Method and device for assisting in the calibration of camera-based rear-view mirrors of motor vehicles

Abstract

A device (6) for assisting in the calibration of camera-based rear-view mirrors (4a, 4b) of motor vehicles (2) comprises: at least one image recording device (8) for recording images of a motor vehicle (2) situated in front of the at least one image recording device (8). The device (6) is designed to use the at least one image recording device (8) to record at least one image of a motor vehicle (2) situated in front of the at least one image recording device (8); to determine the position of the motor vehicle (2) in front of the image recording device (8) from the at least one recorded image; to take the thus determined position of the motor vehicle (2) as a basis for determining the position of at least one calibration marking (14a, 14b) for calibrating the at least one camera-based rear-view mirror (4a, 4b) next to the motor vehicle (2); and to display and / or mark the thus determined position of the at least one calibration marking (14a, 14b).

Description

[0001] R.414219

[0002] - 1 -

[0003] Description

[0004] title

[0005] Method and device for supporting the calibration of screen rearview mirrors of motor vehicles

[0006] The invention relates to a method and a device for supporting the calibration of screen rearview mirrors of motor vehicles, in particular commercial vehicles. The invention specifically relates to a method and a device that make it possible to position calibration markers for calibrating screen rearview mirrors next to a motor vehicle.

[0007] State of the art

[0008] Motor vehicles, especially commercial vehicles, are increasingly equipped with screen rearview mirrors, which instead of a reflective surface have a screen ("display") on which a corresponding "rearview mirror image" is shown to the driver.

[0009] These screen-based rearview mirrors must be calibrated after installation and / or repair. This involves placing calibration marks on the ground next to the vehicle, according to the manufacturer's specifications, for example using measuring rods and / or by manual measurement. This procedure is time-consuming and prone to errors.

[0010] It is an object of the invention to optimize, and in particular to simplify, the calibration of screen rearview mirrors attached to motor vehicles. R.414219

[0011] - 2 -

[0012] The invention comprises a method for assisting the calibration of screen rearview mirrors of motor vehicles, wherein the method comprises: positioning a motor vehicle with at least one screen rearview mirror to be calibrated in front of an image capture device; capturing at least one image of the motor vehicle with the image capture device; determining the position of the motor vehicle in front of the image capture device from the at least one captured image; determining the position of at least one calibration mark for calibrating the at least one screen rearview mirror next to the motor vehicle based on the position of the motor vehicle thus determined; and positioning the at least one calibration mark at the position next to the motor vehicle thus determined.

[0013] The invention also comprises a device for assisting the calibration of screen rearview mirrors of motor vehicles, wherein the device includes at least one image capture device for capturing images of a motor vehicle located in front of the at least one image capture device. The device is configured to capture at least one image of a motor vehicle located in front of the at least one image capture device; to determine the position of the motor vehicle in front of the image capture device from the at least one captured image; to determine, based on the position of the motor vehicle thus determined, the position of at least one calibration mark for calibrating the at least one screen rearview mirror next to the motor vehicle; and to display or mark the position thus determined for the at least one calibration mark.

[0014] The device may in particular include a calculating device which is designed and configured to perform at least one of the aforementioned steps.

[0015] With a method and a device according to the invention, the calibration of screen rearview mirrors on motor vehicles can be significantly simplified and accelerated, since manual determination of the vehicle's position and manual positioning of the calibration markers are no longer necessary. R.414219

[0016] - 3 -

[0017] Furthermore, the quality and reliability of the calibration can also be improved, as the risk of errors that can occur when measuring and positioning the calibration marks can be significantly reduced compared to a manual method.

[0018] In one embodiment, the device has at least one projector, and the at least one calibration mark is projected by the at least one projector onto the previously determined position next to the vehicle. This enables particularly simple and convenient calibration of the screen rearview mirrors, as it is not necessary to manually position the calibration mark next to the vehicle.

[0019] In one embodiment, at least one calibration mark is projected onto the ground next to the vehicle. In this case, it is not necessary to provide separate projection surfaces next to the vehicle.

[0020] In one embodiment, the projectors are laser projectors, and the calibration markings are projected onto their predetermined positions using a laser. Laser projectors allow the calibration markings to be projected with exceptional accuracy and high contrast onto the designated positions next to the vehicle.

[0021] In one embodiment, the method comprises positioning at least one mobile marking panel, on which calibration markings are formed, at at least one predetermined position. Positioning a mobile marking panel at at least one predetermined position can be particularly advantageous in very bright lighting conditions, where it can be difficult to see projections.

[0022] In one embodiment, the method comprises displaying the position intended for the at least one mobile marking board on a display device. The method may, in particular, comprise displaying the position intended for the at least one mobile marking board together with the vehicle or at least together with a part of the vehicle, R.414219

[0023] - 4 - so that at least one mobile marker board can simply be positioned at the previously determined position next to the vehicle.

[0024] For this purpose, a device according to the invention can be equipped with a suitable display device, for example with a screen, which makes it possible to display the position intended for the at least one mobile marking board and at least one partial area of ​​the vehicle.

[0025] In one embodiment, the image recording device is a stereo image recording device that makes it possible to capture 3D images of the motor vehicle, from which the position and orientation of the motor vehicle can be determined particularly well.

[0026] In one embodiment, the method comprises positioning, in particular projecting, at least two calibration marks next to the motor vehicle. The method can particularly include positioning, in particular projecting, at least one calibration mark on each side of the motor vehicle, such that a screen rearview mirror on each side of the motor vehicle can be calibrated using one of the calibration marks.

[0027] In one embodiment, the device for supporting the calibration of screen rearview mirrors of motor vehicles is integrated into a device for vehicle measurement. In this way, a device according to the invention can be implemented in a particularly cost-effective and space-saving manner.

[0028] In particular, at least one image capture device of the vehicle measurement system can also be used to calibrate the screen-based rearview mirrors, thus eliminating the need for an additional image capture device. This further reduces costs and space requirements.

[0029] Brief description of the figures R.414219

[0030] - 5 -

[0031] Figure 1 shows a schematic top view of a motor vehicle with a device for supporting the calibration of screen rearview mirrors according to a first embodiment of the invention.

[0032] Figure 2 shows a schematic top view of a motor vehicle with a device for supporting the calibration of screen rearview mirrors according to a second embodiment of the invention.

[0033] Character description

[0034] An embodiment of the invention is described below with reference to the accompanying figures.

[0035] Figure 1 shows a schematic top view of a motor vehicle 2 with two screen rearview mirrors 4a, 4b. The motor vehicle 2 shown in Figure 1 is an example of a commercial vehicle, in particular a tractor unit.

[0036] However, a method and a device according to the invention can also be used to support the calibration of screen rearview mirrors 4a, 4b of passenger cars which are equipped with screen rearview mirrors 4a, 4b.

[0037] In front of the motor vehicle 2 is a device 6 for supporting the calibration of the screen rearview mirrors 4a, 4b of the motor vehicle 2, which is designed according to a first embodiment of the invention.

[0038] The device 6 comprises an image recording device 8, in particular a camera designed to take pictures of the motor vehicle 2 located in front of the at least one image recording device 8.

[0039] The image recording device 8 may be a stereo camera. The image recording device 8 may also comprise several cameras 8 designed to capture images of the motor vehicle 2 from several different positions and / or viewing angles. R.414219

[0040] - 6 -

[0041] The device 6 also includes a calculation device 12, which is designed and configured to receive images of the motor vehicle 2 taken by the image recording device 8 and to determine the position of the motor vehicle 2 in front of the image recording device 8 from the images taken.

[0042] The calculation device 12 is further designed and configured to determine, on the basis of the position of the motor vehicle thus determined and specifications for calibrating the screen rearview mirrors 4a, 4b of the motor vehicle 2, the positions of calibration marks 14a, 14b for calibrating the screen rearview mirrors 4a, 4b next to the motor vehicle 2.

[0043] The device 6 also has two projectors 10a, 10b which are designed and configured to receive the positions of the calibration marks 14a, 14b determined by the calculating device 12 and to project the calibration marks 14a, 14b to the positions thus determined next to the motor vehicle 2.

[0044] The projectors 10a, 10b can in particular be designed and configured to project the calibration markings 14a, 14b onto the ground next to the motor vehicle 2.

[0045] The projectors 10a, 10b, for example, may be designed as laser projectors, each having a laser that generates the (laser) light used to project the calibration marks 14a, 14b.

[0046] The projectors 10a, 10b can also be other optical projectors 10a, 10b.

[0047] The image acquisition device 8 and the projectors 10a, 10b can be mounted on a support 16 which extends horizontally in front of the motor vehicle 2, as shown in Figure 1.

[0048] The support 16 can be height-adjustable. If the support 16 is height-adjustable, the device 6 can additionally have a sensor 18 which is designed and configured to detect the current height of the support 16 above the R.414219

[0049] - 7 -

[0050] to measure the ground and transfer it to the calculation device 12, so that the calculation device 12 is able to take into account the current height of the image acquisition device 8 and the projectors 10a, 10b above the ground when calculating the positions of the calibration marks 14a, 14b.

[0051] The calculation device 12 can be configured to recognize the motor vehicle 2 positioned in front of the image acquisition device 8 in order to automatically determine the positions of the calibration marks 14a, 14b required for calibrating the screen rearview mirrors 4a, 4b of the respective motor vehicle 2. This information can be retrieved, for example, from a database 20, which may be located inside or outside the device 6, for example in a virtual cloud.

[0052] If the calculating device 12 is unable to detect the motor vehicle 2 positioned in front of the image acquisition device 8, or if no information is available for the motor vehicle 2 about the required positions of the calibration marks 14a, 14b, the calculating device 12 may prompt a user of the device 6 to enter this information manually.

[0053] The calculating device 12 can be equipped with an input device 22, for example a keyboard or a touch-sensitive screen, which allows a user to enter such information into the calculating device 12.

[0054] With a device 6 for supporting the calibration of screen rearview mirrors 4a, 4b of motor vehicles 2, as shown in Figure 1, the positioning of calibration marks 14a, 14b for calibrating screen rearview mirrors 4a, 4b of motor vehicles 2 can be significantly simplified and the risk of errors can be considerably reduced.

[0055] Figure 2 also shows a schematic top view of a motor vehicle 2 with two screen rearview mirrors 4a, 4b. R.414219

[0056] - 8 -

[0057] The motor vehicle 2 shown as an example in Figure 2 is also a commercial vehicle, in particular a tractor unit. However, the device shown in Figure 2 can also be used to assist in calibrating screen rearview mirrors 4a, 4b of passenger cars equipped with screen rearview mirrors 4a, 4b.

[0058] In front of the motor vehicle 2, a device 6 for supporting the calibration of the screen rearview mirrors 4a, 4b of the motor vehicle 2 is arranged, which is designed according to a second embodiment of the invention.

[0059] The device 6 also includes an image recording device 8, in particular a camera designed to take pictures of the motor vehicle 2 located in front of the at least one image recording device 8.

[0060] The image recording device 8 can be a stereo camera. The image recording device 8 can also comprise several cameras 8 designed to capture images of the motor vehicle 2 from several different positions and / or viewing angles.

[0061] The device 6 also includes a calculation device 12, which is designed and configured to receive images of the motor vehicle 2 taken by the image recording device 8 and to determine the position of the motor vehicle 2 in front of the image recording device 8 from the images taken.

[0062] The calculation device 12 is further designed and configured to determine, on the basis of the position of the motor vehicle thus determined and specifications for calibrating the screen rearview mirrors 4a, 4b of the motor vehicle 2, the positions of calibration marks 14a, 14b for calibrating the screen rearview mirrors 4a, 4b next to the motor vehicle 2.

[0063] The device 6 is additionally equipped with a display device 24, for example, a screen. The positions of the calibration marks 14a, 14b for calibrating the screen rearview mirror 4a, 4b, which have been calculated by the calculation device 12, are displayed on the display device 24. R.414219

[0064] - 9 -

[0065] The device 6 can in particular be designed such that the previously calculated positions of the calibration markings 14a, 14b are displayed on the display device 24 together with an image of the motor vehicle 2 or at least together with an image of parts of the motor vehicle 2.

[0066] This enables a user, with a view to the display device, to position 24 mobile marking panels 26a, 26b, on which calibration markings 14a, 14b are formed, at the previously calculated positions next to the motor vehicle 2 and / or to check the positions of mobile marking panels 26a, 26b, on which calibration markings 14a, 14b are formed, next to the motor vehicle 2.

[0067] With a device 6 for supporting the calibration of screen rearview mirrors 4a, 4b of motor vehicles 2, as shown in Figure 2, the positioning of marker boards 26a, 26b for calibrating screen rearview mirrors 4a, 4b of motor vehicles 2 can be significantly simplified and the risk of errors can be considerably reduced.

[0068] The embodiment shown in Figure 2 can be particularly advantageous if the lighting conditions are unfavorable for projecting the calibration markings 14a, 14b next to the motor vehicle 2.

[0069] As in the first embodiment shown in Figure 1, the support 16 can also be height-adjustable in the second embodiment. If the support 16 is height-adjustable, the device 6 can additionally have a sensor 18 which is designed and configured to measure the current height of the support 16 above the ground and transmit it to the calculation device 12, so that the calculation device 12 is able to take the current height of the image acquisition device 8 above the ground into account when calculating the positions of the marker panels 26a, 26b.

[0070] The calculating device 12 can be configured to detect the motor vehicle 2, which is positioned in front of the image acquisition device 8, in order to calibrate the screen rearview mirrors 4a, 4b of the respective motor vehicle 2 R.414219

[0071] - 10 - to be able to automatically determine the required positions of the marking panels 26a, 26b. This information can be retrieved, for example, from a database 20, which may be located inside or outside the device 6, for example in a virtual cloud.

[0072] If the calculating device 12 is unable to detect the motor vehicle 2 positioned in front of the image recording device 8, or if no information is available for the motor vehicle 2 about the required positions of the marker panels 26a, 26b, the calculating device 12 may prompt a user of the device 6 to enter this information manually.

[0073] The calculating device 12 can be equipped with an input device 22, for example a keyboard or a touch-sensitive screen, which allows a user to enter such information into the calculating device 12.

Claims

R.414219 - 11 - Patent claims 1. A method for assisting the calibration of screen rearview mirrors (4a, 4b) of motor vehicles (2), comprising: positioning a motor vehicle (2) with at least one screen rearview mirror (4a, 4b) to be calibrated in front of an image capture device (8); taking at least one image of the motor vehicle (2) with the image capture device (8); determining the position of the motor vehicle (2) in front of the image capture device (8) from the at least one image taken; determining the position of at least one calibration mark (14a, 14b) for calibrating the at least one screen rearview mirror (4a, 4b) next to the motor vehicle (2) on the basis of the position of the motor vehicle (2) thus determined; and positioning the at least one calibration mark (14a, 14b) at the position next to the motor vehicle (2) thus determined.

2. The method of claim 1, wherein the method comprises projecting the at least one calibration mark (14a, 14b) onto a floor, wherein the method particularly comprises projecting the at least one calibration mark (14a, 14b) onto the previously determined position using a laser.

3. Method according to claim 1, wherein the method comprises positioning at least one mobile marking panel (26a, 26b) on which calibration markings (14a, 14b) are formed, at at least one previously determined position. R.414219 - 12 - 4. Method according to claim 3, wherein the method comprises displaying the position determined for the at least one mobile marking panel (26a, 26b) on a display device (24).

5. Method according to any of the preceding claims, wherein the image recording device (8) is a stereo image recording device (8).

6. Method according to one of the preceding claims, wherein the method comprises positioning at least two calibration marks (14a, 14b) next to the motor vehicle (2), in particular projecting them; wherein the method in particular comprises positioning at least one calibration mark (14a, 14b) on each side of the motor vehicle (2), in particular projecting them.

7. Device (6) for assisting the calibration of screen rearview mirrors (4a, 4b) of motor vehicles (2), wherein the device (6) comprises at least one image capture device (8) configured for capturing images of a motor vehicle (2) located in front of the at least one image capture device (8); and wherein the device (6) is configured to capture at least one image of a motor vehicle (2) located in front of the at least one image capture device (8) with the at least one image capture device (8); to determine the position of the motor vehicle (2) in front of the image capture device (8) from the at least one captured image; and, on the basis of the position of the motor vehicle (2) thus determined, to determine the position of at least one calibration mark (14a, 14b) for calibrating the at least one screen rearview mirror (4a, 4b) next to the motor vehicle (2); and R.414219 - 13 - to indicate and / or mark the position thus determined of at least one calibration mark (14a, 14b).

8. Device (6) according to claim 7, comprising at least one projector (1 Oa, 10b) which is designed and configured to project the at least one calibration mark (14a, 14b) onto the previously determined position next to the motor vehicle (2).

9. Device (6) according to claim 8, wherein the at least one projector (10a, 10b) is configured to project the at least one calibration mark (14a, 14b) onto a floor, and / or wherein the at least one projector (10a, 10b) is a laser projector configured to project the at least one calibration mark (14a, 14b) with a laser onto the previously determined position.

10. Device (6) according to claim 8 or 9, wherein the device (6) is configured to project at least two calibration marks (14a, 14b) next to the motor vehicle (2); wherein the device (6) in particular has two projectors (10a, 10b) configured to each project a calibration mark (14a, 14b) onto each side of the motor vehicle (2).

11. Device (6) according to any one of claims 7 to 10, wherein the device has a display device (24) which is designed and configured to indicate the previously determined position of the at least one calibration mark (14a, 14b) next to the motor vehicle (2).

12. Device (6) according to claim 11, wherein the display device (24) is configured to display an image of the motor vehicle (2) or an image of a part of the motor vehicle (2) and to display the previously determined position of the at least one calibration mark (14a, 14b) next to the image of the motor vehicle (2).

13. Device (6) according to any one of claims 7 to 12, wherein the image recording device (8) is a stereo image recording device (8). R.414219 - 14 - 14. Device (6) for vehicle measurement, which is equipped with a device (6) for supporting the calibration of screen rearview mirrors (4a, 4b) of motor vehicles (2) according to one of claims 7 to 13.

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