WO2010025792A1 - Procédé et dispositif permettant de surveiller les alentours d'un véhicule - Google Patents

Procédé et dispositif permettant de surveiller les alentours d'un véhicule Download PDF

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Publication number
WO2010025792A1
WO2010025792A1 PCT/EP2009/005413 EP2009005413W WO2010025792A1 WO 2010025792 A1 WO2010025792 A1 WO 2010025792A1 EP 2009005413 W EP2009005413 W EP 2009005413W WO 2010025792 A1 WO2010025792 A1 WO 2010025792A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
image
environment
overall
overall image
Prior art date
Application number
PCT/EP2009/005413
Other languages
German (de)
English (en)
Inventor
Jochen Feese
Uwe Franke
Markus Griesinger
Joachim Missel
Hartmut Schaeffer
Jürgen Seekircher
Tom Van Den Elst
Bernd Woltermann
Original Assignee
Daimler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler Ag filed Critical Daimler Ag
Publication of WO2010025792A1 publication Critical patent/WO2010025792A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/106—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using night vision cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the invention relates to a method for monitoring an environment of a vehicle according to the preamble of claim 1 and to a device for monitoring an environment of a vehicle according to the preamble of claim 6.
  • DE 600 03 750 T2 discloses a method for guided parking and a Einpark Wennvorraum with a vehicle position calculation unit for calculating the position of the vehicle in a plan view and a bird's-eye view and a Schiserortbeticianshim for calculating a Schharmoniasortes of Vehicle body, when the vehicle is moved in a predetermined steering angle with respect to the vehicle position calculated by the vehicle position calculation unit position.
  • the apparatus further comprises a display unit for displaying the vehicle position calculated by the vehicle position calculation unit together with the estimated movement location of the vehicle body calculated by the estimated location calculation unit.
  • the vehicle or its calculated vehicle position as well as all relevant for parking areas of the environment of the vehicle depending on the situation are output by means of the display unit.
  • JP 2007 102 798 A1 discloses a system for displaying an environment of a vehicle from a bird's eye view known.
  • a front image acquisition unit for detecting an area of an environment of the vehicle in front of the vehicle and a rear image acquisition unit for detecting an area behind the vehicle of the environment are provided, wherein the captured images are converted by means of an image processing unit into an image which the vehicle and whose surroundings show a bird's eye view.
  • This image is output by means of an optical output unit, wherein a displayed image area is shifted such that the vehicle is displayed as a function of the situation in a first representation together with its front environment or in a second representation with its rear environment.
  • a rear vehicle edge is moved to a lower edge of the image area
  • a front vehicle edge is displaced at the upper edge opposite the lower edge of the image area.
  • DE 102 92 327 T5 describes an image processing device for environmental images of a vehicle.
  • the vehicle includes an image capture unit for acquiring an image of the surroundings of the vehicle, and a display unit for displaying an image, which processes the image captured by the image capture unit and displays the processed image on the display unit.
  • the vehicle further comprises means for generating a bird's-eye view image which generates a bird's-eye view image by converting the image picked up by the image capture unit and a region discriminating means comprising a first image generated from the bird's-eye view creation means Bird's eye view and a second bird's-eye view taken later in time and created, identifying matching and mismatched areas.
  • a device for generating a composed image which generates the composite image from a bird's eye view by adding the mismatching area to the second image and supplies to display processing means for displaying the composite image on the display unit.
  • the vehicle is positioned in the composite image from a bird's-eye view in such a way that a region of the surroundings of the vehicle that is relevant to a driving situation of the vehicle is displayed.
  • the invention has for its object to provide a comparison with the prior art improved method and an improved device for monitoring an environment of a vehicle, by means of which a precise and clear representation of the vehicle and its surroundings can be realized.
  • the object is achieved by the features specified in claim 1 and in terms of the device by the features specified in claim 6.
  • the environment is detected by means of at least one image acquisition unit, wherein an overall image is generated from individual images captured by the at least one image acquisition unit and output by means of a display unit, the overall image comprising the vehicle and its surroundings shows a bird's eye view and the vehicle is positioned depending on the situation in the overall picture.
  • environmental regions relevant for a driving situation of the vehicle are determined and output on the basis of at least one distance to one or more obstacles detected by means of at least one distance sensor.
  • the device according to the invention for monitoring an environment of a vehicle comprises at least one image acquisition unit for detecting the surroundings, an image processing unit for generating an overall image from individual images captured by the at least one image acquisition unit, a display unit for outputting the overall image, which shows the vehicle and its surroundings from a bird's-eye view , And a control unit for a situation-dependent positioning of the vehicle in the overall picture.
  • the control unit is coupled to at least one proximity sensor such that surrounding areas relevant for a driving situation of the vehicle can be determined and output on the basis of at least one detected distance to one or more obstacles.
  • Fig. 1 shows schematically a vehicle with a device for monitoring a
  • FIG. 2 shows schematically a display unit with an overall image of the vehicle according to FIG. 1 and its surroundings from a bird's-eye view, with surrounding areas relevant for a driving situation of the vehicle being highlighted on the overall image,
  • FIG. 3 shows schematically the vehicle according to Figure 2, wherein the relevant
  • Fig. 4 shows schematically the vehicle according to Figure 2, wherein the relevant
  • Fig. 5 shows schematically the vehicle according to Figure 2, wherein the relevant
  • FIG. 1 shows a vehicle 1 with a device 2 for monitoring an environment of the vehicle 1.
  • the device 2 comprises in the illustrated embodiment of the invention a first image capture unit 2.1, which is arranged at the front end of the vehicle 1, and a second image capture unit 2.2, which is arranged at the rear end of the vehicle 1, wherein by means of the image capture units 2.1 and 2.2, the vehicle. 1 and whose surroundings are detectable.
  • the image acquisition units 2.1 and 2.2 are preferably cameras which have a large detection range. In addition to conventional cameras, these may in particular be omnidirectional cameras. These can be, for example, mosaic-based cameras, rotating cameras, cameras with special wide-angle lenses, so-called fisheye lenses, or based on a catadioptric system.
  • the image acquisition units 2.1 and 2.2 detect the vehicle 1 and its surroundings in individual images E, which is converted by means of an image processing unit 2.3 in a detail shown in Figure 2 overall G, which shows the vehicle 1 and its surroundings from a bird's eye view.
  • a display unit 2.4 for example an actuation screen, is provided so that a driver of the vehicle 1 can output this and its surroundings from a bird's-eye view.
  • the display unit 2.4 is limited in size due to limited space in the vehicle 1, so that the overall image G can be output only in the limited size.
  • a control unit 2.5 is coupled to a distance sensor 3 of the vehicle 1 such that according to FIGS. 2 to 5 surrounding areas U1 relevant for a driving situation of the vehicle 1, U2 be determined and output by means of the distance sensor 3 detected distances A1, A2 and A3.
  • the distance sensor 3 comprises a plurality of distance sensors 3.1 to 3.6, by means of which a distance A1, A2, A3 to obstacles 2, 5 and 6 shown in more detail in FIGS. 2 to 5 are detected.
  • the distance sensor 3 is preferably part of a driver assistance system, not shown, such as a parking aid, a lane detection and lane departure of a night vision assistant or other systems, the distance sensors are 3.1 to 3.6 in particular cameras, radar, lidar and / or ultrasonic sensors.
  • Figure 2 shows the display unit 2.4 with the overall image G, which shows the vehicle 1 in a parking between two obstacles 4 and 6, which are in particular vehicles, from a bird's eye view.
  • a parking space or a parking space in which the vehicle 1 is to be parked is laterally delimited by a further obstacle 6, which may be, for example, a wall, a house wall or a fence.
  • the vehicle 1 is arranged in the middle of the overall image G, but can also be positioned in the overall image G as a function of the situation, deviating from this representation.
  • the vehicle 1 in the direction of travel on the display unit 2.4 can be displayed, wherein the driver of the vehicle 1 can preferably choose in which presentation to him the vehicle 1 and its surroundings to be issued.
  • the relevant ambient areas U1 and U2 are determined for the driving situation, since the distances A1 and A2 of the obstacles 4 and 5 to the vehicle 1 are very low and thus for the current driving situation are relevant or critical.
  • markers M1 and M2 are provided, which draw the driver's attention to the surrounding areas U1 and U2.
  • the markers M1 and M2 are preferably colored, especially in signal colors, designed so that they are particularly noticeable.
  • the highlighting of the relevant surrounding areas U1 and U2 is achieved on the basis of a representation of this with a contrast that is greater than the rest of the overall image G or a representation in a hue deviating from the rest of the overall G image.
  • the remaining overall image G can be displayed during the representation of the relevant surrounding areas U1 and U2 with reduced contrast and / or with a lower color intensity, for example in gray levels.
  • FIG. 3 shows the display unit 2.4 and the vehicle 1 illustrated thereon during the parking procedure according to FIG. 2.
  • the relevant environmental areas U1 and U2 are shown enlarged on the overall image G, d. H. they are "zoomed out" of the overall picture G, so that the driver of the vehicle 1 is a detailed representation of the driving situation available and this can customize his ride so that the vehicle 1 can be moved past the obstacles 4 and 5 without touching.
  • FIG. 4 shows a third embodiment of the invention, in which the vehicle 1 and its surroundings are represented on the overall image G in the parking procedure according to FIG. 2, the relevant surrounding areas U1 and U2 being represented on the overall image G and on the basis of additional images Z1 and Z2 ,
  • the surrounding areas U1 and U2 are preferably shown enlarged on this additional images Z1 and Z2, so that a clear and detailed representation of the surrounding areas U1 and U2 is achieved.
  • the additional images are also shown in a non-illustrated embodiment of the invention with a greater contrast or with a deviating from the rest of the overall G color.
  • the additional images Z1 and Z2 are preferably displayed in regions of the overall image G, which are not relevant to the current driving situation of the vehicle 1. Furthermore, the markers M1 and M2 are additionally preferably arranged around the surrounding areas U1 and U2, so that the driver knows which areas of the surroundings of the vehicle 1 are displayed to him.
  • FIG. 5 shows the display unit 2.4, which represents the relevant surrounding areas U1 and U2 on the basis of the additional images Z1 and Z2, but in contrast to the exemplary embodiment of the invention shown in FIG. 4, the overall image G is blanked out.
  • the additional images Z1 and Z2 represent the surrounding areas U1 and U2 in an enlarged form and are designed such that an available size of the display unit 2.4 is optimally utilized.
  • a complete vehicle side or a complete vehicle area and its adjacent surroundings are output as the relevant surrounding area U1, U2 as an alternative to the illustrations shown in FIGS.
  • the relevant surrounding area U1, U2 as an alternative to the illustrations shown in FIGS.
  • the device 1 for monitoring the environment of the vehicle 1 in a particularly profitable development of the invention via means, based on which the driver of the vehicle 1, the desired representation of the relevant environmental areas U1 and U2, d. H. the highlighted representation and / or the enlarged representation on the overall image or the representation based on the additional images Z1 and Z2 together with the overall image G or without this, can choose.
  • the type of representation of the relevant surrounding areas U1 and U2 is automatically determined, for example, depending on the size of the detected distances A1, A2, A3 between the vehicle 1 and the obstacles 4, 5, 6 and alternatively automatically each changed according to the driving situation or the size of the detected distances A1, A2, A3.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un procédé permettant de surveiller les alentours d'un véhicule (1) selon lequel les alentours sont détectés au moyen d'au moins une unité d'enregistrement d'images (2.1, 2.2), une image globale (G) étant produite à l'aide d'une unité de traitement d'images (2.3) à partir des images individuelles (E) enregistrées au moyen de l'unité d'enregistrement d'images (2.1, 2.2) et étant délivrée au moyen d’une unité d’affichage (2.4), l'image globale (G) montrant le véhicule (1) et ses alentours vus d'en haut et le véhicule (1) étant positionné dans l'image globale (G) en fonction de sa situation. Selon l'invention, des zones environnantes (U1, U2) pertinentes pour la situation de conduite du véhicule (1) sont déterminées et fournies sur la base d'une distance (A1, A2, A3) détectée au moyen d'un capteur de distance (3) par rapport à un ou plusieurs obstacles (4, 5, 6). L'invention concerne également un dispositif (1) permettant de surveiller les alentours d'un véhicule (1) avec au moins une unité d'enregistrement d'images (2.1, 2.2) permettant d'enregistrer les alentours.
PCT/EP2009/005413 2008-09-08 2009-07-27 Procédé et dispositif permettant de surveiller les alentours d'un véhicule WO2010025792A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008046214A DE102008046214A1 (de) 2008-09-08 2008-09-08 Verfahren und Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges
DE102008046214.4 2008-09-08

Publications (1)

Publication Number Publication Date
WO2010025792A1 true WO2010025792A1 (fr) 2010-03-11

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DE (1) DE102008046214A1 (fr)
WO (1) WO2010025792A1 (fr)

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JP2011205513A (ja) 2010-03-26 2011-10-13 Aisin Seiki Co Ltd 車両周辺監視装置
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DE102011112578A1 (de) * 2011-09-08 2013-03-14 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung für ein Assistenzsystem in einem Fahrzeug zur Durchführung eines autonomen oder teilautonomen Fahrmanövers
EP3013645B1 (fr) 2013-06-26 2017-07-12 Conti Temic microelectronic GmbH Dispositif de remplacement de rétroviseur et véhicule
DE102013214368A1 (de) 2013-07-23 2015-01-29 Application Solutions (Electronics and Vision) Ltd. Verfahren und Vorrichtung zur Wiedergabe eines seitlichen und/oder rückwärtigen Umgebungsbereichs eines Fahrzeugs
DE102017218074A1 (de) * 2017-10-11 2019-04-11 Robert Bosch Gmbh Verfahren zum Darstellen einer Umgebung eines Fahrzeugs
JP7232089B2 (ja) * 2019-03-19 2023-03-02 ヤマハ発動機株式会社 船舶用の表示装置、船舶および船舶用の画像表示方法

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EP1725035A1 (fr) * 2005-05-20 2006-11-22 Nissan Motor Co., Ltd. Dispositif et procédé d'affichage d'image pour automobile

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