Method and vehicle control system for producing images of a surroundings model, and corresponding vehicle

• US 10,692,284 B2
• Filed: 06/20/2017
• Issued: 06/23/2020
• Est. Priority Date: 06/27/2016
• Status: Active Grant

• Current Assignee: Conti Temic Microelectronic GmbH (Continental AG)
• Original Assignee: Conti Temic Microelectronic GmbH (Continental AG)
• Inventors: Milz, Stefan, Arbeiter, Georg
• Primary Examiner(s): Wilson, Nicholas R
• Application Number:
  US16/310,907
• Publication Number:
  US 20190325650A1
• Time in Patent Office: 1,099 Days
• Field of Search: None
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2200/08 involving all processing steps from image acquisition to 3D model generation
• CPC Class Codes: H04N 23/54 Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils

Abstract

In a method of generating continuous images of a stored three-dimensional surroundings model of a vehicle, a camera image is generated and projected onto a projection surface in the surroundings model, and continuous images of the projection surface are generated and output by a mobile virtual camera.

Claims

1. A method of generating continuous images of a stored three-dimensional surroundings model of a vehicle, comprising steps:

generation of at least one camera image by a camera device of the vehicle;

projection of the camera image onto a projection surface in the stored three-dimensional surroundings model of the vehicle;

generation of continuous images of the projection surface by a mobile virtual camera; and

output of the continuous images;

wherein the mobile virtual camera, for each respective current configuration of the mobile virtual camera, respectively has a current set of camera parameters, including a respective camera position of the mobile virtual camera and a respective optical axis of the mobile virtual camera in the respective current configuration of the mobile virtual camera;

wherein, along a first motion path in the stored three-dimensional surroundings model, the current set of camera parameters is interpolated continuously between a predetermined first set of camera parameters and a second set of camera parameters and, along a second motion path in the stored three-dimensional surroundings model, the current set of camera parameters is interpolated continuously between the second set of camera parameters and a predetermined third set of camera parameters; and

wherein an optical axis of the mobile virtual camera included in the second set of camera parameters runs through a predetermined axis point which lies on a connecting line between a first reference point and a second reference point, wherein the first reference point is a predetermined point on an optical axis of the mobile virtual camera included in the first set of camera parameters and the second reference point is a predetermined point on an optical axis of the mobile virtual camera included in the third set of camera parameters.

2. The method according to claim 1, wherein the first motion path and the second motion path describe a segment of a circle in the stored three-dimensional surroundings model.

3. The method according to claim 2, wherein the interpolation of the camera position of the mobile virtual camera along the first motion path and/or along the second motion path is performed by spherical linear interpolation.

4. The method according to claim 2, wherein the interpolation of the optical axis of the mobile virtual camera along the first motion path and/or along the second motion path is performed by spherical linear interpolation.

5. The method according to claim 2, wherein a camera position included in the second set of camera parameters lies in a middle third of the segment of the circle.

6. The method according to claim 5, wherein the camera position included in the second set of camera parameters lies at a midpoint of the segment of the circle.

7. The method according to claim 1, wherein a distance of the first reference point from a camera position included in the first set of camera parameters is substantially equal to a distance of the second reference point from a camera position included in the third set of camera parameters.

8. The method according to claim 1, wherein the predetermined axis point lies substantially at a middle of the connecting line between the first reference point and the second reference point.

9. The method according to claim 1, wherein a driver assistance system controls a function of the vehicle based on the continuous images.

10. The method according to claim 1, wherein the continuous images are displayed to a driver of the vehicle on a display device.

11. A vehicle control system of a vehicle for generating continuous images of a stored three-dimensional surroundings model of the vehicle, comprising:

a camera device of the vehicle for generating at least one camera image;

a computing device, which is configured to project the camera image onto a projection surface in the stored three-dimensional surroundings model of the vehicle, and to generate continuous images of the projection surface by a mobile virtual camera; and

an output device which is configured to output the continuous images,

wherein the mobile virtual camera, for each respective current configuration of the mobile virtual camera, respectively has a current set of camera parameters, including a respective camera position of the mobile virtual camera and a respective optical axis of the mobile virtual camera in the respective current configuration of the mobile virtual camera;

wherein the computing device is configured to interpolate the current set of camera parameters, along a first motion path in the stored three-dimensional surroundings model, continuously between a predetermined first set of camera parameters and a second set of camera parameters and, along a second motion path in the stored three-dimensional surroundings model, continuously between the second set of camera parameters and a predetermined third set of camera parameters, and

wherein the computing device is further configured to determine an optical axis of the mobile virtual camera included in the second set of camera parameters as running through a predetermined axis point which lies on a connecting line between a first reference point and a second reference point, wherein the first reference point is a predetermined point on an optical axis of the mobile virtual camera included in the first set of camera parameters and the second reference point is a predetermined point on an optical axis of the mobile virtual camera included in the third set of camera parameters.

12. The vehicle control system according to claim 11, wherein the first motion path and the second motion path describe a segment of a circle in the stored three-dimensional surroundings model.

13. The vehicle control system according to claim 11, wherein the computing device is configured to interpolate the camera position of the mobile virtual camera along the first motion path and/or along the second motion path by spherical linear interpolation.

14. The vehicle control system according to claim 11, with a driver assistance system which is configured to control a function of the vehicle based on the continuous images.

15. The vehicle control system according to claim 11, wherein the output device comprises a display device which is configured to display the continuous images to a driver of the vehicle.

16. A vehicle with a vehicle control system according to claim 11.