Surround view systems for vehicles

Abstract

The present invention relates to a surround view system (500) for a vehicle (600). The surround view system includes a processing unit (502) configured to receive first light sensor data from a light sensor (511). The light sensor data includes first data where the light sensor has a first angle relative to the vehicle body. The processing unit is further configured to calibrate the light sensor using the first light sensor data, construct a view using the first light sensor data of the calibrated light sensor, and render a surround view using the view. The processing unit is further configured to receive second light sensor data from the light sensor. The second light sensor data includes second data where the light sensor has a second angle relative to the vehicle body. The processing unit is further configured to estimate a difference between the first angle and the second angle, reconstruct a view of the light sensor using the second light sensor data of the light sensor having the second angle, and render a surround view using the reconstructed view.

Description

[Technical Field]

[0001] The present invention relates to a surround view system for a vehicle, to the use of a processing unit in a surround view system for a vehicle, to a method for rendering a surround view of a vehicle, to a vehicle including such a surround view system, to a computer program, and to a non-transitory computer-readable medium. [Background technology]

[0002] Vehicle surround view systems rely on stationary fixtures, including the relative positions and angles of their cameras relative to the vehicle body. The cameras are calibrated to these positions and angles. Changes in relative positions or angles can result in distortion of the field of view, blind spots, and other effects that can disrupt the surround view, render the camera views unusable, or render the surround view incomplete. Summary of the Invention

[0003] It may be desirable to provide an improved surround view system.

[0004] This need is met by the subject matter of the independent patent claims. Advantageous embodiments are the subject matter of the dependent claims, the following description and the drawings.

[0005] The described embodiments also relate to a surround view system for a vehicle, the use of a processing unit in a surround view system for a vehicle, a method for rendering a surround view of a vehicle, the vehicle including such a surround view system, a computer program, and a non-transitory computer-readable medium. Synergistic effects may arise from various combinations of the embodiments, which need not be described in detail.

[0006] It should also be noted that all embodiments of the present disclosure, including processes, may be performed in the order of steps described, but this need not be the only essential order of steps in the process. The methods disclosed herein may be performed in a different order of the disclosed steps without departing from the particular method embodiment, unless otherwise specified below.

[0007] According to a first aspect, a surround view system for a vehicle is provided. The surround view system includes a processing unit configured to receive first light sensor data from a light sensor. The light sensor data includes first data in which the light sensor has a first angle relative to a vehicle body. The processing unit is further configured to calibrate the light sensor using the first light sensor data, construct a view using the first light sensor data of the calibrated light sensor, and render a surround view using the view. The processing unit is further configured to receive second light sensor data from the light sensor. The second light sensor data includes second data in which the light sensor has a second angle relative to the vehicle body. The processing unit is further configured to estimate a difference between the first angle and the second angle, reconstruct a view of the light sensor using the second light sensor data of the light sensor having the second angle, and render a surround view using the reconstructed view.

[0008] The term "first data" refers to light sensor data, i.e., image data captured when the camera is not pivoted. Correspondingly, the term "second data" refers to light sensor data, i.e., image data captured when the light sensor is pivoted. It is understood that the surround view is repeatedly updated with additional first data when the light sensor is not pivoted, and is repeatedly updated with additional second data, i.e., additional image data, when the light sensor is pivoted.

[0009] It will be apparent to those skilled in the art that the second angle can be determined by estimating the difference between the first angle and the second angle, and the view having the second angle can be transformed into the view having the first angle. For example, a transformation matrix or a rotation matrix can be used to transform the view having the second angle into the view having the first angle.

[0010] The first and second angles may be relative to a common local vehicle coordination system.

[0011] A vehicle's surround view system uses multiple single views to create, for example, a 360-degree surround view. Each single view is obtained by each camera capturing a portion of the surround view. The sections of the multiple cameras typically overlap, and a processing unit recognizes the overlapping areas and matches them to combine or merge adjacent views. Areas not covered by any of the views can be interpolated, for example, if they are small, or can be drawn as solid-colored areas or patterns. The cameras are calibrated so that their relative positions, particularly their orientations, are precisely defined. As a result, images from different cameras can be seamlessly merged, and presented objects can be displayed at the correct angle and position on the surround view. According to current technology, when one of the multiple cameras is rotated, the image from this camera is incorrectly incorporated into the surround view. If the processing unit cannot match the image to the surround view, the entire image is discarded, resulting in blind spots. Therefore, such blind spots can affect the complete side view, such as the left or right side of the vehicle. The processing unit of the present disclosure is configured to overcome the problem of being unable to match images, resulting in the view no longer being able to be combined and resulting in blind spots. To do so, the processing unit considers that the second data is data from a view at a different angle. The processing unit "corrects" the view by rotating the view from the second angle to the view at the first angle. This allows the processing to find matching areas of the views, allowing the presented object at the second angle to be projected onto the object at the first angle. The processing unit can then process the views and find matching adjacent areas so that the views from multiple cameras can be combined and used to render a surround view. Because the views of the pivoted or rotated camera may not cover the entire side of the vehicle, blind spots may still remain. However, this remaining blind spot is small compared to the blind spot caused by discarding the complete view or image of the pivoted camera.

[0012] The camera may be, for example, a camera located on a vehicle door. The event associated with pivoting the camera may be, for example, the opening of the door, the movement of the vehicle, or an action that leads to the actuation of the door itself. Thus, the "event" in this example is not necessarily the opening of the door itself, but an event that may be followed by the opening of the door.

[0013] The processing unit may be part of a human-machine interface (HMI) or driver assistance system. The processing unit may further include one or more processors capable of processing signals, images, video, and / or providing data and signals to a display. The processing unit may further include interfaces to, for example, data storage devices and to external units, such as other driver assistance systems and / or directly or indirectly accessible sensor units.

[0014] For example, when a door is opened, the camera follows a circular curve with the door hinge as its midpoint, resulting in a change in both camera position and orientation, which can be represented as a combination of rotation and translation. The term "pivot" takes such motion into account, but can also include rotation alone.

[0015] According to one embodiment, the surround view system further includes a light sensor, the light sensor being mounted on a pivotable portion of the vehicle body.

[0016] The pivotable part may be, for example, a door, a retractable mirror or a trunk lid.The light sensor may be a camera, such as a digital or analogue camera, or a device using, for example, a CCD or CMOS chip.

[0017] According to one embodiment, the event is a change in a vehicle state, and the processing unit is further configured to monitor the vehicle state, and when the processing unit detects that the vehicle is in a first vehicle state, receive first light sensor data from the light sensor, calibrate the light sensor using the first light sensor data, construct a view using the light sensor data of the calibrated light sensor, and render a surround view using the view. When the processing unit detects that the vehicle is in a second vehicle state, the processing unit is further configured to receive second light sensor data from the light sensor, estimate a difference between the first angle and the second angle, reconstruct a view of the light sensor, and render a surround view using the reconstructed view.

[0018] That is, events are detected by monitoring the vehicle state. Before an event occurs, the surround view is constructed from the calibrated camera images without any modification regarding the camera orientation. After the event occurs, the rotation angle is estimated and the reconstructed view is used to render the surround view.

[0019] According to one embodiment, the vehicle state is whether the electrical system is switched on or off, whether the motor is running or not, and / or whether the vehicle is moving or not.

[0020] For example, the doors may be opened when the vehicle is stopped or immediately after the vehicle is stopped. As another example, the mirrors on the side of the vehicle may be retracted when the electrical system and / or the electrical system is turned on when the key is inserted into the ignition lock.

[0021] According to one embodiment, the processing unit is further configured to detect events, such as changes in vehicle conditions, using light sensor data sensed by the pivotable light sensor.

[0022] For example, the processing unit may evaluate images that show motion relative to the road, and thus indicate that the motor is on and the vehicle is moving. As another example, the processing unit may evaluate images from a side mirror or door-mounted optical sensor and detect that the images show an increasing portion of the vehicle's body. In a further example, the processing unit may detect a relative rotational speed of surrounding objects that is faster than the vehicle traveling around a curve.

[0023] According to one embodiment, the processing unit is further configured to detect the event using external vehicle data or external sensor data.

[0024] External vehicle data can be received from vehicle devices, sensors, or control units that are external to the surround view system but are inside or attached to the vehicle. External data may also be received from auxiliary devices such as a navigation system or a driver assistance system. Data can include, for example, information about the movement of the vehicle, whether the electrical system is on, or whether the motor is on. Movement information can be, for example, information about the vehicle's speed, wheel angle, or route. The term "data" in this disclosure also includes digital or analog signals.

[0025] According to one embodiment, the event is a pivoting of the pivotable part, and the processing unit is further configured to detect the pivoting of the pivotable part by receiving external sensor data.

[0026] Again, the term "external" means external to the surround view system. External sensor data may be provided from one or more sensors, such as hall sensors, contact sensors, or proximity sensors, that detect whether a door is closed, or from a controller, such as an actuator for retracting a side mirror. The controller may have a communication or signal link to a processing unit to indicate actuation. The controller may also provide information regarding the rotation angle of a controlled device.

[0027] According to one embodiment, the processing unit is further configured to estimate a difference between the first angle and the second angle using stored vehicle data and / or external sensor data.

[0028] The difference between the first angle and the second angle may be binary, for example, relating to a binary monitored vehicle state. For example, possible vehicle states detected by the processing unit may be "vehicle is moving" and "vehicle is not moving." In this example, because no further state information is available, the difference between the first angle and the second angle is converted into a "door closed" angle, e.g., 0°, or a "door open" angle, e.g., 70°. This information may be included in a data storage device of the vehicle accessible by the processing unit or in a data storage device of the surround view system. However, the processing unit may also receive and use measurement data from a sensor that measures the current door open angle. The processing unit can then calculate the view according to this angle information.

[0029] According to one embodiment, the pivotable part of the vehicle body is a vehicle door.

[0030] The door may be, for example, the door next to the driver's or passenger's seat. If external sensor data is used, the sensor may provide information about which seat is occupied. Additionally, a seat belt sensor may provide information about which seat a seat belt release occurred in and therefore a door opening may be assumed.

[0031] According to one embodiment, the surround view system further includes a plurality of light sensors, and the processing unit is further configured to receive light data from the plurality of light sensors and to render the surround view system further using the light data of the plurality of light sensors.

[0032] Additional optical sensors may be mounted, for example, on the front, rear, edges, or elsewhere on the vehicle body.

[0033] According to a further aspect, a method for using a processing unit in a surround view system for a vehicle is provided. The processing unit receives first light sensor data from a light sensor. The light sensor data includes first data in which the light sensor has a first angle relative to the vehicle body, calibrates the light sensor using the first light sensor data, and constructs a view using the light sensor data of the calibrated light sensor. The processing unit detects an event related to pivoting of the light sensor, and upon detecting the event, receives second light sensor data from the light sensor. The second light sensor data includes second data in which the light sensor has a second angle relative to the vehicle body. The processing unit estimates a difference between the first angle and the second angle, reconstructs a surround view using the second light sensor data of the light sensor having the second angle, and renders the surround view using the reconstructed view.

[0034] According to a further aspect, a method for rendering a surround view of a vehicle is provided. The method includes the following steps: In a first step, first light sensor data is received by a processing unit from a light sensor, the first light sensor data including first data in which the light sensor has a first angle relative to the vehicle body. In a next step, the light sensor is calibrated by the processing unit using the first light sensor data, and a view is constructed using the first light sensor data of the calibrated light sensor. In a next step, an event related to pivoting of the light sensor is detected. In a further step, upon detecting the event, second light sensor data is received from the light sensor, the second light sensor data including second data in which the light sensor has a second angle relative to the vehicle body. In a next step, a difference between the first angle and the second angle is estimated. In a further step, a view of the light sensor is reconstructed using the second light sensor data of the light sensor having the second angle, and a surround view is rendered using the reconstructed view. By reconstructing a view and using this view, the previous view is discarded or at least not used in rendering the surround view.

[0035] If no event related to the pivoting of the light sensor is detected, the surround view is rendered using the view, i.e. the angle needs to be determined and the view does not need to be reconstructed.

[0036] According to a further aspect, there is provided a vehicle including a surround view system as described herein.

[0037] According to a further aspect, there is provided a program that, when executed by a processor, causes the processor to implement the method for rendering a surround view of a vehicle described herein.

[0038] According to a further aspect, a non-transitory computer-readable medium is provided having stored thereon a program that, when executed by a processor, causes the processor to implement a method for rendering a surround view of a vehicle.

[0039] A computer-readable medium may be considered a storage medium or memory device, such as, for example, a USB stick, a CD, a DVD, a data storage device, a hard disk, or any other medium capable of storing program elements as described above. In the embodiments described herein, the memory device may include, but is not limited to, non-transitory computer-readable media such as flash memory, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and non-volatile RAM (NVRAM). As used herein, the term "non-transitory computer-readable medium" is intended to represent any tangible computer-readable medium, including, but not limited to, non-transitory computer storage devices, including, but not limited to, volatile and non-volatile media, as well as firmware, physical and virtual storage devices, removable and non-removable media such as CD-ROMs, DVDs, and any other digital source such as a network or the Internet, and any yet-to-be-invented digital means, the only exception being a transitory, propagating signal. Alternatively, a floppy disk, compact disk read-only memory (CD-ROM), magneto-optical disk (MOD), digital versatile disk (DVD), or any other computer-based device implemented in any method or technology for short-term and long-term storage of information such as computer-readable instructions, data structures, program modules and sub-modules, or other data may also be used. Accordingly, the methods described herein may be encoded as executable instructions embodied in a non-transitory computer-readable medium, e.g., "software" and "firmware."

[0040] Furthermore, as used herein, the terms "software" and "firmware" are used interchangeably and include any computer program stored in memory for execution by personal computers, workstations, clients, and servers. Such instructions, when executed by a processor, cause the processor to perform at least a portion of the methods described herein.

[0041] These and other features, aspects and advantages of the present invention will become better understood with reference to the accompanying drawings and the following description. [Brief explanation of the drawings]

[0042] [Figure 1] A schematic diagram of an ideal surround view. [Figure 2a] 1 is a schematic diagram of a surround view in which the camera is pivoted. [Figure 2b] 1 is a schematic diagram of a surround view with the camera view of the pivoted camera removed. [Figure 3] 10 is a schematic diagram of a corrected surround view. [Figure 4] FIG. 1 is a flow diagram of a method for rendering a surround view of a vehicle. [Figure 5] FIG. 1 is a block diagram of a surround view system. [Figure 6] FIG. 1 is a block diagram of a method for rendering a surround view of a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0043] Corresponding parts are given the same reference numerals in all figures.

[0044] FIG. 1 shows a surround view of a vehicle 600 with its doors closed. This occurs, for example, when the electrical system or motor is activated or when the vehicle is moving. The surround view is represented by a bowl view, in which images from several cameras 511, 512, 513, and 514 are combined into a single view. The cameras 511, 512, 513, and 514 are mounted on the vehicle body. This disclosure distinguishes between rigid, i.e., fixed, parts of the vehicle body and movable or pivotable parts of the vehicle body, such as doors and rotating mirrors. Some of the cameras 511, 512, 513, and 514 are attached to such movable or pivotable parts. Typically, and again in this case, the cameras 511, 512, 513, and 514 are externally calibrated to the vehicle body. Calibration can be performed under reference conditions. The reference conditions can be in a predetermined environment with known objects and their associated geometric shapes. The objects can include markings on walls, floors, or streets. However, for further calibration, the calibration conditions may also exist when the vehicle 600 is moving and all moving or rotating parts are in positions corresponding to the driving scenario, i.e., doors are closed, mirrors are adjusted, etc. Thus, the cameras 511, 512, 513, and 514 may also be recalibrated after calibration under reference conditions. Recalibration may be necessary because the vehicle body may rotate due to driving forces, which may be caused by road conditions or driving maneuvers such as braking or accelerating. In all these cases, the cameras only rotate or move very slightly relative to the local vehicle coordinate system associated with the vehicle body. Figure 1 shows a surround view rendered by the views of the cameras 511, 512, 513, and 514 under such a calibrated or recalibrated condition. The squares in the figure can be interpreted as a common coordinate system for the calibrated cameras that can be mapped to the vehicle body coordinate system. In the calibrated state, they are all oriented in exactly the same direction. The thick line 108 indicates the orientation of the camera view of camera 511. Lines 112 represent the distance scale. Several supports 106, 110 are shown to give a three-dimensional impression.A support 110 is shown at the intersection between the views of the two cameras 511, 512, where the views merge. Line 104 indicates the field of view of camera 512.

[0045] Figure 2a shows the surround view when a door (the left door of the vehicle in Figure 2) is open. In this case, the view orientation of camera 511 is different, as can be seen by the orientation of the bold lines and squares. The camera still uses the calibration extrinsic as described above. The camera coordinate system of camera 511 is rotationally displaced relative to the common surround view coordinate system. Lines 108 and 202 indicate the view orientation. The changed view is also perceptible in three dimensions by support 106.

[0046] The processing unit, which processes the camera images to generate the surround view, now detects that the vehicle is in a door-open state. The detection may be based on information from the camera or external information. The processing unit may, for example, evaluate the images from the surround view camera. For example, it may detect that the same object is visible by the two cameras, which would normally not be the case. As another example, the camera may detect that a change in vehicle movement has occurred from driving to stopped or vice versa by comparing the images with previous images from this camera 511 and / or the further cameras 511, 513, 514. In an embodiment, this information may be further combined with external information, for example, that the motor has stopped. For this purpose, external information from other sensors, controllers, or driver assistance systems may be used.

[0047] Figure 2b shows a simplified view of the surround view when the camera is pivoted and the angle is not taken into account. In this case, the view of the pivoted camera cannot be used to render the surround view and is therefore eliminated. This results in a surround view with an almost complete left blind spot.

[0048] Figure 3 shows the processed and rendered surround view, where the angle of the pivoted camera 511 is taken into account and the processing unit corrects the view as shown in Figure 2a by the current door angle. The views are realigned and the surround view can be constructed using all camera views. The remaining blind spots in the surround view are caused by the field of view of camera 511 and can have an opening angle of less than 180°, thus not covering the complete left side when the door is open. Lines 108 and 202 again indicate view orientations that differ from the pivoted camera orientation. In addition to angle, distance can also be adapted.

[0049] FIG. 4 shows a flow diagram illustrating a method 400 for rendering a surround view of a vehicle. The flow diagram serves as an overview. The steps have been described in detail above, so the detailed description will not be repeated here. In step 402, the vehicle's electrical system and motor are turned on. The vehicle can, for example, start moving at this step or immediately after one or two subsequent steps. In step 404, the surround view system is switched on. The surround view system may be a human-machine interface having a processing unit and display to which optical sensors, hereinafter referred to as "cameras," are connected, providing optical sensor data, hereinafter referred to as "images" or "image data," for rendering the surround view. In step 406, the processing unit receives first image data of a live camera feed. Each image represents the view of the corresponding camera. In step 408, the processing unit calibrates the camera using the first image data, and in step 410, the processing unit also uses the first image data to construct a view. The first image data is captured when the camera is not pivoting, for example, when the vehicle is moving. In step 412, the processing unit monitors the vehicle state and / or vehicle dynamics. The vehicle state or vehicle dynamics can be obtained by evaluating camera images or by receiving external device or sensor information. If the vehicle state does not change, i.e., for example, the vehicle is still moving or the vehicle is still running, the surround view is rendered in step 420, and steps 406 to 412 are repeated. However, if the processing unit detects that the vehicle is stopped or not ready to drive, for example, because a door is open, step 414 is executed. In step 414, the processing unit receives second optical sensor data from the optical sensor. The second optical sensor data includes second data in which the optical sensor has a second angle with respect to the vehicle body due to pivoting the optical sensor. It is assumed that the door is not yet open when the vehicle stops.Thus, the "first" image may show a view in which the door is still closed. Therefore, the second image may be captured with a delay relative to the capture of the second image. In step 416, the angle of the open door relative to the closed door is estimated. This may occur, for example, using external sensor data or data contained in a data store. In step 418, the view is reconstructed by taking the estimated angle into account. In step 420, a surround view is rendered using the reconstructed view of the pivoted camera, and the flow returns to step 406.

[0050] 5 shows a block diagram of a surround view system 500 including a processing unit 502 to which light sensors 511, 512, 513, and 514 are connected. Additionally, the processing unit has access to a data storage device 510 in which the first light sensor data, the second light sensor data, and further data such as collected sensor data are at least temporarily stored, and has an interface 520 to an external device. The processing unit can also access external data by accessing the external data storage device or by receiving data directly from an external sensor or device 522.

[0051] 6 shows a block diagram of a vehicle 600 including such a surround view system 500 having a processing unit 502 and optical sensors 511-514. The processing unit 502 can receive data from an external sensor or device 522.

[0052] Some embodiments include the use of one or more electronic processing devices or computing devices. As used herein, the terms "processor" and "computer" and related terms, such as "processing device," "computing device," and "controller," are not limited to those integrated circuits referred to in the art as computers, but broadly refer to processors, processing devices, controllers, general-purpose central processing units (CPUs), graphics processing units (GPUs), microcontrollers, microcomputers, programmable logic controllers (PLCs), reduced instruction set computer (RISC) processors, field programmable gate arrays (FPGAs), digital signal processing (DSP) devices, application-specific integrated circuits (ASICs), and other programmable circuits or processing devices capable of performing the functions described herein, and these terms are used interchangeably herein. The above-described embodiments are merely examples and are therefore not intended to limit in any way the definition or meaning of processor, processing device, and related terms. [Explanation of symbols]

[0053] 104 Line showing the field of view of the front camera 512 106 Post 108 Distance and direction lines 110 A support at the interface between two camera views 112 Lines showing distance scales 202 Lines showing distance and direction 400 Method for rendering a surround view of a vehicle 402-420 Processing steps of method 400 500 Surround View System 502 Processing Unit 510 Data storage device 511 First optical sensor I Left camera 512 Additional Optical Sensor I Front Camera 513 Additional Light Sensor | Right Camera 514 Additional Optical Sensor I Rear Camera 520 External Data Input 522 External Sensors / Devices 600 vehicles

Claims

1. A surround view system (500) for a vehicle (600), comprising: a processing unit (502), the processing unit (502) comprising: receiving first light sensor data from a light sensor (511), the first light sensor data including first data that the light sensor (511) has a first angle with respect to the vehicle body; calibrating the optical sensor (511) using the first optical sensor (511) data; constructing a view using the optical sensor (511) data of the calibrated optical sensor (511); Detecting an event related to pivoting of the optical sensor (511); receiving second light sensor (511) data from the light sensor (511) upon detecting the event, the second light sensor (511) data including second data for pivoting the light sensor (511) based on the event so that the light sensor (511) has a second angle with respect to the vehicle body; estimating a difference between the first angle and the second angle; reconstructing the view of the optical sensor (511) using the second optical sensor (511) data of the optical sensor (511) having the second angle; Rendering the surround view using the reconstructed view. The surround view system (500) is configured as follows.

2. 2. The surround view system (500) of claim 1, further comprising the optical sensor (511), the optical sensor (511) being mounted to a pivotable portion of the vehicle body.

3. The event is a change in a vehicle state, and the processing unit (502) monitor the vehicle condition; When the processing unit (502) detects that the vehicle (600) is in a first vehicle state, the processing unit (502) performs the steps of receiving first light sensor (511) data from a light sensor (511), calibrating the light sensor (511) using the first light sensor (511) data, constructing a view using the light sensor (511) data of the calibrated light sensor (511), and rendering the surround view using the view; When the processing unit (502) detects that the vehicle is in a second vehicle state, the processing unit (502) performs the steps of receiving second light sensor (511) data from a light sensor (511), estimating a difference between the first angle and the second angle, reconstructing the view, and rendering the surround view using the reconstructed view.

3. The surround view system (500) of claim 1 or 2, further configured to:

4. 4. The surround view system (500) of claim 3, wherein the vehicle state is whether the electrical system (500) is switched on or off, whether the motor is running, and / or whether the vehicle is moving.

5. The surround view system (500) of any one of claims 1 to 4, wherein the processing unit (502) is further configured to detect the event using the optical sensor (511) data sensed by the optical sensor (511).

6. The surround view system (500) of any one of claims 1 to 5, wherein the processing unit (502) is further configured to detect the event using external vehicle data.

7. 7. The surround view system (500) of claim 1, wherein the event is a pivoting of the pivotable part, and the processing unit (502) is further configured to detect the pivoting of the pivotable part by receiving external sensor data.

8. 8. The surround view system (500) of claim 1, wherein the processing unit (502) is further configured to estimate the difference between the first angle and the second angle using stored vehicle data and / or external sensor data.

9. 9. The surround view system (500) of any one of claims 1 to 8, wherein the pivotable portion of the vehicle body is a door of the vehicle.

10. The surround view system (500) of any one of claims 1 to 9, wherein the surround view system (500) further includes a plurality of sensors (511-514), and the processing unit (502) is further configured to receive light data from the plurality of light sensors (511-514) and further use the light data of the plurality of light sensors (511-514) to render the surround view system (500).

11. 1. Use of a processing unit in a surround view system for a vehicle, the processing unit comprising: receiving first light sensor data from a light sensor, the first light sensor data including first data that the light sensor has a first angle with respect to the vehicle body; calibrating the light sensor using the first light sensor data; constructing a view using the light sensor data of the calibrated light sensor; Detecting an event associated with pivoting of the optical sensor; receiving second light sensor data from the light sensor upon detecting the event, the second light sensor data including second data in which the light sensor has a second angle with respect to the vehicle body; estimating a difference between the first angle and the second angle; reconstructing the view of the light sensor using the second light sensor data of the light sensor having the second angle, and rendering the surround view using the reconstructed view. Usage configured as follows:

12. A method (400) for rendering a surround view of a vehicle, comprising: receiving (406) first light sensor data from a light sensor, the first light sensor data including first data where the light sensor has a first angle relative to the vehicle body; calibrating the light sensor using the first light sensor data (408); constructing (410) a view using the light sensor data of the calibrated light sensor; Detecting an event associated with pivoting of the optical sensor (412); receiving (414) second light sensor data from the light sensor upon detecting the event, the second light sensor data including second data for pivoting the light sensor based on the event so that the light sensor has a second angle with respect to the vehicle body; estimating (416) the difference between the first angle and the second angle; reconstructing (418) the view of the photosensor using the second photosensor data of the photosensor having the second angle; Rendering (420) the surround view using the reconstructed view; The method (400) includes:

13. A vehicle including a surround view system according to any one of claims 1 to 10.

14. A computer program product which, when executed by a processor, causes the processor to implement the method for rendering a surround view of a vehicle according to claim 12.

15. A non-transitory computer-readable medium having stored thereon a computer program that, when executed by a processor, causes the processor to implement the method for rendering a surround view of a vehicle according to claim 12.

Images