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CN-113596389-B - Method for aligning a camera of a vehicle camera monitoring system with a vehicle

CN113596389BCN 113596389 BCN113596389 BCN 113596389BCN-113596389-B

Abstract

The present disclosure relates to a method for aligning a camera of a vehicle camera surveillance system with a vehicle. The present disclosure relates to a method for aligning a camera of a vehicle camera surveillance system (CMS), wherein the camera (1) is mounted on one side of a vehicle (20) and has a camera opening angle (10), the camera (1) comprises at least one image sensor having an entire area (11) of a full sensor field of view (FoV), including at least a first FoV for a vehicle rearview device in a first area (15) prescribed by law in the form of a class II FoV, the full sensor FoV being defined by the camera opening angle (10) and the alignment of the camera (1) relative to the vehicle (10), the class II FoV extending away from the vehicle from an edge of said side of the vehicle (20), and the image data recorded by said at least one image sensor is forwarded to a monitor (2) of the CMS for displaying an image comprising the first area (15) to a driver of the vehicle.

Inventors

  • M. KOHLER
  • SALAMEH ADNAN

Assignees

  • 玛泽森创新有限公司
  • 玛泽森创新有限公司

Dates

Publication Date
20260421
Application Date
20210429
Priority Date
20200430

Claims (11)

  1. 1. A method for aligning cameras of a vehicle camera surveillance system (CMS), wherein The camera (1) is mounted on one side of the vehicle (20), and the camera (1) has a camera opening angle (10), The camera (1) comprises at least one image sensor having an entire area (11), the entire area (11) covering the entire sensor field of view FoV, comprising at least a first FoV for a vehicle rearview device in a first area (15) in accordance with legal regulations in the form of a class II FoV, All sensor FoVs are defined by a camera opening angle (10) and an alignment of the camera (1) relative to the vehicle (20), A class II FoV extends from an edge of the side of the vehicle (20) away from the vehicle, and The image data recorded by the at least one image sensor is forwarded to a monitor (2) of the CMS to display an image comprising the first area (15) to a driver of the vehicle, It is characterized in that the method comprises the steps of, The camera (1) and the camera opening angle (10) of the camera are aligned such that the first area (15) is arranged at a horizontally outermost position of an image captured by an image sensor of the camera (1) and at a vertically outermost position of an image displayed on the monitor (2), wherein, The entire area (11) of the entire sensor FoV comprises two edge areas (12, 13) which do not meet the sharpness requirements of the image on the monitor (2) of the rearview device, and a first area (15) is arranged directly adjacent to the first edge area (12), Aligning a class IV FoV extending from an edge of the side of the vehicle (20) away from the vehicle and aligning a class II FoV such that a second region (17) of the class IV FoV is displayed on the monitor (2), and Depending on the cornering situation of the vehicle (20), translating the first region (15) into a translated first region (16), wherein The first area (15) is arranged in the upper right area of the monitor (2) simulating a rear view mirror, and The translated first area (16) is arranged in the upper left area of the monitor (2) simulating a rear view mirror.
  2. 2. The method of claim 1, wherein, The entire region (11) spans an angle of at least 90 DEG, and/or The first edge region (12) and the second edge region (13) each span an angle of at most 5 °.
  3. 3. A method as claimed in claim 2, wherein the whole area (11) spans an angle of about 100 °.
  4. 4. A method according to any one of the preceding claims 1-3, wherein when the vehicle (20) is a truck having a cab (22) and a trailer (24), the camera (1) is mounted to the cab (22) and the class II FoV extends from the edge of the trailer (24) on said side of the vehicle (20), and the translation is after the trailer (24) is bent at least 90 ° relative to the cab (22) when passing a bend.
  5. 5. A method as claimed in any one of the preceding claims 1-3, further comprising A V-type FoV is provided between the second region (17) and the second edge region (13) in a third region (18) extending away from the vehicle from the edge of the side of the vehicle (20).
  6. 6. A method as claimed in any one of the preceding claims 1-3, wherein The camera (1) is associated with at least one lens.
  7. 7. The method of claim 6, wherein the lens has uniform deformation.
  8. 8. The method of claim 6, further comprising At least a first region (15) is arranged in the image region having a distortion reduced by the lenses of the CMS.
  9. 9. The method of claim 8, further comprising arranging the first region (15) and the translated first region (16), second region (17) and/or third region (18) in an image region having a distortion reduced by a lens of the CMS.
  10. 10. A vehicle (20) in the form of a truck with a cab (22) and a trailer (24) having a CMS with a single camera (1) mounted on one side of the vehicle (20) and aligned according to the method of any of the preceding claims 1-9.
  11. 11. The vehicle (20) according to claim 10, having a single camera (1) on the driver side and/or a single camera on each side of the vehicle.

Description

Method for aligning a camera of a vehicle camera monitoring system with a vehicle The application relates to a vehicle camera monitoring system. In particular, the present application relates to a method for aligning a camera of a vehicle camera monitoring system with a vehicle having a camera monitoring system. An improved method for aligning a camera of a vehicle camera surveillance system is provided, wherein the camera is mounted to one side of a vehicle and has a camera opening angle, the camera comprises at least one image sensor having an entire area of an overall sensor field of view (FoV), including at least a first FoV for a vehicle rearview device prescribed in a first area by law in the form of a class II FoV, the overall sensor FoV being defined by the camera opening angle and the alignment of the camera relative to the vehicle, the class II FoV extending away from the vehicle from an edge of the side of the vehicle, and image data recorded by the at least one image sensor is forwarded to a monitor of the CMS to display an image including the first area to a driver of the vehicle. In current common camera surveillance systems (CMS), at least one camera is oriented such that the camera field of view (FoV) has a class II FoV that conforms to ECE guidelines R46 substantially centered on the optical axis of the camera, as shown in fig. 4 for a truck 20 traveling along a straight road 30. The truck 20 has a cab 22 and a trailer 24, wherein the camera 1 of the CMS is mounted on the driver side of the left side of the cab 22, and the monitor (not shown) of the CMS is provided as a substitute for a rear view mirror, as a head-up display, or the like. The known camera orientation has the advantage that when driving straight forward, the class II FoV defining the first area 15 to be displayed on the monitor is recorded with the best definition. But when the truck 20 is turning and for a class IV FoV defining the second area 17 to be displayed on the monitor, the definition is degraded because the large area 14 of the recorded section cannot be used. Fig. 4 also illustrates a camera opening angle 10, which defines an area 11 of the overall sensor FoV of the camera 1, which area 11 covers two edge areas 12, 13 which cannot meet the sharpness requirement due to the lens effect. Between these two edge regions 12, 13 there is a so-called waste region 14 which is not used to have maximum sharpness in the region 15 of a class II FoV, the region 15 of a class II FoV partly overlapping with the region 17 of a class IV FoV. Both regions 15 and 17 start along the side of the truck 20, rather than along the side of the trailer 24 of the truck 20, but the first region 15 starts with an offset relative to the second region 17, which complies with the legal requirements of the ECE guide R46, to which reference is made for more detailed information regarding the different FoV categories. EP 2,765,031 B1 relates to a vehicle, in particular a commercial vehicle, equipped with a viewing system comprising an image capturing unit attached to the vehicle, a computing unit connected to the image capturing unit, and a reproduction unit connected to the computing unit. The image capturing unit includes a lens having an optical axis and a digital image sensing unit. The image capturing unit is attached to the vehicle such that, in use, an observation area on the side of the vehicle is sensed using at least a portion of a first legal-defined field of view and at least a portion of a second legal-defined field of view, wherein the first legal-defined field of view is configured such that a driver can see at least 5m wide, flat horizontal portions of the road, the portions being defined by planes parallel to the intermediate longitudinal vertical plane and passing through the outermost points of the vehicle on the driver side and passenger side of the vehicle, respectively, and extending from 30m behind the eyes of the driver to the horizon, and such that the driver can see a width of the road 1m, which is defined by planes parallel to the intermediate longitudinal vertical plane and passing through the outermost points of the vehicle starting at 4m behind the vertical plane passing through the eyes of the driver. The lens is arranged relative to the digital image sensing unit such that the optical axis extends through a portion of the first legal provision field of view reproduced on the digital image sensing unit, wherein the optical axis is moved towards the vehicle such that the optical axis extends through a portion of the first legal provision field of view. Another vision system for a vehicle according to WO 2013/019707 A1 comprises at least one imaging sensor arranged on the vehicle and having an external field of view. The imaging sensor is operable to capture image data. The imaging sensor includes or is associated with a tilt sensor. At least one other tilt sensor is disposed on the vehicle. The processing system is opera