DE19801884A1 - CCTV monitoring system for blind spots around motor vehicle - Google Patents

CCTV monitoring system for blind spots around motor vehicle

Info

Publication number
DE19801884A1
DE19801884A1 DE19801884A DE19801884A DE19801884A1 DE 19801884 A1 DE19801884 A1 DE 19801884A1 DE 19801884 A DE19801884 A DE 19801884A DE 19801884 A DE19801884 A DE 19801884A DE 19801884 A1 DE19801884 A1 DE 19801884A1
Authority
DE
Germany
Prior art keywords
image
vehicle
driver
monitoring
imaging means
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
DE19801884A
Other languages
German (de)
Inventor
Volker Wehrmeyer
Joachim Acht
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Mannesmann VDO 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 Mannesmann VDO AG filed Critical Mannesmann VDO AG
Priority to DE19801884A priority Critical patent/DE19801884A1/en
Priority to PCT/EP1998/008482 priority patent/WO1999037503A1/en
Publication of DE19801884A1 publication Critical patent/DE19801884A1/en
Withdrawn legal-status Critical Current

Links

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
    • B60R1/30—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 providing vision in the non-visible spectrum, e.g. night or infrared vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/0017—Devices integrating an element dedicated to another function
    • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • 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
    • 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
    • B60R2300/105—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
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/207—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using multi-purpose displays, e.g. camera image and navigation or video on same display
    • 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
    • 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
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B60R2300/404—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components triggering from stand-by mode to operation mode
    • 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
    • B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
    • 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
    • B60R2300/804—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 lane monitoring
    • 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
    • B60R2300/8053—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 bad weather conditions or night vision
    • 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
    • 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
    • B60R2300/8066—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 monitoring rearward traffic

Abstract

The system includes imaging devices (1), e.g. video cameras with CCD elements, for producing an image of spaces around a vehicle, which are not directly visible or are viewed by device of a mirror. The system contains furthermore transmission devices (2) for transmitting the image, and at least one display device (3), arranged in an area visible for the driver, for the display of the image. An Independent claim is provided for a corresponding supervision method.

Description

Die vorliegende Erfindung betrifft ein System und ein Verfahren zur Überwachung von Räumen um ein Fahrzeug herum, die vom Fahrer nicht direkt oder über einen Spiegel einsehbar sind.The present invention relates to a system and a method for monitoring of spaces around a vehicle that the driver does not directly or through a Mirrors are visible.

Für die Steuerung von Fahrzeugen wie z. B. Autos muß der Fahrzeugführer den Raum beobachten können, in den sich das Fahrzeug hineinbewegt bzw. aus dem heraus sich andere Fahrzeuge nähern können. In der Hauptfahrtrichtung kann diese Beobachtung direkt geschehen, indem die Blickrichtung und das Sehfeld des Fahrers in seiner Lenkposition hierauf ausgerichtet werden.For the control of vehicles such. B. Cars the driver must Being able to observe space into which the vehicle is moving or out of other vehicles can approach. In the main direction of travel This observation can be done directly by the line of sight and the field of view of the driver in his steering position.

Für besondere Fahrmanöver wie ein seitliches Ausscheren oder eine Rückwärtsfahrt ist es darüber hinaus jedoch erforderlich, daß auch der hinter und neben dem Fahrer bzw. Fahrzeug gelegene Raum eingesehen werden kann. Um dem Fahrer eine umständliche und während der Fahrt auch gefährliche Wendung des Kopfes zu ersparen, werden bekanntermaßen Rückspiegel verwendet, die den abgewandten Raum zumindest teilweise sichtbar machen. Derartige Spiegel müssen allerdings im direkten Blickfeld des Fahrers angeordnet sein und können daher schon aus optischen Gründen (Reflexionsgesetze) nicht jeden beliebigen Raumbereich erfassen. Zudem kann das Blickfeld des Spiegels durch das Fahrzeug selbst (z. B. Aufbauten eines Lastkraftwagen) oder durch seine Ladung verstellt sein.For special driving maneuvers such as a side swing or one Reverse travel, however, it is also necessary that the rear and space located next to the driver or vehicle can be viewed. Around a difficult and dangerous turn for the driver to save the head, it is known to use rearview mirrors that make the space facing away at least partially visible. Such mirrors must, however, be arranged in the driver's direct field of vision therefore not just any for optical reasons (reflection laws) Capture space. In addition, the field of view of the mirror can be Vehicle itself (e.g. superstructure of a truck) or by its load be misplaced.

Bei Autos ist insbesondere das Problem des vom Rückspiegel nicht mehr ausreichend erfaßten Raumes seitlich des Fahrzeugs unter dem Stichwort "toter Winkel" bekannt. Zur Behebung dieser bei Ausschermanövern oft sehr gefährlichen Lücke im Beobachtungsfeld des Fahrers wird in der DE 42 28 794 A1 vorgeschlagen, den "toten Winkel" und ggf. auch den Rückraum hinter dem Fahrzeug mit Video-Kameras automatisch zu überwachen. Dabei sollen mit geeigneten Auswerteeinrichtungen wichtige Informationen wie z. B. Abstand und Geschwindigkeit von erfaßten Objekten aus den Bilddaten extrahiert und dem Fahrer über eine Signal- und Warneinrichtung mitgeteilt werden. Bevorzugt kommen bei diesem System Kameras mit geringer Auflösung zum Einsatz, deren Datenmenge einerseits schnell zu verarbeiten ist und andererseits die gewünschten Informationen gerade noch enthält.With cars in particular, the problem of the rearview mirror is no longer Sufficiently captured space on the side of the vehicle under the keyword "dead Angle "is known. To correct this very often during swerving maneuvers dangerous gap in the driver's field of observation is in DE 42 28 794 A1 suggested the "blind spot" and possibly also the back space behind the  Automatically monitor vehicle with video cameras. Doing so with suitable evaluation devices important information such. B. distance and Speed of detected objects extracted from the image data and the Drivers are informed via a signal and warning device. Prefers This system uses cameras with low resolution, whose Amount of data can be processed quickly on the one hand and just contains the information you want.

Nachteilig bei dem System der DE 42 28 794 A1 ist jedoch, daß die notwendige Extraktion der Informationen aus den Bilddaten eine äußerst komplexe rechnerische Aufgabe ist, die nur für wenige Größen möglich ist. Die angestrebte Detektion eines Objektes sowie die Bestimmung seines Abstandes und seiner Geschwindigkeit gelingt gerade bei Bildern geringer Auflösung und bei begrenzter Rechenleistung mit ausreichender Sicherheit nur in einfachen Modellsituationen. In der Praxis mit ihren komplexen Verhältnissen (Gegenverkehr, Schlechtwefter, unregelmäßige Oberflächen etc.) wird ein derartiges System dagegen häufig unzuverlässige und fehlerhafte Resultate liefern.A disadvantage of the system of DE 42 28 794 A1, however, is that the necessary Extraction of the information from the image data is an extremely complex is a computational task that is only possible for a few sizes. The target Detection of an object and the determination of its distance and its Speed works especially with images of low resolution and with limited ones Computing power with sufficient security only in simple model situations. In practice with its complex circumstances (oncoming traffic, bad wefts, irregular surfaces etc.), however, such a system is common deliver unreliable and erroneous results.

Die vorliegende Erfindung hat sich demgegenüber die Aufgabe gestellt, die Nachteile des Standes der Technik zu vermeiden und ein verbessertes System zur Überwachung von vom Fahrer nicht direkt oder über einen Spiegel einsehbaren Räumen zur Verfügung zu stellen, welches dem Fahrer in allen Situationen eine fehlerfreie Überwachung der beobachteten Räume ohne Informationsverlust erlaubt.In contrast, the present invention has the object that Avoid disadvantages of the prior art and an improved system for monitoring by the driver not directly or via a mirror to provide visible rooms, which the driver in all Situations without error monitoring of the observed rooms Loss of information allowed.

Diese Aufgabe wird durch ein System nach Anspruch 1 und ein Verfahren nach Anspruch 14 gelöst. Weitere vorteilhafte Ausgestaltungen sind in den Unteransprüchen enthalten.This object is achieved by a system according to claim 1 and a method Claim 14 solved. Further advantageous configurations are in the Subclaims included.

Das erfindungsgemäße System enthält zunächst in bekannter Weise Abbildungsmittel zur Erzeugung eines Bildes des zu überwachenden Raumes. Dieses Bild wird im allgemeinen primär als optisches (reelles oder virtuelles) Bild vorliegen und kann über entsprechende Wandler in andere Repräsentationsarten umgewandelt werden (z. B. elektronisch, digital). Das Bild wird sodann mit geeigneten Übertragungsmitteln an mindestens eine Anzeigevorrichtung (Display) weitergeleitet, welche im vom Fahrer einsehbaren Bereich angeordnet ist und das Bild für diesen erkennbar darstellt.The system according to the invention initially contains in a known manner Imaging means for generating an image of the room to be monitored. This image is generally used primarily as an optical (real or virtual) image are available and can be converted into other types of representation using appropriate converters be converted (e.g. electronic, digital). The picture is then with suitable transmission means to at least one display device (display) forwarded, which is arranged in the area visible to the driver and that Image recognizable for this.

Im Gegensatz zum Stand der Technik wird somit aus dem Bild nicht eine - stets begrenzte und fehlerbehaftete - Information extrahiert und an den Fahrer weitergeleitet, sondern dem Fahrer wird ein komplettes Abbild des zu überwachenden Raumes in seinem normalen Blickfeld angeboten. Aus diesem Bild kann der Fahrer dann selbst alle für ihn relevanten Informationen entnehmen, wobei die von automatischen Verfahren nicht annähernd erreichte Leistungs­ fähigkeit der menschlichen Bildverarbeitung ausgenutzt wird. Apparative Ressourcen können daher bei dem erfindungsgemäßen System auf die optischen Aufnahme- und Wiedergabesysteme konzentriert werden, was der Bildqualität zugute kommt. Nicht zuletzt wird auch einem solchen Überwachungssystem, das eine direkte Beobachtung ermöglicht, vom Fahrer mehr Vertrauen entgegen­ gebracht als automatisch ermittelten Daten.In contrast to the prior art, the picture does not become one - always  limited and erroneous - information extracted and sent to the driver forwarded, but the driver gets a complete image of the monitoring room in its normal field of vision. For this The driver can then take all the information that is relevant for him, the performance not nearly matched by automatic processes ability of human image processing is exploited. Apparative Resources can therefore in the system according to the invention on the optical Recording and playback systems are focused on what the picture quality benefits. Last but not least, such a surveillance system that direct observation enables more confidence in the driver brought as automatically determined data.

Als Abbildungsmittel können insbesondere Videokameras eingesetzt werden, da sich ihre elektronisch kodierten Bilder gut verstärken und über geeignete Kabel beliebig transportieren lassen und sehr flexibel umgeformt und dargestellt werden können.In particular, video cameras can be used as imaging means, since their electronically encoded images are well amplified and using suitable cables can be transported as required and can be shaped and displayed very flexibly can.

Derartige Videokameras enthalten vorzugsweise CCD (Charge Coupled Device) Elemente mit einer Auflösung von mindestens 128 mal 128 Pixeln (Bildpunkten), vorzugsweise mindestens 480 mal 640 Pixeln. Insbesondere kann sich die Auflösung an Standards für (Computer-)Monitore orientieren, um zu dort verwendeten Komponenten kompatibel zu sein. Im Gegensatz zur DE 42 28 794 A1 wird somit nicht eine besonders geringe, sondern gerade eine möglichst hohe Auflösung angestrebt, um die Bildqualität zu optimieren. Nach oben begrenzt ist die Auflösung nur durch die technisch verfügbaren CCD-Chips sowie Preis-Leistungs-Abwägungen.Such video cameras preferably contain CCD (Charge Coupled Device) Elements with a resolution of at least 128 by 128 pixels (pixels), preferably at least 480 by 640 pixels. In particular, the Orient resolution to standards for (computer) monitors to get there components used to be compatible. In contrast to DE 42 28 794 A1 is therefore not a particularly small one, but one aim for the highest possible resolution in order to optimize the image quality. After The resolution is limited above only by the technically available CCD chips as well as price-performance considerations.

Die eingesetzten Videokameras können für sichtbares oder infrarotes Licht empfindlich sein. Besonders bevorzugt ist es, daß beide Empfindlichkeiten gleichzeitig oder wahlweise einschaltbar vorliegen. Eine Videokamera für sichtbares Licht liefert dem Fahrer ein vertrautes Abbild der Umgebung, an das er sich nicht erst gewöhnen muß. Derartige Kameras werden auch in handelsüblichen Videokameras, digitalen Fotoapparaten und Sicherheits­ einrichtungen verwendet, so daß sie preiswert erhältlich sind. Demgegenüber liefert eine Infrarot-Kamera im allgemeinen eine Falschfarben- Darstellung der Umgebung, hat aber den Vorteil, daß sie Wärmequellen abbildet und daher von externen Lichtquellen wie dem Tageslicht unabhängig ist. Zudem werden mit ihr bevorzugt andere Fahrzeuge erkannt, da diese aufgrund ihres Antriebs (z. B. Verbrennungsmotor) Infrarot-strahlende Abwärme produzieren.The video cameras used can be for visible or infrared light be sensitive. It is particularly preferred that both sensitivities can be switched on simultaneously or alternatively. A video camera for Visible light provides the driver with a familiar image of the environment to which he is driving doesn't have to get used to it. Such cameras are also used in commercially available video cameras, digital cameras and security facilities used so that they are available inexpensively. In contrast, an infrared camera generally provides a false color Representation of the environment, but has the advantage that it maps heat sources and is therefore independent of external light sources such as daylight. In addition  other vehicles are preferably recognized with it, since these are Drive (e.g. internal combustion engine) produce infrared-radiating waste heat.

Beim Einsatz von Videokameras werden Monitore verwendet, um das elektronisch in Form von Videosignalen kodierte Bild für den Fahrer darzustellen. Hierbei ist von Vorteil, daß aufgrund der weiten Verbreitung der Videotechnik ein großes Spektrum an Geräten zur Auswahl steht, z. B. die bekannten Elektronenstrahl­ röhren. Aufgrund ihrer flachen Bauweise werden indes bevorzugt Flüssigkristall- Anzeigen (LC-Displays) verwendet. Diese lassen sich leicht in vorhandene Komponenten im Fahrzeug integrieren.When using video cameras, monitors are used to do this electronically display coded image for the driver in the form of video signals. Here is advantageous that due to the wide spread of video technology a large Range of devices to choose from, e.g. B. the known electron beam roar. Due to their flat design, liquid crystal Displays (LC displays) used. These can be easily integrated into existing ones Integrate components in the vehicle.

Weiterhin haben die elektronisch kodierten Bilder von Videokameras den Vorteil, daß sie leicht mit Hilfe bekannter Verfahren aufbereitet und vorverarbeitet werden können. So kann beispielsweise die Ausfilterung von Sichtverschlechterungen durch Schneeflocken, Regen oder Hagel erfolgen. Dies kann mit Algorithmen geschehen, die aus der Nachbearbeitung von (digitalen) Filmen und Fotos bekannt sind. Ebenso ist eine Erhöhung der Konturenschärfe des Bildes oder das Abdämpfen von zu starken Lichtquellen möglich (z. B. blendende Scheinwerfer bei Dunkelheit). Mit weiter fortgeschrittenen Methoden können schließlich auch Muster wie z. B. andere Autos im Bild erkannt und hinsichtlich ihrer Eigenschaften (Abstand, Geschwindigkeit) analysiert werden.Furthermore, the electronically coded images from video cameras have the advantage that they can be easily prepared and preprocessed using known methods can. For example, filtering out visual impairments caused by snowflakes, rain or hail. This can be done with algorithms happen from the post-processing of (digital) films and photos are known. Likewise is an increase in the sharpness of the contour of the image or that Dampening of too strong light sources possible (e.g. dazzling headlights with Darkness). Finally, with more advanced methods, too Patterns such as B. recognized other cars in the picture and their properties (Distance, speed) can be analyzed.

Bedingung für die genannten Verfahren zur Bildverarbeitung ist, daß sie in Echtzeit erfolgen, d. h. nicht zu einer Verzögerung in der Darstellung des Bildes führen. Hierfür muß eine angemessene Rechenleistung zur Verfügung gestellt werden. Zu beachten ist weiterhin, daß im Rahmen der Erfindung die Bildverarbeitung immer nur zusätzlich zur Bilddarstellung im Monitor erfolgt, so daß der Fahrer primär das unmittelbare Abbild der Umgebung beobachten kann und darüber hinaus gewisse aufbereitete Informationen angeboten bekommt. Er ist jedoch nicht von der Richtigkeit und Vollständigkeit dieser Informationen abhängig, sondern kann diese jederzeit anhand des Bildes "mit eigenen Augen" überprüfen.The condition for the mentioned image processing methods is that they are in Real time, d. H. not a delay in the presentation of the picture to lead. Adequate computing power must be made available for this become. It should also be noted that within the scope of the invention Image processing always takes place in addition to the image display in the monitor, see above that the driver can primarily observe the immediate image of the surroundings and is also offered certain processed information. He however, is not responsible for the accuracy and completeness of this information dependent, but can at any time using the picture "with your own eyes" check.

In einer weiteren Ausgestaltung der Erfindung können als Abbildungsmittel (alternativ oder zusätzlich zu den Videokameras) bildgebende Objektive und als Übertragungsmittel Lichtwellenleiter verwendet werden. Das übertragene Bild kann dann - vorzugsweise an zentraler Stelle über CCD-Elemente - in ein elektronisches Bild umgewandelt und in bekannter Weise auf Monitoren dargestellt werden. Bevorzugt ist es jedoch, das komplette System ohne zusätzliche Energiequellen und Hilfsmittel arbeiten zu lassen und das von den Lichtwellenleitern übermittelte Bild mit einer geeigneten Optik direkt auf einer Mattscheibe abzubilden. Ein derartiges rein passives System hat den Vorteil, äußerst einfach und störsicher zu sein. Gerade bei kurzen Übertragungswegen (z. B. hintere Stoßstange oder Heck des Autos bis zum Ende der Fahrgastzelle) und normalen Lichtverhältnissen kann seine Abbildungsleistung völlig ausreichend sein.In a further embodiment of the invention, imaging agents can be used (alternatively or in addition to the video cameras) imaging lenses and as Transmission means optical fibers are used. The transferred image can then - preferably at a central point via CCD elements - in one electronic image converted and in a known manner on monitors  being represented. However, it is preferred to have the complete system without to let additional energy sources and aids work and that from the Optical fibers transmitted image with suitable optics directly on a To show the focusing screen. Such a purely passive system has the advantage to be extremely simple and interference-free. Especially with short transmission paths (e.g. rear bumper or rear of the car to the end of the passenger compartment) and normal lighting conditions, its imaging performance can be quite sufficient be.

Im Rahmen der Erfindung sind weitere Realisierungen der Abbildungsmittel, Übertragungsmittel und Anzeigevorrichtungen möglich. So wäre es z. B. auch denkbar, den zu überwachenden Raum über zwei oder mehrere Spiegel in den Fahrerraum abzubilden, wobei ggf. Übertragungsstrecken mit Lichtwellenleitern zwischengeschaltet sein könnten.Within the scope of the invention, further realizations of the imaging means are Transmission means and display devices possible. So it would be z. Belly conceivable to monitor the room via two or more mirrors in the To map the driver's compartment, possibly using transmission links with fiber optic cables could be interposed.

Die erfindungsgemäßen Abbildungsmittel können unabhängig von ihrer konkreten Ausgestaltung (z. B. Videokameras) an verschiedenen Stellen des Fahrzeuges angebracht sein. Vorzugsweise sind sie an der Vorderseite und/oder der Rückseite und/oder im Rückspiegel des Fahrzeugs angeordnet. Die Anordnung an der Rückseite kommt vor allem beim Rückwärtsfahren zum Tragen, während mit der Anordnung im Rückspiegel der "tote Winkel" vermieden werden kann.The imaging agents according to the invention can be used regardless of their specific Design (e.g. video cameras) at various points in the vehicle to be appropriate. They are preferably on the front and / or the Rear and / or arranged in the rear view mirror of the vehicle. The order on the back is particularly important when reversing while the "blind spot" can be avoided with the arrangement in the rearview mirror.

Die Abbildungsmittel können in der Karosserie oder z. B. in den Stoßfängern, Stoßstangen, Front- und Heckschürzen oder Spoilern untergebracht sein.The imaging means can in the body or z. B. in the bumpers, Bumpers, front and rear aprons or spoilers can be accommodated.

Besonders bevorzugt sind sie indes in den Scheinwerfern integriert. Letztere befinden sich aufgrund ihrer Ausleuchtungs-Funktion bereits an einer Stelle, von der aus der zu überwachende Raum vollständig einsehbar ist. Eine nahezu identische Position von Scheinwerfer und Kamera führt dabei auch dazu, daß das Scheinwerferlicht optimal der Abbildung zugute kommt, ohne daß die Lichtquelle selbst stört oder Schatten wirft. Zudem sind die Abbildungsmittel im Inneren des Scheinwerfers gut vor Umwelteinflüssen geschützt. Dies gilt insbesondere für die empfindliche Optik, welche vom Scheinwerferglas abgedeckt ist. Eventuell vorhandene Scheinwerfer-Scheibenwischer können dabei gleichzeitig die Abbildungsoptik reinigen.However, they are particularly preferably integrated in the headlights. Latter are already in one place due to their illumination function which is completely visible from the room to be monitored. An almost identical position of the headlight and camera also means that the Headlight light optimally benefits the image without the light source disturbing itself or casting shadows. In addition, the imaging agents are inside the Headlights well protected from environmental influences. This applies in particular to the sensitive optics, which is covered by the headlight glass. Perhaps existing headlight wipers can simultaneously Clean imaging optics.

Weiterhin kann auch die Optik der Abbildungsmittel ganz oder teilweise durch das Scheinwerferglas gebildet werden. Hierdurch läßt sich ein besonders hoher Integrationsgrad und eine kompakte Unterbringung der Abbildungsmittel erreichen. Zusätzlich können die elektrischen Leitungen für Licht und die Abbildungsmittel in einem Kabelstrang verlaufen.Furthermore, the optics of the imaging means can be completely or partially by the Headlight glass are formed. This allows a particularly high one  Degree of integration and compact accommodation of the imaging means to reach. In addition, the electrical lines for light and the Imaging agents run in a cable harness.

Die erfindungsgemäßen Anzeigevorrichtungen können unabhängig von ihrer konkreten Ausgestaltung (Monitore, Mattscheiben etc.) an verschiedenen Stellen angeordnet sein, die entweder vom Fahrer ständig und ohne Kopfdrehung einsehbar sind oder die erst bei besonderen Manövern, insbesondere beim Rückwärtsfahren eingesehen werden. Zu den ständig einsehbaren Stellen gehört insbesondere das Armaturenbrett, aber auch die innen und außen vorhandenen Spiegel. Die Anordnung in den Spiegeln hat den Vorteil, daß der Fahrer es gewohnt ist, an diesen Stellen die Abbildung des entsprechenden Raumes vorzufinden. Denkbar ist es auch, bereits vorhandene Anzeigemöglichkeiten wie z. B. das Radiodisplay auszunutzen. Zumindest kann in letzterem die zusätzlich ermittelte Information wie Abstand und Geschwindigkeit anderer Fahrzeuge angezeigt werden.The display devices according to the invention can be independent of their concrete design (monitors, focusing screens, etc.) at various points be arranged either by the driver constantly and without turning his head are visible or which only occur during special maneuvers, especially during Reverse driving can be seen. One of the constantly visible places especially the dashboard, but also the ones inside and outside Mirror. The arrangement in the mirrors has the advantage that the driver does it is used to depict the corresponding room at these points to find. It is also conceivable to have existing display options such as e.g. B. exploit the radio display. At least in the latter, the additional determined information such as distance and speed of other vehicles are displayed.

Zu den nur mit einer Kopfdrehung vom Fahrer einsehbaren Bereichen gehört insbesondere das Heck des Fahrzeugs. An dieser Stelle werden vorzugsweise die Anzeigen des rückwärtigen Raumes hinter dem Fahrzeug angeordnet, so daß der Fahrer beim Rückwärtsfahren in gewohnter Weise durch die Rückscheibe direkt den Rückraum einsehen kann und zusätzlich eine Abbildung des von der Karosserie verdeckten Raumes erhält.Areas that can only be seen by the driver with one turn of the head especially the rear of the vehicle. At this point, the View the rear space behind the vehicle so that the Driver in reverse in the usual way directly through the rear window can see the back room and also a picture of the from the Obtained body of hidden space.

Die Anzeigevorrichtungen müssen nicht fest mit einem bestimmten Abbildungs­ mittel verknüpft sein. Vielmehr ist es denkbar, auf einer Anzeigevorrichtung nacheinander Abbildungen von verschiedenen Aufnahmeorten darzustellen wobei die Umschaltung in einem automatischen Rhythmus, manuell wählbar oder situationsabhängig (z. B. bei Einschalten des Blinkers oder des Rückwärtsganges) erfolgen kann.The display devices do not have to be fixed with a particular figure be linked medium. Rather, it is conceivable on a display device to display images from different locations one after the other the switching in an automatic rhythm, manually selectable or depending on the situation (e.g. when the turn signal or reverse gear is switched on) can be done.

Ferner ist es bevorzugt, daß die Abbildungsmittel nicht starr, sondern in Orientierung, Brennweite und Scharfeinstellung veränderbar sind. Auf diese Weise kann von einer Kamera aus je nach Situation ein anderer Raum optimal beobachtet werden, indem die Ausrichtung der Kamera, das Sehfeld (Brennweite) und/oder die Scharfeinstellung geändert werden. It is further preferred that the imaging means are not rigid, but in Orientation, focal length and focus can be changed. To this Depending on the situation, a room can be optimal from one camera be observed by the orientation of the camera, the field of view (focal length) and / or the focus can be changed.  

Die Veränderbarkeit der Brennweite (Zoom) und Schärfe kann weiterhin dazu ausgenutzt werden, den Abstand anderer - insbesondere vorausfahrender - Fahrzeuge zu bestimmen. Dies geschieht vorzugsweise über ein Autofokus- Verfahren, wie es z. B. von Fotoapparaten bekannt ist. Auch sind Algorithmen denkbar, die aufgrund der Schärfe des aufgenommenen Bildes oder mehrerer aufgenommener Bilder die Entfernung zum anderen Fahrzeug bestimmen.The variability of the focal length (zoom) and sharpness can continue to do so be exploited, the distance of others - especially those driving ahead - To determine vehicles. This is preferably done using an autofocus Processes such as B. is known from cameras. Also are algorithms conceivable due to the sharpness of the captured image or more captured images determine the distance to the other vehicle.

Die Erfindung betrifft weiterhin ein Verfahren zur Überwachung von vom Fahrer nicht direkt oder über einen Spiegel einsehbaren Räumen um ein Fahrzeug herum, bei dem zunächst in bekannter Weise ein Bild des zu überwachenden Raumes erzeugt wird. Dieses Bild wird dann weitergeleitet und auf mindestens einer Anzeigevorrichtung im vom Fahrer einsehbaren Bereich dargestellt.The invention further relates to a method for monitoring the driver rooms around a vehicle that cannot be seen directly or through a mirror around, in which a picture of what is to be monitored is first known Space is generated. This image will then be forwarded to at least a display device in the area visible to the driver.

Das erfindungsgemäße Verfahren weist gegenüber dem Stand der Technik die gleichen Vorteile auf wie das oben erläuterte Überwachungssystem. Bei ihm wird aus dem Bild nicht eine in der Regel mangelhafte Information extrahiert, sondern dem Fahrer wird ein komplettes Abbild des zu überwachenden Raumes in seinem normalen Blickfeld angeboten. Daher kann die menschliche Bildverarbeitung ausgenutzt werden, die bisher bekannte automatische Verfahren an Leistungsfähigkeit und Sicherheit übertrifft. Damit ist gleichzeitig sichergestellt, daß keine relevante Information von einem automatischen System verkannt und damit unterdrückt wird.The method according to the invention has over the prior art same advantages as the monitoring system explained above. With him not usually a defective information extracted from the picture, but the driver gets a complete picture of the area to be monitored in his offered normal field of view. Therefore, human image processing be used, the previously known automatic method Efficiency and security surpasses. This also ensures that no relevant information is misunderstood by an automatic system and with it is suppressed.

Eine Aufbereitung des Bildes und eine Informationextraktion kann indes zusätzlich zur Darstellung auf der Anzeigevorrichtung erfolgen, so daß die Sicherheit der vollständigen Bilddarstellung mit dem Service der angebotenen Information gekoppelt wird. Insbesondere kann eine Filterung, Konturenschärfung, Mustererkennung, Abstandsmessung von erfaßten Objekten und/oder eine Ausblendung von Störquellen erfolgen. Hierfür können aus der digitalen Bildverarbeitung hinlänglich bekannte Algorithmen eingesetzt werden.Processing the image and extracting information can, however, additionally for display on the display device, so that the security of the full picture representation with the service of the offered information is coupled. In particular, filtering, contour sharpening, Pattern recognition, distance measurement of detected objects and / or a Suppression of interference sources take place. For this, from the digital Image processing well known algorithms are used.

Die mit den genannten Verfahren aus dem Bild ermittelten Daten können im einfachsten Fall dem Fahrer angezeigt werden. Dies kann auf derselben Anzeigevorrichtung zusammen mit dem Bild geschehen, oder aber auf einem getrennten Display (z. B. Radiodisplay). Neben einer rein optischen Anzeige ist auch eine akustische Darstellung der Daten denkbar, wobei vorzugsweise ein Warnsignal zum Hinweis auf gefährliche Situationen (z. B. zu geringer Abstand für eigene/fremde Geschwindigkeit) möglich ist.The data determined from the image using the above-mentioned methods can be viewed in the simplest case to be displayed to the driver. This can be done on the same Display device happen together with the picture, or on one separate display (e.g. radio display). In addition to a purely visual display an acoustic representation of the data is also conceivable, preferably a Warning signal to indicate dangerous situations (e.g. insufficient distance for  own / other speed) is possible.

Weiterhin kann aufgrund der ermittelten Daten auch direkt in die Steuerung des Fahrzeugs eingegriffen werden, z. B. durch Brems- oder Lenkmanöver bzw. -korrekturen. Mit ausreichender Rechenleistung ist es auch möglich, die Position des Fahrzeugs auf der Fahrbahn bzw. relativ zum Fahrbahnrand zu bestimmen. Dann kann der Fahrer vor einem Abkommen von der Fahrbahn gewarnt werden, oder das System kann das Fahrzeug über eine Kopplung an die Lenkverstellung selbständig auf der Fahrbahn halten.Furthermore, based on the determined data, the control of the Intervention vehicle, z. B. by braking or steering maneuvers or -corrections. With sufficient computing power, it is also possible to determine the position to determine the vehicle on the road or relative to the edge of the road. Then the driver can be warned of an agreement from the road, or the system can link the vehicle to the steering adjustment keep on the road independently.

Schließlich kann die Detektion bestimmter Bedingungen aus den Bilddaten auch zu einer Änderung des Verfahrens zur Überwachung führen. Hierbei ist vor allem an eine Verstellung von Schärfe, Ausrichtung oder Brennweite der bildgebenden Optik zu denken.Finally, certain conditions can also be detected from the image data lead to a change in the monitoring procedure. Here is above all an adjustment of the sharpness, orientation or focal length of the imaging Thinking optics.

Das erfindungsgemäße Verfahren sollte insbesondere mindestens zwei Arbeitsmodi unterscheiden können, nämlich zum einen eine Parkraumüberwachung, in der das optische Bild - vorzugsweise durch Weitwinkeleinstellung der Optik - aus dem Nahbereich des Fahrzeuges gewonnen wird, und zum anderen eine Fahrbahnüberwachung, in der das optische Bild - vorzugsweise durch Tele-Einstellung der Optik - aus dem Fernbereich des Fahrzeuges gewonnen wird. Durch eine derartige Unterscheidung von Betriebszuständen ist es möglich, das Abbildungsverfahren an die jeweilige Situation optimal anzupassen. Zu diesem Zweck werden im allgemeinen Situationen ausgewählt, die nicht gleichzeitig auftreten, wie es z. B. für die erwähnte Parkraumüberwachung und die Fahrbahnüberwachung der Fall ist.The method according to the invention should in particular be at least two Can distinguish working modes, namely on the one hand Parking space monitoring, in which the optical image - preferably through Wide-angle adjustment of the optics - obtained from the close range of the vehicle and, on the other hand, a lane monitoring system in which the optical image - preferably by telephoto adjustment of the optics - from the far range of the Vehicle is won. Such a distinction from Operating states, it is possible to adapt the mapping process to the respective Adapt the situation optimally. For this purpose, in general Selected situations that do not occur simultaneously, such as. B. for the mentioned parking space monitoring and lane monitoring is the case.

Bei der Parkraumüberwachung und gleichzeitiger Rückwärtsfahrt des Fahrzeuges wird vorzugsweise das gewonnene Bild im Heckbereich des Fahrzeuges dargestellt, da der Fahrer in der Regel sich ohnehin nach hinten wenden wird, um den Rückraum soweit wie möglich direkt einzusehen. Da eine derartige Anzeige im Heckbereich nicht immer benötigt wird, wird sie vorzugsweise erst bei Einlegen des Rückwärtsganges aktiviert und ansonsten abgeschaltet.When monitoring the parking space and simultaneously reversing the vehicle is preferably the image obtained in the rear area of the vehicle shown, since the driver will usually turn back anyway as far as possible to see the back room directly. Because such an ad is not always needed in the rear area, it is preferably only when inserted reverse gear activated and otherwise switched off.

Bei der geschilderten Fahrbahnüberwachung erfolgt vorzugsweise gleichzeitig eine Bestimmung des Abstandes und/oder der Geschwindigkeit von im Bild befindlichen Objekten. Derartige zusätzliche Informationen sind vor allem beim Fahren mit hoher Geschwindigkeit und beim Kolonnenfahren wertvoll, wenn das Abschätzen von Abständen für den Fahrer einerseits erschwert, andererseits aber besonders wichtig ist.In the described lane monitoring, this is preferably done simultaneously a determination of the distance and / or the speed of in the image located objects. Such additional information is especially with Driving at high speed and valuable when driving in a convoy, if that  Estimating distances is difficult for the driver on the one hand, but on the other hand is particularly important.

Im folgenden wird die Erfindung anhand der Figuren beispielhaft erläutert.In the following the invention is explained by way of example with reference to the figures.

Fig. 1 zeigt ein Blockschaltbild des Überwachungssystems im Auto. Fig. 1 shows a block diagram of the monitoring system in the car.

Fig. 2 zeigt ein variables Objektiv im Autoscheinwerfer. Fig. 2 shows a variable lens in the car headlight.

Fig. 3 zeigt ein System mit Lichtwellenleiter und Mattscheibe. Fig. 3 shows a system with fiber optic and focusing screen.

In Fig. 1 sind gestrichelt die Umrisse einer Autokarosserie angedeutet. In allen vier Scheinwerfern 5 sind als Abbildungssysteme Videokameras 1a angeordnet. Im Rückscheinwerfer sind daneben auch Objektive 1b vorhanden, die mit Lichtwellenleitern 2b und einer Mattscheibe 3e im Heck des Autos verbunden sind. Aus Kostengründen kann auch nur eines der beiden Systeme (Videokamera, Lichtwellenleiter) verwendet werden. Das rein passive, verstärkungslose System aus Objektiv 1b, Lichtwellenleitern 2b und Mattscheibe 3e eignet sich dabei insbesondere für kurze Distanzen wie von den Rückscheinwerfern oder Heck des Fahrzeugs bis zum Fahrgastinnenraum.The outlines of a car body are indicated by dashed lines in FIG. 1. Video cameras 1 a are arranged as imaging systems in all four headlights 5 . In the rear headlights there are also lenses 1 b, which are connected to optical fibers 2 b and a focusing screen 3 e in the rear of the car. For cost reasons, only one of the two systems (video camera, optical fiber) can be used. The purely passive, reinforcement-free system consisting of lens 1 b, optical fibers 2 b and focusing screen 3 e is particularly suitable for short distances, such as from the rear lights or rear of the vehicle to the passenger compartment.

Die Anordnung der Kameras bzw. Objektive in den Scheinwerfern ist vorteilhaft, da sie dort gut geschützt sind sowie ein optimales und bei Dunkelheit gut ausgeleuchtetes Blickfeld haben.The arrangement of the cameras or lenses in the headlights is advantageous because they are well protected there as well as optimal and good in the dark have an illuminated field of view.

Von den Videokameras führen Videosignalleitungen 2a zu einer zentralen Recheneinheit 4 (Mikroprozessor µC). Dort kann eine Bildverarbeitung und -verstärkung erfolgen, insbesondere eine Filterung, Konturenschärfung, Mustererkennung, Abstands- und Geschwindigkeitsmessung von erfaßten Objekten und/oder eine Ausblendung von Störquellen wie z. B. Blendlicht.Video signal lines 2 a lead from the video cameras to a central processing unit 4 (microprocessor μC). Image processing and amplification can take place there, in particular filtering, contour sharpening, pattern recognition, distance and speed measurement of detected objects and / or suppression of interference sources such as e.g. B. Glare.

Das von den Videokameras 1a aufgenommene Bild sowie ggf. die in der Recheneinheit 4 extrahierten Informationen werden dann an verschiedene Anzeigevorrichtungen weitergeleitet, insbesondere ein Display 3a im Armaturenbrett und ein Display 3d im Heck (Hutablage), an das Radiodisplay 3b sowie an Anzeigen im Innenspiegel 3c und in den äußeren Rückspiegeln 7. Hierbei handelt es sich um eine beispielhaft vollständige Ausstattung mit Anzeigen, wobei aus Kostengründen in der Regel eine Beschränkung auf ein oder wenige Displays erfolgen wird. In den Spiegeln 3c, 7 können nicht nur Displays angeordnet sein, sondern hier können sich auch Kameras befinden (nicht dargestellt), die vom Spiegel nicht erfaßte Räume abdecken.The image recorded by the video cameras 1 a and, if applicable, the information extracted in the computing unit 4 are then forwarded to various display devices, in particular a display 3 a in the dashboard and a display 3 d in the rear (rear shelf), to the radio display 3 b and to Displays in the inside mirror 3 c and in the outside rear view mirror 7 . This is an example of complete equipment with displays, with a restriction to one or a few displays generally taking place for cost reasons. Not only displays can be arranged in the mirrors 3 c, 7 , but cameras (not shown) can also be located here, which cover rooms not covered by the mirror.

Fig. 2 zeigt eine Videokamera 1a, die in den Autoscheinwerfer 5 integriert ist. Vor der Kamera 1a ist ein motorverstellbares Objektiv 8 angeordnet. Die Brennweitenverstellung kann von einem Weitwinkelbereich 9a bis zu einem Telebereich 9b erfolgen. Mit dem Weitwinkelbereich 9a kann vor allem der Nahbereich um das Fahrzeug beobachtet werden, was beim Einparken wichtig ist. Die Teleeinstellung dient dagegen dazu, während der Fahrt den Fernbereich zu überwachen. Die Brennweiten- und Schärfenverstellung kann auch dazu ausgenutzt werden, mit einem Autofokus-Verfahren Abstände zu anderen Fahrzeugen zu bestimmen. Hierzu können ferner als Hilfsmittel Radar-, Ultraschall- und/oder Infrarot-Meßverfahren zum Einsatz kommen. Fig. 2 shows a video camera 1 a, which is integrated in the headlights 5 . A motor-adjustable lens 8 is arranged in front of the camera 1 a. The focal length can be adjusted from a wide-angle range 9 a to a telephoto range 9 b. With the wide-angle area 9 a, the close range around the vehicle can be observed, which is important when parking. The telephoto setting, on the other hand, is used to monitor the far range while driving. The focal length and focus adjustment can also be used to determine distances to other vehicles using an autofocus method. For this purpose, radar, ultrasound and / or infrared measuring methods can also be used as aids.

Weiterhin zeigt Fig. 2 als Besonderheit, daß ein Teil des Scheinwerferglases als Linse 6 ausgebildet und in die Optik des Objektives integriert ist. Hierdurch wird eine kompaktere Bauweise möglich (unter Umständen genügt als Optik sogar die Linse 6), und das Objektiv ist durch das Scheinwerferglas geschützt und wird zusammen mit diesem gereinigt.Furthermore, FIG. 2 shows as a special feature that part of the headlight glass is designed as a lens 6 and is integrated into the optics of the objective. This enables a more compact design (under certain circumstances even lens 6 is sufficient as optics), and the lens is protected by the headlight lens and is cleaned together with it.

Fig. 3 zeigt schließlich im Detail ein passives System aus Objektiv 1b, Lichtwellenleiter 2b und Mattscheibe 3e. Der Lichtwellenleiter bzw. ein ganzes Bündel von Lichtwellenleitern 2b münden in den Front- bzw. Heckscheinwerfer 5 und werden dort mit einer in den Scheinwerfer integrierten Optik, vorzugsweise einer Weitwinkellinse, versehen. Der Durchmesser des Lichtwellenleiters 2b beträgt vorzugsweise weniger als 10 mm. Auf der Wiedergabeseite wird die übertragene Bildinformation nach Vergrößerung durch Linsen auf einer Mattscheibe 3e dargestellt. Z.B. bei Fahrzeugen mit kurzem Kofferraum läßt sich die Mattscheibe 3e nach kurzer optischer Übertragungsstrecke gut im Heck des Fahrgastinnenraumes anordnen. Fig. 3 finally shows in detail a passive system from lens 1 b, optical fiber 2 b and focusing screen 3 e. The optical waveguide or a whole bundle of optical waveguides 2 b open into the front or rear headlights 5 and are provided there with optics integrated in the headlights, preferably a wide-angle lens. The diameter of the optical waveguide 2 b is preferably less than 10 mm. On the playback side, the transmitted image information is shown after enlargement by lenses on a focusing screen 3 e. For example, in vehicles with a short trunk, the focusing screen 3 e can be arranged well in the rear of the passenger compartment after a short optical transmission path.

Das Überwachungssystem arbeitet vorzugsweise mit mehreren verschiedenen Betriebszuständen. Insbesondere sollte es möglich sein, eine Parkraum­ überwachung und eine Fahrbahnüberwachung zu unterscheiden. Ein möglicher Funktionsablauf ergibt sich aus dem folgenden Schema:
The monitoring system preferably works with several different operating states. In particular, it should be possible to distinguish between parking space monitoring and lane monitoring. A possible functional sequence results from the following scheme:

Das Display im Fahrzeugheck wird vorzugsweise nur dann aktiviert, wenn der Rückwärtsgang eingelegt ist. Die Wahl zwischen Parkraumüberwachung und Fahrbahnüberwachung kann entweder manuell durch den Fahrer oder automatisch erfolgen, wobei im letzteren Falle die Umschaltung z. B. bei einer bestimmten Grenzgeschwindigkeit v (z. B. 5 km/h) erfolgt. The display in the rear of the vehicle is preferably only activated when the Reverse gear is engaged. The choice between parking space monitoring and Roadway monitoring can either be done manually by the driver or take place automatically, in the latter case switching z. B. at a certain limit speed v (z. B. 5 km / h).  

BezugszeichenlisteReference list

11

a Videokamera
a video camera

11

b Objektiv
b lens

22nd

a Videosignalleitung
a Video signal line

22nd

b Lichtwellenleiter
b optical fiber

33rd

a Display Armaturenbrett
a display dashboard

33rd

b Display Radio
b Radio display

33rd

c Display Innenspiegel
c Interior mirror display

33rd

d Display Heck
d Rear display

33rd

e Mattscheibe
e focusing screen

44th

Recheneinheit (µC)
Computing unit (µC)

55

Scheinwerfer
Headlights

66

Linse
lens

77

Außenrückspiegel
Exterior rear view mirror

88th

Objektiv mit Brennweitenverstellung
Lens with focal length adjustment

99

a Weitwinkeleinstellung
a Wide angle setting

99

b Teleeinstellung
b Tele setting

Claims (19)

1. System zur Überwachung von vom Fahrer nicht direkt oder über einen Spiegel einsehbaren Räumen um ein Fahrzeug, welches
  • a) Abbildungsmittel (1) zur Erzeugung eines Bildes des zu überwachenden Raumes enthält,
    dadurch gekennzeichnet, daß es ferner enthält
  • b) Übertragungsmittel (2) zur Weiterleitung des Bildes und
  • c) mindestens eine Anzeigevorrichtung (3) zur Darstellung des von den Übertragungsmitteln (2) weitergeleiteten Bildes, welche im vom Fahrer einsehbaren Bereich angeordnet ist.
1. System for monitoring spaces that cannot be viewed by the driver directly or via a mirror around a vehicle
  • a) contains imaging means ( 1 ) for producing an image of the space to be monitored,
    characterized in that it also contains
  • b) transmission means ( 2 ) for forwarding the image and
  • c) at least one display device ( 3 ) for displaying the image forwarded by the transmission means ( 2 ), which is arranged in the area visible to the driver.
2. System nach Anspruch 1, dadurch gekennzeichnet, daß als Abbildungsmittel Videokameras (1a) eingesetzt werden.2. System according to claim 1, characterized in that video cameras ( 1 a) are used as imaging means. 3. System nach Anspruch 2, dadurch gekennzeichnet, daß die Videokameras (1a) CCD-Elemente mit einer Auflösung von mindestens 128 mal 128 Pixeln, vorzugsweise mindestens 480 mal 640 Pixeln enthalten.3. System according to claim 2, characterized in that the video cameras ( 1 a) contain CCD elements with a resolution of at least 128 by 128 pixels, preferably at least 480 by 640 pixels. 4. System nach einem der Ansprüche 2 oder 3, dadurch gekennzeichnet, daß die Videokameras (1a) für sichtbares und/oder infrarotes Licht empfindlich sind. 4. System according to one of claims 2 or 3, characterized in that the video cameras ( 1 a) are sensitive to visible and / or infrared light. 5. System nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß als Anzeigevorrichtung ein Monitor (3a, b, c, d), vorzugsweise eine Elektronenstrahlröhre oder eine Flüssigkristall-Anzeige, eingesetzt wird.5. System according to any one of claims 1 to 4, characterized in that a monitor ( 3 a, b, c, d), preferably an electron beam tube or a liquid crystal display, is used as the display device. 6. System nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß die Übertragungsmittel (2a) Vorrichtungen (4) zur elektronischen Bildverarbeitung umfassen, vorzugsweise zur Filterung und Mustererkennung.6. System according to one of claims 1 to 5, characterized in that the transmission means ( 2 a) comprise devices ( 4 ) for electronic image processing, preferably for filtering and pattern recognition. 7. System nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß als Abbildungsmittel ein Objektiv (1b) und als Übertragungsmittel ein Lichtwellenleiter (2b) eingesetzt werden.7. System according to any one of claims 1 to 6, characterized in that a lens ( 1 b) and an optical waveguide ( 2 b) are used as imaging means. 8. System nach Anspruch 7, dadurch gekennzeichnet, daß als Anzeigevorrichtung eine Mattscheibe (3e) eingesetzt wird.8. System according to claim 7, characterized in that a screen ( 3 e) is used as the display device. 9. System nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß die Abbildungsmittel (1) an der Vorderseite und/oder der Rückseite und/oder im Rückspiegel (7) des Fahrzeugs angeordnet sind.9. System according to one of claims 1 to 8, characterized in that the imaging means ( 1 ) on the front and / or the rear and / or in the rear view mirror ( 7 ) of the vehicle are arranged. 10. System nach Anspruch 9, dadurch gekennzeichnet, daß die Abbildungsmittel (1) in die Scheinwerfer (5) integriert sind.10. System according to claim 9, characterized in that the imaging means ( 1 ) in the headlights ( 5 ) are integrated. 11. System nach Anspruch 10, dadurch gekennzeichnet, daß die Optik (6) der Abbildungsmittel (1) ganz oder teilweise vom Scheinwerferglas gebildet wird.11. System according to claim 10, characterized in that the optics ( 6 ) of the imaging means ( 1 ) is wholly or partly formed by the headlight glass. 12. System nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, daß die Anzeigevorrichtungen im Armaturenbrett (3a), im Radiodisplay (3b), im Innenspiegel (3c), im Heckbereich des Fahrzeugs (3d, e) und/oder in den Rückspiegeln (7) angeordnet sind.12. System according to any one of claims 1 to 11, characterized in that the display devices in the dashboard ( 3 a), in the radio display ( 3 b), in the interior mirror ( 3 c), in the rear area of the vehicle ( 3 d, e) and / or are arranged in the rear view mirrors ( 7 ). 13. System nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, daß die Abbildungsmittel (1) in Orientierung, Brennweite und Scharfeinstellung veränderbar sind.13. System according to one of claims 1 to 12, characterized in that the imaging means ( 1 ) in orientation, focal length and focus can be changed. 14. Verfahren zur Überwachung von vom Fahrer nicht direkt oder über einen Spiegel einsehbaren Räumen um ein Fahrzeug, bei dem
  • a) ein Bild des zu überwachenden Raumes erzeugt wird,
    dadurch gekennzeichnet, daß
  • b) das Bild weitergeleitet wird und
  • c) auf mindestens einer Anzeigevorrichtung (3) im vom Fahrer einsehbaren Bereich dargestellt wird.
14. A method for monitoring spaces around a vehicle that cannot be viewed directly by the driver or via a mirror
  • a) an image of the room to be monitored is generated,
    characterized in that
  • b) the image is forwarded and
  • c) is displayed on at least one display device ( 3 ) in the area visible to the driver.
15. Verfahren nach Anspruch 14, dadurch gekennzeichnet, daß das Bild vor der Darstellung auf der Anzeigevorrichtung (3) aufbereitet wird, insbesondere durch Filterung, Konturenschärfung, Mustererkennung, Abstandsmessung von erfaßten Objekten und/oder Ausblendung von Störquellen.15. The method according to claim 14, characterized in that the image is processed before being displayed on the display device ( 3 ), in particular by filtering, contour sharpening, pattern recognition, distance measurement of detected objects and / or suppression of interference sources. 16. Verfahren nach Anspruch 15, dadurch gekennzeichnet, daß die aus dem Bild ermittelten Daten angezeigt werden und/oder zu Eingriffen in die Steuerung des Fahrzeugs führen und/oder zu einer Änderung des Verfahrens zur Überwachung führen.16. The method according to claim 15, characterized in that the data determined from the image are displayed and / or interventions in the control of the vehicle lead and / or change the monitoring procedure to lead. 17. Verfahren nach einem der Ansprüche 14 bis 16, dadurch gekennzeichnet, daß es mindestens folgende zwei Arbeitsmodi unterscheidet:
  • a) eine Parkraumüberwachung, in der das optische Bild - vorzugsweise durch Weitwinkeleinstellung der Optik - aus dem Nahbereich des Fahrzeuges gewonnen wird,
  • b) eine Fahrbahnüberwachung, in der das optische Bild - vorzugsweise durch Tele-Einstellung der Optik - aus dem Fernbereich des Fahrzeuges gewonnen wird.
17. The method according to any one of claims 14 to 16, characterized in that it distinguishes at least the following two working modes:
  • a) parking space monitoring in which the optical image is obtained from the close range of the vehicle, preferably by wide-angle adjustment of the optics,
  • b) a lane monitoring system in which the optical image is obtained from the remote area of the vehicle, preferably by telephoto adjustment of the optics.
18. Verfahren nach Anspruch 17, dadurch gekennzeichnet, daß bei Parkraumüberwachung (a) und Rückwärtsfahrt des Fahrzeuges das gewonnene Bild im Heckbereich des Fahrzeuges dargestellt wird, wozu vorzugsweise bei Einlegen des Rückwärtsganges die Anzeigevorrichtung (3d, e) im Heck aktiviert wird.18. The method according to claim 17, characterized in that the parking image monitoring (a) and backward travel of the vehicle, the image obtained is shown in the rear area of the vehicle, for which purpose the display device ( 3 d, e) in the rear is preferably activated when the reverse gear is engaged. 19. Verfahren nach Anspruch 17 oder 18, dadurch gekennzeichnet, daß bei der Fahrbahnüberwachung eine Bestimmung des Abstandes und/oder der Geschwindigkeit von im Bild befindlichen Objekten stattfindet.19. The method according to claim 17 or 18, characterized in that in the lane monitoring a determination of the distance and / or the speed of im Objects located in the picture.
DE19801884A 1998-01-20 1998-01-20 CCTV monitoring system for blind spots around motor vehicle Withdrawn DE19801884A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
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PCT/EP1998/008482 WO1999037503A1 (en) 1998-01-20 1998-12-28 Vehicle monitoring system

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