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DE102020111532A1 - Method and device for measuring the distance of a curb - Google Patents

Method and device for measuring the distance of a curb Download PDF

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Publication number
DE102020111532A1
DE102020111532A1 DE102020111532.6A DE102020111532A DE102020111532A1 DE 102020111532 A1 DE102020111532 A1 DE 102020111532A1 DE 102020111532 A DE102020111532 A DE 102020111532A DE 102020111532 A1 DE102020111532 A1 DE 102020111532A1
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Prior art keywords
cameras
road vehicle
curb
distance
following features
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Pending
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DE102020111532.6A
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German (de)
Inventor
Sascha Saralajew
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Dr Ing HCF Porsche AG
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Dr Ing HCF Porsche AG
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Priority to DE102020111532.6A priority Critical patent/DE102020111532A1/en
Publication of DE102020111532A1 publication Critical patent/DE102020111532A1/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D35/00—Vehicle bodies characterised by streamlining
    • B62D35/005—Front spoilers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/02—Stabilising vehicle bodies without controlling suspension arrangements by aerodynamic means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/82—Elements for improving aerodynamics

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)

Abstract

Die Erfindung stellt ein Verfahren zum Messen der Entfernung eines Bordsteines mit den folgenden Merkmalen bereit: Verschiedenartige Kameras (11-14) erfassen jeweils ein Sichtfeld dergestalt, dass die Sichtfelder einen gemeinsamen Überlappungsbereich (15, 16) abdecken und wenn der Überlappungsbereich (15, 16) den Bordstein (20) umfasst, wird die Entfernung (21) durch eine Stereotriangulation mittels der Kameras (11-14) berechnet.Die Erfindung stellt ferner ein entsprechendes Straßenfahrzeug, ein entsprechendes Computerprogramm sowie ein entsprechendes Speichermedium bereit.The invention provides a method for measuring the distance of a curb with the following features: Different cameras (11-14) each record a field of view in such a way that the fields of view cover a common overlap area (15, 16) and when the overlap area (15, 16 ) comprises the curb (20), the distance (21) is calculated by stereo triangulation by means of the cameras (11-14). The invention also provides a corresponding road vehicle, a corresponding computer program and a corresponding storage medium.

Description

Die vorliegende Erfindung betrifft ein Verfahren zum Messen der Entfernung eines Bordsteines. Die vorliegende Erfindung betrifft darüber hinaus ein entsprechendes Straßenfahrzeug, ein entsprechendes Computerprogramm sowie ein entsprechendes Speichermedium.The present invention relates to a method for measuring the distance of a curb. The present invention also relates to a corresponding road vehicle, a corresponding computer program and a corresponding storage medium.

Stand der TechnikState of the art

DE102014017904A1 und DE102016124747A1 schlagen unabhängig voneinander vor, die Höhe eines Bordsteines oder anderweitiger Gegenstände mit Hilfe zweier mit Abstand zueinander angeordneter Kameras eines Fahrzeugs zu ermitteln. DE102014017904A1 and DE102016124747A1 independently propose to determine the height of a curb or other objects with the help of two cameras of a vehicle which are arranged at a distance from one another.

DE102011011821A1 und DE102012210508A1 offenbaren jeweils eine am Bug eines Fahrzeugs angeordnete Luftleiteinrichtung (fachsprachlich: „Frontlippe“), welche bei der Erkennung eines auf dem Fahrweg vorausliegenden Hindernisses automatisch angehoben wird, um Beschädigungen am Fahrzeug zu vermeiden. DE102011011821A1 and DE102012210508A1 each disclose an air guiding device (technically: "front lip") arranged at the front of a vehicle, which is automatically raised when an obstacle lying ahead on the route is detected in order to avoid damage to the vehicle.

Offenbarung der ErfindungDisclosure of the invention

Der erfindungsgemäße Ansatz fußt auf der Erkenntnis, dass die höhenverstellbare Frontlippe eines Straßenfahrzeuges aus Gründen des Fußgängerschutz sowie der Aerodynamik möglichst tief einzustellen ist. Allerdings mindert die Lippe in dieser Stellung die Geländegängigkeit des damit ausgerüsteten Fahrzeuges und erschwert dessen Einparken, da sie über den Bordstein schrammen kann. Dieser Zielkonflikt macht es wünschenswert, im Rahmen von Einparkvorgängen zuverlässig den Bordstein und dessen Höhe zu erkennen.The approach according to the invention is based on the knowledge that the height-adjustable front lip of a road vehicle should be set as low as possible for reasons of pedestrian protection and aerodynamics. However, in this position, the lip reduces the cross-country mobility of the vehicle equipped with it and makes parking more difficult because it can scratch the curb. This conflict of objectives makes it desirable to reliably identify the curb and its height when parking.

Die Erfindung trägt ferner dem Umstand Rechnung, dass Straßenfahrzeuge der Ober- und Luxusklasse ausstattungsabhängig mitunter Kameras aufweisen, die eine echte Draufsicht (real top view, RTV) des Fahrzeuges gestatten. Die Sichtfelder derartiger Draufsichtkameras sind in ihrer Weite nicht zu unterschätzen und weisen je nach Ausrichtung einen beträchtlichen Überlappungsbereich auf.The invention also takes into account the fact that road vehicles of the upper and luxury class, depending on the equipment, sometimes have cameras that allow a real top view (RTV) of the vehicle. The width of the fields of view of such top view cameras should not be underestimated and, depending on the orientation, have a considerable overlap area.

Die Erfindung stellt vor diesem Hintergrund ein Verfahren zum Messen der Entfernung eines Bordsteines, ein entsprechendes Straßenfahrzeug, ein entsprechendes Computerprogramm sowie ein entsprechendes maschinenlesbares Speichermedium gemäß den unabhängigen Ansprüchen bereit.Against this background, the invention provides a method for measuring the distance of a curb, a corresponding road vehicle, a corresponding computer program and a corresponding machine-readable storage medium according to the independent claims.

Ein Grundgedanke dieses Ansatzes besteht darin, in den Überlappungsbereichen der einzelnen Kameras eine Stereotriangulation durchzuführen, um wenigstens in diesen Bereichen Tiefeninformationen zu generieren.A basic idea of this approach is to carry out a stereo triangulation in the overlapping areas of the individual cameras in order to generate depth information at least in these areas.

Der Vorzug eines erfindungsgemäßen Verfahrens liegt hierbei darin, dass es in handelsüblichen Straßenfahrzeugen ohne zusätzliche Bauteile durchgeführt werden kann.The advantage of a method according to the invention is that it can be carried out in commercially available road vehicles without additional components.

Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den abhängigen Patentansprüchen angegeben. So kann vorgesehen sein, dass die Draufsichtkameras in einem Abstand von mindestens 1 m zur Fahrerassistenzkamera angeordnet sind. Dies verleiht der erfindungsgemäßen Entfernungsberechnung eine hohe Genauigkeit, da die durch die Stereotriangulation gewonnenen Tiefeninformationen aufgrund des hohen Basisabstands präzise und selbst auf große Distanz gute Ergebnisse generieren sollte.Further advantageous refinements of the invention are specified in the dependent claims. It can thus be provided that the top view cameras are arranged at a distance of at least 1 m from the driver assistance camera. This gives the distance calculation according to the invention a high level of accuracy, since the depth information obtained by the stereo triangulation should generate good results precisely and even at great distances due to the high base distance.

Gemäß einer weiteren Ausführungsform können die Draufsichtkameras zumindest vorne, links und rechts am Straßenfahrzeug angeordnet sein. Eine Durchführung des vorgeschlagenen Verfahrens mit solchermaßen angeordneten Kameras erlaubt die problemlose Schätzung der Höhe und Entfernung des Bordsteines. According to a further embodiment, the top view cameras can be arranged at least at the front, left and right of the road vehicle. Carrying out the proposed method with cameras arranged in this way allows the height and distance of the curb to be estimated without problems.

Kurze Beschreibung der ZeichnungBrief description of the drawing

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im Folgenden näher beschrieben.An embodiment of the invention is shown in the drawing and is described in more detail below.

Die einzige Figur zeigt ein erfindungsgemäßes Straßenfahrzeug während des Einparkens.The single figure shows a road vehicle according to the invention during parking.

Ausführungsformen der ErfindungEmbodiments of the invention

Die Abbildung illustriert einen typischen Anwendungsfall der Erfindung anhand eines als Geländelimousine ausgeführten Straßenfahrzeuges (10) mit drei vorne, links und rechts daran angeordneten Draufsichtkameras (11, 12, 13), mittig oberhalb der Windschutzscheibe angeordneter Fahrerassistenzkamera (14) sowie höhenverstellbarer Frontlippe (17).The figure illustrates a typical application of the invention using a road vehicle designed as an off-road sedan ( 10 ) with three top view cameras arranged on the front, left and right ( 11 , 12th , 13th ), driver assistance camera arranged in the middle above the windshield ( 14th ) and height-adjustable front lip ( 17th ).

Wie die Zeichnung erkennen lässt, sind die Kameras (11-14) derart ausgerichtet, dass ihre jeweiligen Sichtfelder gemeinsame Überlappungsbereiche (15, 16) links und rechts der Fahrzeugfront abdecken. Sobald einer dieser Überlappungsbereiche (15, 16) während des Einparkens den Bordstein (20) erfasst, wird dessen Entfernung (21) mittels der Kameras (11-14) berechnet. Diese Berechnung erfolgt im Wege der sogenannten Stereotriangulation, etwa gemäß SCHREER, Oliver. Stereoanalyse und Bildsynthese. Springer-Verlag, 2005, Seiten 176 ff.As the drawing shows, the cameras ( 11-14 ) aligned in such a way that their respective fields of view have common areas of overlap ( 15th , 16 ) to the left and right of the front of the vehicle. As soon as one of these overlap areas ( 15th , 16 ) while parking the curb ( 20th ), its distance is recorded ( 21 ) by means of the cameras ( 11-14 ) calculated. This calculation is carried out using what is known as stereo triangulation, for example according to SCHREER, Oliver. Stereo analysis and image synthesis. Springer-Verlag, 2005, pages 176 ff.

Von der solchermaßen berechneten Entfernung (21) lässt sich auf die Höhe des Bordsteines (20) im Überlappungsbereich (15, 16) schließen, abhängig von welcher auch die Frontlippe (17) in der Höhe verstellt wird. Es sei bemerkt, dass die Frontlippe (17) nach dem Ausparken des Straßenfahrzeuges (10) auf die geringstmögliche Höhe zurückgestellt werden mag, ohne den Rahmen der Erfindung zu verlassen.From the distance calculated in this way ( 21 ) can be adjusted to the level of the curb ( 20th ) in the overlap area ( 15th , 16 ) close, depending on which also the front lip ( 17th ) is adjusted in height. It should be noted that the front lip ( 17th ) after parking the road vehicle ( 10 ) may be reset to the lowest possible height without departing from the scope of the invention.

ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Zitierte PatentliteraturPatent literature cited

  • DE 102014017904 A1 [0002]DE 102014017904 A1 [0002]
  • DE 102016124747 A1 [0002]DE 102016124747 A1 [0002]
  • DE 102011011821 A1 [0003]DE 102011011821 A1 [0003]
  • DE 102012210508 A1 [0003]DE 102012210508 A1 [0003]

Claims (10)

Verfahren zum Messen einer Entfernung (21) eines Bordsteines (20), gekennzeichnet durch folgende Merkmale: - verschiedenartige Kameras (11-14) erfassen jeweils ein Sichtfeld dergestalt, dass die Sichtfelder einen gemeinsamen Überlappungsbereich (15, 16) abdecken und - wenn der Überlappungsbereich (15, 16) den Bordstein (20) umfasst, wird die Entfernung (21) durch eine Stereotriangulation mittels der Kameras (11-14) berechnet.Method for measuring a distance (21) from a curb (20), characterized by the following features: - cameras (11-14) of different types each record a field of view in such a way that the fields of view cover a common overlap area (15, 16) and - if the overlap area (15, 16) includes the curb (20), the distance (21) is calculated by stereo triangulation using the cameras (11-14). Verfahren nach Anspruch 1, gekennzeichnet durch folgendes Merkmal: - von der berechneten Entfernung (21) wird auf eine Höhe des Bordsteines (20) im Überlappungsbereich (15, 16) geschlossen.Procedure according to Claim 1 , characterized by the following feature: - The calculated distance (21) is used to deduce the height of the curb (20) in the overlap area (15, 16). Verfahren nach Anspruch 2, gekennzeichnet durch folgende Merkmale: - das Verfahren wird in einem Straßenfahrzeug (10) durchgeführt und - abhängig von der Höhe des Bordsteines (20) wird eine Frontlippe (17) des Straßenfahrzeuges (10) in der Höhe verstellt.Procedure according to Claim 2 , characterized by the following features: - the method is carried out in a road vehicle (10) and - depending on the height of the curb (20), a front lip (17) of the road vehicle (10) is adjusted in height. Verfahren nach Anspruch 3, gekennzeichnet durch folgende Merkmale: - das Verstellen der Frontlippe (17) erfolgt während eines Einparkens des Straßenfahrzeuges (10) am Bordstein (20) und - nach einem Ausparken des Straßenfahrzeuges (10) wird die Frontlippe (17) auf die geringstmögliche Höhe eingestellt.Procedure according to Claim 3 , characterized by the following features: - the adjustment of the front lip (17) takes place while the road vehicle (10) is parked on the curb (20) and - after the road vehicle (10) has been parked out, the front lip (17) is set to the lowest possible height. Straßenfahrzeug (10), gekennzeichnet durch folgende Merkmale: - das Straßenfahrzeug (10) weist verschiedenartige Kameras (11-14) mit voneinander abweichenden Sichtfeldern auf, - die Kameras (11-14) sind derart ausgerichtet, dass die Sichtfelder einen gemeinsamen Überlappungsbereich (15, 16) abdecken und - das Straßenfahrzeug (10) ist dazu eingerichtet, durch eine Stereotriangulation mittels der Kameras (11-14) eine Entfernung (21) zu einem Bordstein (20) zu berechnen, wenn der Überlappungsbereich (15, 16) den Bordstein (20) umfasst.Road vehicle (10), characterized by the following features: - the road vehicle (10) has cameras (11-14) of different types with fields of view that differ from one another, - the cameras (11-14) are aligned in such a way that the fields of view have a common overlap area (15 , 16) and - the road vehicle (10) is set up to calculate a distance (21) to a curb (20) by means of stereo triangulation by means of the cameras (11-14) if the overlapping area (15, 16) is the curb (20) includes. Straßenfahrzeug (10) nach Anspruch 5, gekennzeichnet durch mindestens eines der folgenden Merkmale: - die Kameras (11-14) umfassen Draufsichtkameras (11, 12, 13) und - die Kameras (11-14) umfassen eine Fahrerassistenzkamera (14).Road vehicle (10) according to Claim 5 , characterized by at least one of the following features: - the cameras (11-14) comprise top view cameras (11, 12, 13) and - the cameras (11-14) comprise a driver assistance camera (14). Straßenfahrzeug (10) nach Anspruch 6, gekennzeichnet durch folgendes Merkmal: - die Draufsichtkameras (11, 12, 13) sind in einem Abstand von mindestens 1 m zur Fahrerassistenzkamera (14) angeordnet.Road vehicle (10) according to Claim 6 , characterized by the following feature: the top view cameras (11, 12, 13) are arranged at a distance of at least 1 m from the driver assistance camera (14). Straßenfahrzeug (10) nach Anspruch 6 oder 7, gekennzeichnet durch folgendes Merkmal: - die Draufsichtkameras (11, 12, 13) sind zumindest vorne, links und rechts am Straßenfahrzeug (10) angeordnet.Road vehicle (10) according to Claim 6 or 7th , characterized by the following feature: - the top view cameras (11, 12, 13) are arranged at least at the front, left and right of the road vehicle (10). Computerprogramm, welches dazu eingerichtet ist, alle Schritte eines Verfahrens nach einem der Ansprüche 1 bis 7 durchzuführen.Computer program which is set up to carry out all the steps of a method according to one of the Claims 1 until 7th perform. Maschinenlesbares Speichermedium mit einem darauf gespeicherten Computerprogramm nach Anspruch 9.Machine-readable storage medium with a computer program stored thereon Claim 9 .
DE102020111532.6A 2020-04-28 2020-04-28 Method and device for measuring the distance of a curb Pending DE102020111532A1 (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050231339A1 (en) 2004-02-17 2005-10-20 Fuji Jukogyo Kabushiki Kaisha Outside-vehicle monitoring system
DE102011011821A1 (en) 2011-02-19 2011-11-17 Daimler Ag Air guide arrangement for vehicle, has air guide element which is moved away by actuator to road surface, where detection unit is provided, by which data is detected
DE102012210508A1 (en) 2012-06-21 2013-12-24 Bayerische Motoren Werke Aktiengesellschaft Motor vehicle has extended aerodynamic components, which are moved into drive-in condition or into lifted condition, as soon as anticipatory sensor recognizes trackway unevenness or hindrance on track system
DE102014017904A1 (en) 2014-12-04 2015-07-02 Daimler Ag Method and apparatus for detecting raised objects and method for assisting a driver in driving a vehicle
DE102014206677A1 (en) 2014-04-07 2015-10-08 Robert Bosch Gmbh Camera system and method for detecting an environment of a vehicle
DE102016124747A1 (en) 2016-12-19 2018-06-21 Bayerische Motoren Werke Aktiengesellschaft Recognition of a raised object based on perspective images

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050231339A1 (en) 2004-02-17 2005-10-20 Fuji Jukogyo Kabushiki Kaisha Outside-vehicle monitoring system
DE102011011821A1 (en) 2011-02-19 2011-11-17 Daimler Ag Air guide arrangement for vehicle, has air guide element which is moved away by actuator to road surface, where detection unit is provided, by which data is detected
DE102012210508A1 (en) 2012-06-21 2013-12-24 Bayerische Motoren Werke Aktiengesellschaft Motor vehicle has extended aerodynamic components, which are moved into drive-in condition or into lifted condition, as soon as anticipatory sensor recognizes trackway unevenness or hindrance on track system
DE102014206677A1 (en) 2014-04-07 2015-10-08 Robert Bosch Gmbh Camera system and method for detecting an environment of a vehicle
DE102014017904A1 (en) 2014-12-04 2015-07-02 Daimler Ag Method and apparatus for detecting raised objects and method for assisting a driver in driving a vehicle
DE102016124747A1 (en) 2016-12-19 2018-06-21 Bayerische Motoren Werke Aktiengesellschaft Recognition of a raised object based on perspective images

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SCHREER, Oliver: Kapitel 9: 3-D-Rekonstruktion. In: Stereoanalyse und Bildsynthese. Berlin : Springer, 2005. S. 175-183. - ISBN 3-540-23439-X. URL: https://rd.springer.com/content/pdf/10.1007%2F3-540-27473-1_9.pdf [abgerufen am 2020-05-20]

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