JP-2022532204-A5 -

Dates

Publication Date

20230516

Application Date

20200520

Description

The present invention relates to a method for representing an unknown area in the peripheral part of a mobile platform. The unknown area is defined as an area that is unknown (not clearly defined) with respect to the target area of the first and second imaging devices of the mobile platform. The term "mobile platform" as used herein may refer to a mobile system that is at least partially automated, and may be, for example, at least one of a vehicle that is at least partially automated and a vehicle equipped with a driver assistance system . Such vehicles may be equipped with driver assistance systems that visualize the area around the vehicle. Such driver assistance systems, also known as surround-view systems, typically consist of one or more imaging devices, such as cameras or video systems, which may be mounted on the vehicle, for example, on top of the vehicle, and these imaging devices provide different fields of view or enable different viewing angles of the surrounding environment . The target areas of different imaging devices are different. Here , the target area means the area in which the imaging device can image objects that are physically present within the area. This shows a top view of a mobile platform that curves to the left, including the first and second unknown areas.This shows a vehicle equipped with a screen and a surround view system.This shows a step representing the surrounding unknown area. These figures are merely schematic diagrams and are solely for illustrative purposes of the present invention. The advantages and features of the present invention, as well as methods for its implementation, are disclosed by the following embodiments described with reference to the accompanying figures. However, the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. The shapes, sizes, proportions, angles, and numbers disclosed in the drawings to illustrate embodiments of the present invention are merely examples, and therefore the present invention is not limited to the illustrated details. Singular terms may also include plural forms unless otherwise specified. When an element is formed, that element shall encompass a certain range of error, even if not explicitly stated. In this specification, various elements are described using terms such as " first element" and " second element," but it is self-evident that these elements should not be limited by these terms. These terms are used solely to distinguish each element from one another. For example, without departing from the scope of the present invention, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element. The embodiments of the present invention can be implemented independently of each other or in an interdependent manner. Figure 1 shows a top view of an unknown region 20a on the ground plane relating to the mobile platform at the first time step as defined above. The mobile platform may include at least one of a driver assistance system and a surround view system. In this embodiment, the mobile platform includes imaging devices oriented in four different directions for at least four mobile platforms, enabling a surround view of the surroundings of the mobile platform at that time. The imaging devices are arranged so that a target region F in the direction in front of the mobile platform is handled by an imaging device oriented in front of the mobile platform. A target region B behind the mobile platform is handled by an imaging device oriented behind the mobile platform. Target regions L and R are the target regions to the left and right of the mobile platform, and are handled by an imaging device oriented to the left and an imaging device oriented to the right of the mobile platform. The target areas of each imaging device may overlap, but for the purpose of representing the peripheral areas, the areas F, B, L and R mentioned above are defined as shown in Figure 1, and the boundaries between these areas are 11, 12, 13, and 14 . As shown in Figure 1, movement of the mobile platform, for example to the left, results in the transformation of the first unknown region 20a into the second unknown region 20b. This is because the imaging device moves together with the mobile platform, becoming a new target region for each individual imaging device that defines the corresponding second unknown region 20b. To update the given representation of the first unknown region 20a after the mobile platform moves to a new location and the second unknown region 20b is obtained, the representation of the second unknown region 20b may be synthesized from three regions A, B, and C, as shown in Figure 1 . In step S1, delta region A-B is determined . Delta region A-B is, The target area of the regions of the first imaging device F and the second imaging device L in the second time step is unknown, as