Procedure for adjusting camera data and motor vehicle

Abstract

The invention relates to methods for adjusting camera data acquired during the operation of a motor vehicle in different positions of the motor vehicle relative to a road surface (1) on which the motor vehicle is traveling, using at least one external camera (6) with which an external mirror of the motor vehicle is equipped, wherein the external camera (6) has a first laser diode and a second laser diode which measure a current distance to the road surface (1) at defined angles to the optical axis of the external camera (6), wherein the first laser diode measures at an angle in the direction of travel, i.e. obliquely forwards, wherein the second laser diode measures at an angle opposite the direction of travel, i.e. obliquely backwards, wherein a current inclination of the vehicle or of the external camera (6) in a pitching direction is determined from a difference of the measured distances, wherein the camera data are corrected from the determined inclinations.

Description

[0001] The invention relates to a method for adjusting camera data acquired during the operation of a motor vehicle in different positions relative to a road surface on which the motor vehicle is traveling, using at least one external camera with which an external mirror of the motor vehicle is equipped. The invention also relates to a motor vehicle with at least one external mirror equipped with an external camera that acquires camera data during the operation of the motor vehicle in different positions relative to a road surface on which the motor vehicle is traveling.

[0002] The American patent application US 2021 080 286 A1 discloses a method for performing a camera calibration, comprising: emitting a first laser pulse group towards a first location on a road by means of a laser emitter located on a vehicle and directed at a first angle towards the road; emitting a second laser pulse group by means of the laser emitter directed at a second angle towards the road, wherein the first laser pulse group and the second laser pulse group each comprise one or more laser points; wherein the first laser pulse group and the second laser pulse group are emitted at the first location and at the second location, respectively.the second position; determining the first angle and the second angle formed between a direction in which the laser emitter points towards the road and an imaginary horizontal plane that is at least partially parallel to the road and includes at least part of the laser emitter, based on a speed at which the vehicle is moving; adjusting the laser emitter according to the first angle and the second angle to emit the first laser pulse group and the second laser pulse group at the first predetermined distance and the second predetermined distance, respectively; and determining the two camera calibration parameters of the camera during the journey.European patent application EP 1 619 085 A1 discloses an arrangement for detecting the movements of a vehicle relative to a roadway, wherein at least one optical distance sensor is directed towards the roadway on both longitudinal sides of the vehicle and measures the distance to the roadway, and wherein a measure of the roll angle is calculated from the difference between the measurement results of both sides. German patent application DE 10 2013 012 787 A1 discloses an optoelectronic measuring device for a motor vehicle, comprising at least one scanning optoelectronic detection device.

[0003] The object of the invention is to simplify the adaptation of camera data which are captured during the operation of a motor vehicle in different positions of the motor vehicle relative to a road surface on which the motor vehicle is driving, using at least one external camera.

[0004] The problem is solved by a method for adjusting camera data acquired during the operation of a motor vehicle in different positions relative to a road surface on which the motor vehicle is traveling, using at least one external camera equipped with an external mirror of the motor vehicle, wherein the external camera has a first laser diode and a second laser diode which measure a current distance to the road surface at defined angles to the optical axis of the external camera, wherein the first laser diode measures at an angle in the direction of travel, i.e. obliquely forwards, wherein the second laser diode measures at an angle opposite the direction of travel, i.e. obliquely backwards, wherein a current inclination of the vehicle or the external camera in a pitching direction is determined from a difference of the measured distances, wherein the camera data are corrected from the determined inclinations.

[0005] A preferred embodiment of the method is characterized in that the motor vehicle is equipped with a reversing camera and / or a front camera, which have laser diodes for measuring the inclination of the motor vehicle, wherein the laser diodes detect crossings and road surface irregularities.

[0006] Another preferred embodiment of the method is characterized in that extrinsic parameters of the external camera are adjusted depending on the current load of the vehicle. Extrinsic parameters describe the position and orientation of a camera in three-dimensional space relative to a coordinate system.

[0007] Another preferred embodiment of the method is characterized in that extrinsic parameters of the external camera are adjusted in the event of one-sided chassis damage or one-sided loading of the motor vehicle.

[0008] Another preferred embodiment of the method is characterized in that the extrinsic parameters are transferred to an image processing system in real time. This ensures a precise, synthetic projection, for example of parking space boundaries, onto the real camera image at all times.

[0009] In a motor vehicle with at least one exterior mirror equipped with an exterior camera that captures camera data in different positions relative to the road surface on which the vehicle is traveling, the problem described above is solved alternatively or additionally by adjusting the camera data during the operation of the motor vehicle according to a previously described method. The motor vehicle with which the claimed method is applied is advantageously equipped with two exterior mirrors, each of which integrates an exterior camera with two laser diodes. The difference in the measured vehicle height positions of the exterior cameras from right to left allows conclusions to be drawn about the tilt of the motor vehicle in a particular direction of travel.The current position and orientation of the external cameras in three-dimensional space relative to a coordinate system is described using extrinsic parameters. By adjusting these extrinsic parameters in real time, precise projection, for example of parking space boundaries, can be ensured at all times. The claimed method provides a cost-effective, robust, energy-efficient, and continuous method for determining the inclination, tilt, and / or rotation and vertical position of a vehicle camera. This ensures the accuracy of image projections regardless of the vehicle's current condition, such as load, chassis damage, or mounting deviations. The claimed method allows for the precise determination of the camera's orientation at all times, irrespective of the vehicle's current position.

[0010] A method, a system, and a device are proposed that use two cost-effective laser diodes to determine the current spatial position and orientation of a vehicle camera. The lasers are positioned at defined angles relative to the camera's optical axis and continuously measure distances to the road surface. The exact tilt and Z-position of the camera—its height above the road or a reference point—can be determined from the differences in these measured distances. The acquired data is used to dynamically adjust the camera's extrinsic parameters. This allows for precise correction of projections within the image area and automatically compensates for mounting errors. The correct extrinsic parameters, in addition to the intrinsic parameters, are required to perform projections within the image area.

[0011] This provides a cost-effective, robust, and continuous method for determining the tilt / rotation and vertical position of a vehicle camera, ensuring the accuracy of image projections regardless of vehicle condition, such as load, chassis damage, etc., or mounting deviations. Two laser diodes are positioned at defined angles to the camera's central axis. The cameras on the side mirrors are the primary cameras used. Advantageously, laser diodes can also be mounted on the front and rear cameras. The measurement is based on the time-of-flight principle, which determines distances to the road surface. From the difference between the measured distances and the predefined normal state, inclinations in the pitch and roll directions (pitch and roll) can be calculated. The pitch direction / angle is determined by the two laser diodes of a camera.Roll direction / angle are determined by comparing the vertical distance between diodes on the left and right sides of the vehicle. Changes in the absolute distance provide information about the camera's Z-position. The determined values ​​are used for continuous correction of the camera parameters in the extrinsic circuitry.

[0012] This offers several advantages, including: continuous compensation for load effects or chassis changes; automatic correction of assembly errors; improved accuracy in image-based projections, especially with wide-angle and fisheye cameras; cost-effective implementation with only two laser diodes, optionally expandable for higher redundancy. Using two lasers for measurement is particularly advantageous. Suitable software determines the current tilt and height to adjust the camera projection accordingly.

[0013] Further advantages, features, and details of the invention will become apparent from the following description, in which various exemplary embodiments are described in detail with reference to the drawing. The drawing shows: Fig. 1 A schematic representation of a system for adapting camera data acquired during the operation of a motor vehicle in different positions of the motor vehicle relative to a road surface, wherein the motor vehicle is in Fig. 1 is in a normal position; Fig. 2 a similar schematic representation as in Fig. 1 with a heavily loaded motor vehicle; Fig. 3 a similar schematic representation as in Fig. 1 and Fig. 2 with a vehicle that is loaded on one side or has chassis damage.

[0014] In the Fig. Figures 1 to 3 illustrate a system and a method for adjusting camera data, wherein a motor vehicle is located in different positions relative to a road surface 1.

[0015] The motor vehicle in the Fig. 1 and Fig. 2 includes an external camera 6, which is integrated into an external mirror of the motor vehicle.

[0016] The motor vehicle in Fig. 3 comprises two external cameras 36, 37, which are mounted laterally on the motor vehicle. The external cameras 36, 37 are advantageously also integrated into the motor vehicle's exterior mirrors.

[0017] In Fig. 1. The vehicle is in its normal position. Two laser diodes integrated into the external camera 6 measure a measuring distance 11 forward and a measuring distance 12 backward.

[0018] A vertical distance of 13 is in Fig. 1 is indicated by a dashed arrow. Using the measured distances 11, 12 forward and backward, the vertical distance 13 can be calculated via trigonometric relationships between angle and distance.

[0019] An arrow indicates Fig. 1. The vehicle position and direction of travel are indicated in the normal position of the motor vehicle. Fig. 2 represents a vehicle position and 10 a direction of travel, also indicated by an arrow. This illustrates that the motor vehicle is in Fig. 1 is inclined relative to the road surface 1.

[0020] The laser diodes integrated into the external camera 6 measure different distances 21 forward and 22 backward. Using known trigonometric relationships, a tilt in degrees and a vertical distance 23 can be calculated.

[0021] In Fig. Arrows indicate a direction of travel 30 and chassis damage or uneven loading 34 of the vehicle. Two laser diodes are integrated into each of the two external cameras 36, 37. The laser diodes measure different distances 31, 32 and 71, 72 to the road surface 1. Here, too, a roll angle and a vertical distance 33, 73 can be calculated using trigonometry.

[0022] Fig. Example 2 concerns a vehicle that is heavily loaded, with a significant weight in the trunk. This causes the vehicle to sag at the rear axle and point upwards in the direction of travel. Compared to the normal position, the laser diode pointing backwards (against the direction of travel) will display a smaller distance value than the diode pointing forwards from the same camera. By precisely determining the deviation from the normal position, the tilt angle, which corresponds to the pitch angle, can be calculated. The extrinsic parameters are then adjusted accordingly. Otherwise, the projection of areas on the ground, such as parking spaces, would be projected into the air.

[0023] Fig.Example 3 applies, for instance, to a vehicle with a one-sided landing gear failure on the left side or a heavier load on the left side, causing it to lean slightly. A difference in vertical distance can be detected using a diode on each side. The distance to the surface on the left side is less than on the right. By precisely determining the deviation from the normal position, particularly using Time of Flight, the tilt angle, which corresponds to the roll angle, can be calculated. The extrinsic parameters are then adjusted accordingly.

[0024] In an extended version, additional lasers can be used to more robustly detect crossings or uneven road surfaces. The calculated extrinsic parameters are transferred to the image processing system in real time, ensuring precise projection, e.g., of parking space boundaries, at all times.

[0025] In practice, two lasers on one camera, or lasers on the left and right, measure the distance to the road surface. The system immediately knows if and how the camera is tilted and can correct this. Reference sign 1 Road surface 6 outdoor cameras 10 Vehicle position and direction of travel 11 Measuring distance forward 12 Measuring distance to the rear 13 Vertical distance 15 camera angles facing forward 16 rear camera angles, 20 Vehicle position and direction of travel 21 Measuring distance forward 22 Measuring distance to the rear 23 Vertical distance 30 Vehicle position and direction of travel 31 Measuring distance forward 32 Measuring distance to the rear 33 Vertical distance 34 Chassis damage or uneven load 36 Outdoor camera 37 Outdoor camera 71 Measuring distance forward 72 Measuring distance to the rear 73 Vertical distance QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] US 2021 080 286 A1

[0002] EP 1 619 085 A1

[0002] DE 10 2013 012 787 A1

[0002]

Claims

[1] Method for adjusting camera data acquired during the operation of a motor vehicle in different positions of the motor vehicle relative to a road surface (1) on which the motor vehicle is traveling, using at least one external camera (6) with which an external mirror of the motor vehicle is equipped, wherein the external camera (6) has a first laser diode and a second laser diode which measure a current distance to the road surface (1) at defined angles to the optical axis of the external camera (6), wherein the first laser diode measures at an angle in the direction of travel, i.e. obliquely forwards, wherein the second laser diode measures at an angle opposite to the direction of travel, i.e. obliquely backwards, wherein a current inclination of the vehicle or of the external camera (6) in a pitching direction is determined from a difference of the measured distances, wherein the camera data are corrected from the determined inclinations. [2] Method according to claim 1,characterized by , that the motor vehicle is equipped with a reversing camera and / or a front camera which have laser diodes for measuring the inclination of the motor vehicle, wherein the laser diodes detect crossings and road surface irregularities (1). [3] Method according to any one of the preceding claims, characterized by , that extrinsic parameters of the external camera (6) are adjusted depending on the current load of the vehicle. [4] Method according to any one of the preceding claims, characterized by , that extrinsic parameters of the external camera (6) are adjusted in the event of one-sided chassis damage to the motor vehicle. [5] Method according to claim 4 or 5, characterized by , that the extrinsic parameters are passed to an image processor in real time. [6] Motor vehicle with at least one external mirror equipped with an external camera (6) which, during operation of the motor vehicle, captures camera data in different positions relative to a road surface (1) on which the motor vehicle is traveling, characterized by that the camera data are adapted during the operation of the motor vehicle according to a method according to one of the preceding claims.

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