to the lens arrangement (17), and wherein camera images produced by the at least one camera (3) are usable for providing at least one driver assistance function of the vehicle (1), characterized by, that the control unit (4) contains several operating instructions (25) for operating the at least one camera (3) and authorization information (26), wherein the operating instructions (25) each include different control of the image sensor (13) via the at least one actuator (20) before and / or during the generation of at least one camera image by the at least one camera (3), and the authorization information (26) describes for at least some of the operating instructions (25) whether they are currently available for generating a camera image to provide the at least one driver assistance function, wherein the camera images for the at least one driver assistance function can only be generated on the basis of at least one operating instruction (25) of the several operating instructions (25) described as currently available. [2] Camera device according to claim 1, characterized by, that the control unit (4) has a communication interface (28) wherein the authorization information (26) can be changed via the communication interface (28) and / or one or more operating instructions (25) can be changed via the communication interface (28) and / or can be additionally stored in the control unit (4). [3] Camera device according to claim 1 or 2, characterized by , that the operating instructions (25) include at least in part at least one instruction for the evaluation and / or processing of the at least one camera image by the control device (4). [4] Camera device according to any of the preceding claims, characterized by, that the operating instructions (25) each include at least one translational movement of the image sensor (13) along an optical axis (15) of the at least one camera (3) and / or in at least one direction orthogonal to the optical axis (15) of the camera (3) and / or that the operating instructions (25) each include at least one rotational movement of the image sensor (13) about an axis of rotation parallel to the optical axis (15) of the camera (3) and / or about an axis of rotation orthogonal to the optical axis (15) of the camera (3). [5] Camera device according to any of the preceding claims, characterized by, that at least part of the operating instructions (25) include a movement of the image sensor (13) prior to a plurality of camera image generations with a stationary image sensor (13), one or more movements of the image sensor (13) between the generations of individual camera images and / or one or more movements of the image sensor (13) during the generation of a single camera image. [6] Camera device according to any of the preceding claims, characterized by , that at least one of the operating instructions (25) is an operating instruction (25) for correcting aging effects, which is designed to set a position of the image sensor (13) along the optical axis (15) and / or in an image plane (18) of the camera (3) depending on one of the aging information assigned to the at least one camera (3). [7] Camera device according to any of the preceding claims, characterized by, that at least one of the operating instructions (25) is an operating instruction (25) for correcting temperature effects, which is designed to set a position of the image sensor (13) along the optical axis (15) depending on temperature information describing a current ambient temperature of the vehicle (1). [8] Camera device according to any of the preceding claims, characterized by , that at least one of the operating instructions (25) is an operating instruction (25) for correcting a roll angle offset of the image sensor (13), which is configured to move the actuator (20) as a function of orientation information describing a current orientation of the image sensor (13) relative to a base on which the vehicle (1) is located, such that at least one row of a detector pixel array of the image sensor (13) is aligned horizontally or approximately horizontally. [9] Camera device according to any of the preceding claims, characterized by , that at least one of the operating instructions (25) is an operating instruction (25) for reducing and / or compensating for imaging errors of an optical element arranged in front of the at least one camera (3), which is configured to determine a first value of an imaging parameter using the image sensor (13) in a first arrangement position on the basis of an image taken with the at least one camera (3), wherein the image sensor (13) can then be moved to a second arrangement position depending on the first value by means of the actuator (20), which is assigned to a second, optimized value of the imaging parameter. [10] Camera device according to any of the preceding claims, characterized by, that at least one of the operating instructions (25) is an operating instruction (25) for improving the image quality of objects on the image sensor (13), wherein the operating instruction (25) is configured to adjust the position of the image sensor (13) on the optical axis (15) depending on a current vehicle speed, depending on vehicle environment information that at least partially describes the current vehicle environment and / or to continuously change it between at least two arrangement positions. [11] Camera device according to any of the preceding claims, characterized by, that at least one of the operating instructions (25) is an operating instruction (25) for the situation-dependent adjustment of a camera field of view, wherein the lens arrangement (17) in an image plane (18) of the camera (3) projects a projection image onto a recording surface (19) of the image sensor (13), which is larger than the recording surface (19) in at least one direction, wherein the operating instruction (25) is configured to determine a target position for the image sensor (13) in the image plane (18) depending on a driving state information describing a current driving state of the vehicle (1) and / or vehicle environment information describing the current vehicle environment at least partially, and to move the image sensor (13) to the target position by means of the actuator (20) if there is a deviation between a current sensor position in the image plane (18) and the target position. [12] Camera device according to any of the preceding claims, characterized by, that at least one of the operating instructions (25) is an operating instruction (25) for generating a camera image with increased information content, wherein the image sensor (13) has a plurality of pixels and a filter device and wherein different filters are assigned to individual pixels by the filter device, wherein, in order to generate a camera image comprising one or more pixels, the image sensor (13) is moved via the actuator (20) relative to the lens arrangement (17) between at least a first arrangement position and a second arrangement position, wherein, for at least one pixel of the camera image, at least one image information filtered via an identical filter or via a different filter is received via a pixel of the image sensor (13) in each of the at least two arrangement positions,wherein the camera image contains, for at least one pixel, at least two pieces of image information and / or a quantity derived from at least two pieces of image information. [13] Vehicle comprising a camera device (2) according to any one of claims 1 to 12. [14] Method for operating a camera device (2) of a vehicle (1) comprising at least one camera (3) and a control device (4), wherein the at least one camera (3) is connected to the control device (4) and comprises an image sensor (13), a lens arrangement (17) comprising at least one lens (16) and at least one actuator (20) by means of which the image sensor (13) is movable relative to the lens arrangement (17), wherein camera images produced by the at least one camera (3) are used to provide at least one driver assistance function of the vehicle (1), characterized by, that the control unit (4) contains several operating instructions (25) for operating the at least one camera (3) and authorization information (26), wherein the operating instructions (25) each include different control of the image sensor (13) via the at least one actuator (20) before and / or during the generation of a camera image by the at least one camera (3), and the authorization information (26) indicates for at least some of the operating instructions (25) whether they are currently available for generating a camera image to provide the at least one driver assistance function, wherein the camera images for the at least one driver assistance function are generated only on the basis of at least one operating instruction (25) of the several operating instructions (25) described as currently available.

Images