Vehicle surround view system

• US 9,679,359 B2
• Filed: 04/13/2012
• Issued: 06/13/2017
• Est. Priority Date: 04/14/2011
• Status: Active Grant

• Current Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Inventors: Natroshvili, Koba, Quast, Johannes, Scholl, Kay-Ulrich, Huebner, Klaus
• Primary Examiner(s): KALAPODAS, DRAMOS
• Application Number:
  US13/446,613
• Publication Number:
  US 20120262580A1
• Time in Patent Office: 1,887 Days
• Field of Search: 348148, 34099514, 340905, 434219, 382284
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/306 using a re-scaling of images
• CPC Class Codes: B60R 2300/602 with an adjustable viewpoint
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A surround view system that can provide a surround view, e.g., a 360° view, from a vehicle by way of cameras positioned at various locations on the vehicle. The cameras can generate image data corresponding to the surround view, and a processing device can process the image data and generate the surround view on a simulated predetermined shape that can be viewed from a display. The simulated predetermined shape can have a flat bottom with a rectangular shape and a rim with a parabolic shape.

Claims

1. A surround view system comprising:

a plurality of cameras positionable at different locations on a vehicle, the cameras configured to generate image data of surroundings of the vehicle;

an interface configured to receive signals from additional sensors that measure distance from the vehicle to objects located around the vehicle;

a processing device configured to merge the image data from the plurality of cameras, the processing device being further configured to generate a surround view of the vehicle based on the merged image data, where the processing device is configured to project the merged image data on a simulated predetermined shape surrounding the vehicle, the simulated predetermined shape having a flat bottom, the flat bottom having an outer perimeter with straight sections and curved sections, the simulated predetermined shape continuing above the bottom in horizontal cross sections, a top cross section of the simulated predetermined shape being elliptic in shape and having a major axis that is longer than a minor axis, the simulated predetermined shape being a bowl, and a shape of the bowl changing from a top of the bowl to a bottom of the bowl gradually from cross sections of the bowl having an elliptic shape with a major axis that is longer than a minor axis to cross sections of the bowl having a rectangular shape with curved corners, the processing device configured to selectively change a size of the flat bottom of the simulated predetermined shape based on a user input requesting the change; and

a display configured to display the surround view;

wherein a ratio of a length of the curved segments of the bottom cross section to a total length of a perimeter of the bottom cross section is between 0.6 and 0.8.

2. The surround view system according to claim 1, further comprising a user input device configured to change a viewing perspective of the surround view, and wherein a ratio of a length of the curved sections of the outer perimeter of the flat bottom to a total length of the outer perimeter of the flat bottom is 0.01.

3. The surround view system according to claim 1, where a ratio of a long edge to a short edge of the rectangular shape is proportional to a ratio of a length of the vehicle to a width of the vehicle, and wherein the rectangular shape with curved corners comprises straight segments and curved segments.

4. The surround view system according to claim 3, where a ratio of the major axis to the minor axis of the elliptic shape is proportional to a ratio of the length of the vehicle to the width of the vehicle, and wherein a bottom cross section of the horizontal cross sections has the rectangular shape with curved corners.

5. The surround view system according to claim 4, where an angle at a junction of the flat bottom with a curved portion of vertical sections of the simulated predetermined shape is approximately 90°

, and wherein the bottom cross section touches the flat bottom.

6. The surround view system according to claim 1, where the user input requesting the change in the size of the flat bottom of the simulated predetermined shape comprises input received via a user input device, and where the processing device is configured to change the size of the flat bottom of the simulated predetermined shape during use responsive to the input received via the user input device.

7. The surround view system according to claim 6, wherein the processing device is configured to change the size of the flat bottom of the simulated predetermined shape by adding pixels to the flat bottom of the simulated predetermined shape responsive to the input received via the user input device, wherein, after adding the pixels, the flat bottom of the simulated predetermined shape has one or more of a greater length than a length of the vehicle and a greater width than a width of the vehicle.

8. The surround view system according to claim 7, where the processing device is further configured to determine a distance of an object shown in the surround view with respect to motion of at least one of the object or the vehicle, and where the processing device is further configured to fine tune the simulated predetermined shape or correct positions and distortions of the object in the simulated predetermined shape based on the distance.

9. The surround view system according to claim 7, where the cameras are wide-angle cameras having a horizontal opening angle of more than 170°

.

10. A method for generating a surround view of a vehicle, the method comprising:

providing a plurality of image sensors at different locations on the vehicle;

the image sensors generating image data of surroundings of the vehicle that cover the surroundings of the vehicle;

receiving signals from additional sensors that measure distance from the vehicle to objects located around the vehicle;

processing the image data of the image sensors to generate the surround view of the vehicle based on the image data from the image sensors, where the image data are inversely projected on a predetermined shape surrounding the vehicle, the predetermined shape having a flat bottom, the predetermined shape continuing above the flat bottom with horizontal shapes, a top shape of the predetermined shape being ellipsoidal in shape and having a major axis that is longer than a minor axis, the predetermined shape being a bowl, and a shape of the bowl changing from a top of the bowl to a bottom of the bowl gradually from cross sections of the bowl having an elliptic shape with a major axis that is longer than a minor axis at a top rim of the bowl to cross sections of the bowl having a rectangular shape with curved corners, where processing the image data includes selectively changing a size of the flat bottom of the predetermined shape responsive to user input requesting the change in size received from a user input device, wherein a bottom shape of the horizontal shapes is a rectangular shape with curved corners comprising straight segments and curved segments, the curved segments comprising the curved corners, wherein the bottom shape touches the flat bottom, and wherein a ratio of a length of the curved segments to a total length of an outer perimeter of the bottom shape is between 0.6 and 0.8; and

displaying the generated surround view.

11. The method according to claim 10, further comprising:

changing a position and an angle of view with which the generated surround view is displayed in accordance with a user input, wherein the flat bottom has a perimeter with straight sections and curved sections, and wherein a ratio of a length of the curved sections of a perimeter of the flat bottom to a total length of the perimeter of the flat bottom is 0.01.

12. A surround view system comprising:

a processing device configured to process image data corresponding to surroundings of a vehicle, the processing device being further configured to generate a surround view based on the image data, where the processing device is further configured to project the image data on a simulated predetermined shape surrounding the vehicle, the simulated predetermined shape having a flat bottom, the simulated predetermined shape configured to continue above the flat bottom in horizontal cross sections, the simulated predetermined shape having a top cross section being elliptic in shape and having a major axis that is longer than a minor axis, the simulated predetermined shape being a bowl, and a shape of the bowl changing from a top of the bowl to a bottom of the bowl gradually from cross sections of the bowl having an elliptic shape with a major axis that is longer than a minor axis at the top of the bowl to cross sections of the bowl having a rectangular shape with curved corners at the bottom of the bowl, the processing device configured to selectively change a size of the flat bottom of the simulated predetermined shape based on user input requesting the change in the size of the flat bottom; and

an interface configured to receive signals from additional sensors, other than sensors capturing the image data, that measure distance from the vehicle to objects located around the vehicle;

wherein a bottom cross section of the horizontal cross sections comprises four straight edges and four curved corners, and wherein a ratio of a length of the four curved corners to a total length of the four curved corners and the four straight edges is between 0.6 and 0.8, and

wherein the edges and corners lie on an outer perimeter of the bottom cross section, where the flat bottom meets a wall of the simulated predetermined shape.

13. The surround view system according to claim 12, further comprising a display configured to display the surround view, and where the processing device is further configured to correct positions and distortions of an object in the simulated predetermined shape based on a measured distance of the object shown in the surround view with respect to motion of at least one of the object or the vehicle.

14. The surround view system according to claim 12, where a ratio of a long edge to a short edge of the rectangular shape is proportional to a ratio of a length of the vehicle to a width of the vehicle, and wherein the bottom cross section touches the flat bottom.

15. The surround view system according to claim 12, where a ratio of the major axis to the minor axis of the elliptic shape is proportional to a ratio of a length of the vehicle to a width of the vehicle, wherein the flat bottom has a perimeter with straight sections and curved sections, and wherein a ratio of a length of the curved sections to a total length of the perimeter of the flat bottom is 0.01.

16. The surround view system according to claim 12, where the surround view is a 360°

view, and wherein the processing device is configured to change the size of the flat bottom of the simulated predetermined shape during use by adding pixels to the flat bottom of the simulated predetermined shape responsive to the user input requesting the change in the size of the flat bottom.