Multi-Part Vehicle Surround Imaging With Articulation-Aware Stitching
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Solution Overview
Problem
Existing driver assistance systems struggle to provide a comprehensive and gap-free environmental image of multi-part vehicles, particularly those with articulated tractor and trailer components, due to dynamic articulation angles and camera concealments, leading to potential hazards during maneuvers.
Innovation Solution
A method and system that utilize cameras on the tractor and trailer vehicles to capture overlapping regions, align and combine images based on articulation angles, and process them to create a continuous environmental image without gaps, using image processing algorithms and sensors to determine articulation angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If cameras are attached to both tractor vehicle and trailer vehicle to capture environment next to and behind trailer, then coverage of vehicle environment is improved, but complexity of ascertaining environmental image increases
Solution Approach 1:
The patent divides the image processing task into segments by creating overlap regions between adjacent camera images (front lateral and back lateral cameras). Each camera's capture region is processed independently to create individual images, which are then combined through the overlap regions. This segmentation approach manages the complexity of multi-camera systems by breaking down the comprehensive environmental capture into manageable individual image processing units.
Solution Approach 2:
The patent introduces overlap regions as intermediary zones between images from different cameras. These overlap regions serve as mediators that facilitate the combination of individual images into a comprehensive environmental image. By processing and aligning images through these intermediary overlap regions, the system resolves the complexity of integrating multiple camera perspectives while maintaining continuous coverage.
2Reliability
If component top view of tractor vehicle is aligned with top view of trailer using articulation angle, then gaps in representation are reduced, but regions with monotonous color appear due to rotation
Solution Approach 1:
The patent applies partial action by selectively processing only the overlap regions between adjacent camera images, rather than rotating or processing entire images. The overlap regions are extracted, aligned based on articulation angle, and used to fill gaps in the environmental representation. This partial processing approach avoids the information loss and monotonous color regions that would result from rotating complete images, while still achieving gap-free coverage.
Solution Approach 2:
The patent applies local quality by treating the overlap regions with special processing attention compared to the rest of the image. The overlap regions are extracted, aligned, and combined with higher priority to ensure continuous coverage. This localized processing approach allows the system to maintain high-quality gap-free representation in critical transition zones while preserving the original image information in non-overlap regions.
3Loss of information
If articulation angle is used to align images from multiple cameras, then comprehensive environmental image is achieved, but processing time and computational load increase
Solution Approach 1:
The patent reduces processing time by applying partial action - only the overlap regions between adjacent cameras are extracted and aligned using articulation angle calculations. The majority of each image (non-overlap regions) remains unprocessed and is directly combined with adjacent images. This selective processing of only critical overlap zones significantly reduces computational load and processing time while maintaining complete environmental information.
Solution Approach 2:
The patent segments the image processing task to handle only the necessary portions (overlap regions) rather than processing complete images. By dividing the comprehensive environmental image into individual camera images and further segmenting them into overlap and non-overlap regions, the system processes only the minimal necessary data required for gap-free representation, thereby reducing overall processing time and computational requirements.
Data Source
AI summary
A method for producing an environmental image of an entire multi-part vehicle having a tractor vehicle and at least one trailer vehicle includes providing an image capture device including a front camera for capturing a front capture region in front of the tractor vehicle and outputting a front individual image, front lateral cameras for capturing front lateral capture regions and outputting front lateral individual images, back lateral cameras for capturing back lateral capture regions and outputting back lateral individual images, and a rear camera for capturing a back capture region behind the trailer vehicle and outputting a back individual image. The method includes recording the individual images with the cameras, evaluating and/or cropping the individual images such that overlap regions are in each case formed at least between the front lateral individual images and the back lateral individual images, and combining the individual images to form the environmental image.