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WO2011009644A1 - Camera-based driver assistance system - Google Patents

Camera-based driver assistance system Download PDF

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Publication number
WO2011009644A1
WO2011009644A1 PCT/EP2010/004764 EP2010004764W WO2011009644A1 WO 2011009644 A1 WO2011009644 A1 WO 2011009644A1 EP 2010004764 W EP2010004764 W EP 2010004764W WO 2011009644 A1 WO2011009644 A1 WO 2011009644A1
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WO
WIPO (PCT)
Prior art keywords
unit
camera
driver assistance
assistance system
processing unit
Prior art date
Application number
PCT/EP2010/004764
Other languages
German (de)
French (fr)
Inventor
Kay Talmi
Matthias Hoffmeier
Daniela Lauer
Peter Heyer
Original Assignee
Hella Kgaa Hueck & Co.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hella Kgaa Hueck & Co. filed Critical Hella Kgaa Hueck & Co.
Publication of WO2011009644A1 publication Critical patent/WO2011009644A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller

Definitions

  • the invention relates to a camera-based driver assistance system according to the preamble of the main claim.
  • the camera head or the camera unit via a multi-core, usually shielded cable with a computer unit, which includes the computer intelligence, connected.
  • the computer unit is usually installed in the roof section or under the dashboard of the vehicle.
  • Such a camera system with separate units is from WO 2004/107072, which comprises an optical driver assistance system for a motor vehicle, which comprises an optical sensor and electronics for processing the output of the electrical sensor, which form a camera unit.
  • a processing electronics is provided, which is connected to the camera unit via a physical CAN layer and a standard RS232-like UART.
  • connection via a line or a cable is problematic because very high transmission rates, possibly video data must be guaranteed trouble-free and because at least one plug connection must be used, which in turn is susceptible to interference.
  • the cable length is limited by the high transmission rate.
  • the invention has for its object to provide a camera-based driver assistance system with a camera unit and a spatially separate processing unit, in which the transmission of image data is guaranteed trouble-free. This object is achieved by the characterizing features of the main claim in conjunction with the features of the preamble.
  • the processing unit can be optionally installed at an optimum place in the interior of the vehicle.
  • the cable lengths and the installation of the processing unit can be optimally designed with regard to the input signals from the on-board computer, such as CAN signals and motor control signals.
  • failure-prone components such as connectors disappear, this also increases the installation flexibility.
  • the camera unit comprises, in addition to the image sensor unit, a compression unit for compressing the raw data supplied by the image sensor unit into the image data or another preprocessing unit, thereby reducing the bandwidth for transmission.
  • a compression unit for compressing the raw data supplied by the image sensor unit into the image data or another preprocessing unit, thereby reducing the bandwidth for transmission.
  • the interface between the camera unit and the processing unit separate from the camera unit can also be selected such that the lowest possible data transfer by radio is necessary. Also conceivable is an interface selection which permits easy replacement of the components in the sense of a functional adaptation (eg activation, deactivation). individual components, use of a cheaper / more expensive sensor, functional hubs to integrate latest developments). It is also possible that the external data processing unit serves exclusively as a signal receiver and does not carry out any additional calculations (retrofitting of driver assistance systems).
  • the calculations of the external data processing unit separated from the camera can also be made directly by the on-board computer.
  • the transmission can also be realized in a format usual for bus systems (for example CAN, IBIS).
  • bus systems for example CAN, IBIS.
  • both systems can be used as a transceiver unit, ie allow a feedback of the receiver to the transmitter, in the ggf. also data can be transferred.
  • the radio transmitter and receiver units operate in the high-frequency range, whereby WLAN modules or Bluetooth modules can be used.
  • the processing unit is operatively connected to a display unit, the latter also comprising a radio receiving unit.
  • the camera unit and the processing unit and / or the display unit are preferably provided with a transceiver unit, the so-called radio node, which is offered at the chip level and is relatively inexpensive due to its minimal transmission power and limited range.
  • Vehicles of various kinds for example in one Passenger car, a bus, a lorry, a rail vehicle (railway, tram, train, freight train).
  • functions such as a level measurement of the vehicle or a measurement of a number of people at the doors, are performed.
  • FIG. 1 shows a schematic structure of an embodiment of the present invention for a camera-based driver assistance system
  • Fig. 2 shows an internal structure of the camera unit
  • FIG. 3 shows the distribution of individual components of the camera-based driver assistance system according to the invention in a motor vehicle.
  • 1 shows schematically a part of a camera-based driver assistance system, which has a camera unit 1, which is arranged behind a windshield 5 of a motor vehicle.
  • a processing unit 2 is provided, which may be designed as a microprocessor, microcontroller, DSP or other processor.
  • the image processing of the image data supplied from the camera unit 1 is performed, and the processed image data is then displayed on a display unit 3, which is for example in the dashboard of Motor vehicle is arranged.
  • the processing unit 2 is connected to an on-board computer 4, which is usually arranged in the engine compartment of the motor vehicle.
  • the image data is transmitted from the camera unit 1 via a high-frequency radio link 6 to the processing unit 2, wherein the radio signals are preferably in the 2.245 GHz frequency band, for example.
  • the camera unit 1 comprises a sensor array 11, which is connected to an electronic compression unit 13, in which the pixel data are converted by means of a compression algorithm into image data to be transmitted.
  • the compression unit 13 can also be designed as a digital signal processor DSP or microcontroller or microprocessor.
  • the camera unit 1 comprises at least one radio transmitter unit, preferably a transceiver unit 12, which can operate analog or digital and which modulates the image data onto a carrier signal in the aforementioned GHz range and transmits it via an antenna.
  • At least one receiving unit preferably a transceiver unit 21, is provided in the processing unit 2, which receives the radio signals transmitted by the camera unit 1, demodulates and converts them back into image signals. These are supplied to an electronic processing module 22, which performs the image processing.
  • Fig. 3 the arrangement of the various components described above in a motor vehicle 7 is shown, wherein the camera unit 1 behind the Windshield 5 sits and the processing unit is installed in the rear part of the vehicle.
  • the location can be chosen freely and adapted to the design of the motor vehicle 7 and its interior.
  • the radio link 6, which, for example, has a range only in the range of 5 to 6 m, can also be seen.
  • the processing unit is connected via an electrical line to an on-board computer 4, which is arranged in the engine compartment.
  • an electrical connection via a line to a display unit 3 is shown, which lies in the area of the instrument panel.
  • the display unit 3 may also comprise a transceiver unit, wherein the image data processed by the processing unit 2 may also be transmitted high frequency over a radio link. This is usually done within the same frequency band as the radio transmission 6, but with a different channel frequency.
  • the vehicle shown is a passenger car. However, the vehicle could also be a bus, a truck or a rail vehicle, such as a tram, a train for passenger transport or a freight train.
  • the driver assistance system can then be set up, for example, to measure a filling level of a filling material in a filling container of the vehicle or a number of persons to go in or out through doors of the vehicle.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The invention relates to a camera-based driver assistance system for a motor vehicle, comprising a camera unit (1) for outputting image data, and a processing unit (2) that is spatially separated from the camera unit (1) and processes and analyzes the image data. The camera unit (1) includes a radio transmission unit (12), while the processing unit (2) includes a radio reception unit (21). The radio transmission unit (12) of the camera unit (1) and the radio reception unit (21) of the processing unit (2) are designed to establish a radio link (6) for transmitting the image data from the camera unit (1) to the processing unit (2).

Description

Kamerabasiertes Fahrerassistenzsystem  Camera-based driver assistance system
Die Erfindung betrifft ein kamerabasiertes Fahrerassistenzsystem nach dem Oberbegriff des Hauptan- spruchs . The invention relates to a camera-based driver assistance system according to the preamble of the main claim.
Bei kamerabasierten Fahrerassistenzsystemen wird nach Systemen, die einerseits die gesamte Rechner-Intelligenz im Kamerakopf integriert haben und solchen, die andererseits als so genanntes Twobox-Design einen möglichst kleinen Kamerakopf hinter der Frontscheibe verbaut haben, unterschieden. Bei letzterer Ausführungsform ist der Kamerakopf bzw. die Kameraeinheit über ein mehradriges, meist abgeschirmtes Kabel mit einer Rechnereinheit, die die Rechner-Intelligenz beinhaltet, verbunden. Die Rechnereinheit ist meistens in der Dachpartie oder unter dem Armaturenbrett des Fahrzeugs verbaut . Ein solches Kamerasystem mit getrennten Einheiten ist aus der WO 2004/107072 bekannt, das ein optisches Fahrerassistenzsystem für ein Kraftfahrzeug umfasst, das einen optischen Sensor und eine Elektronik zur Verarbeitung der Ausgabe des elektrischen Sensors um- fasst, die eine Kameraeinheit bilden. Weiterhin ist eine Verarbeitungselektronik vorgesehen, die mit der Kameraeinheit über eine physikalische CAN-Schicht und einen standardmäßigen RS232-artigen UART verbunden ist. In the case of camera-based driver assistance systems, a distinction is made between systems which on the one hand have integrated the entire computer intelligence into the camera head and those which on the other hand have installed a camera head as small as possible behind the windscreen as a so-called Twobox design. In the latter embodiment, the camera head or the camera unit via a multi-core, usually shielded cable with a computer unit, which includes the computer intelligence, connected. The computer unit is usually installed in the roof section or under the dashboard of the vehicle. Such a camera system with separate units is from WO 2004/107072, which comprises an optical driver assistance system for a motor vehicle, which comprises an optical sensor and electronics for processing the output of the electrical sensor, which form a camera unit. Furthermore, a processing electronics is provided, which is connected to the camera unit via a physical CAN layer and a standard RS232-like UART.
Diese Art der Verbindung über eine Leitung bzw. ein Kabel ist problematisch, weil sehr hohe Übertragungs- raten, gegebenenfalls Videodaten störungsfrei gewährleistet werden müssen und weil mindestens eine Steck- Verbindung verwendet werden muss, die ihrerseits störanfällig ist. Die Leitungslänge ist durch die hohe Übertragungsrate limitiert. This type of connection via a line or a cable is problematic because very high transmission rates, possibly video data must be guaranteed trouble-free and because at least one plug connection must be used, which in turn is susceptible to interference. The cable length is limited by the high transmission rate.
Der Erfindung liegt die Aufgabe zugrunde, ein kame- rabasiertes Fahrerassistenzsystem mit einer Kameraeinheit und einer dazu räumlich getrennten Verarbeitungseinheit zu schaffen, bei dem die Übertragung von Bilddaten störungsfrei gewährleistet wird. Diese Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale des Hauptanspruchs in Verbindung mit den Merkmalen des Oberbegriffs gelöst. The invention has for its object to provide a camera-based driver assistance system with a camera unit and a spatially separate processing unit, in which the transmission of image data is guaranteed trouble-free. This object is achieved by the characterizing features of the main claim in conjunction with the features of the preamble.
Durch die in den Unteransprüchen angegebenen Maßnah- men sind vorteilhafte Weiterbildungen und Verbesserungen möglich. Advantageous refinements and improvements are possible by the measures specified in the subclaims.
Dadurch, dass die Kameraeinheit eine Funksendeeinheit aufweise und die Verarbeitungseinheit eine Funkemp- fangseinheit umfasst und dass die Funksendeeinheit der Kameraeinheit und die Funkempfangseinheit der Verarbeitungseinheit ausgebildet sind, eine Funkstrecke zur Übertragung der Bilddaten von der Kameraeinheit zu der Verarbeitungseinheit herzustellen, kann die Verarbeitungseinheit wahlfrei an einem optimalen Platz im Innenraum des Fahrzeugs verbaut werden. Es sind keine Limitierungen bezüglich der Leitungslängen zu beachten und der Einbau der Verarbeitungseinheit kann bezüglich der EingangsSignale aus dem Bordrechner, wie CAN-Signale, Motorsteuersignale optimal ge- staltet werden. Außerdem fallen störanfällige Komponenten wie Steckverbindungen weg, auch dies erhöht die Einbauflexibilität. Characterized in that the camera unit has a radio transmission unit and the processing unit comprises a radio reception unit and that the radio transmission unit of the camera unit and the radio reception unit of the Processing unit are formed to produce a radio link for transmitting the image data from the camera unit to the processing unit, the processing unit can be optionally installed at an optimum place in the interior of the vehicle. There are no limitations with regard to the cable lengths and the installation of the processing unit can be optimally designed with regard to the input signals from the on-board computer, such as CAN signals and motor control signals. In addition, failure-prone components such as connectors disappear, this also increases the installation flexibility.
Vorzugsweise umfasst die Kameraeinheit neben der Bildsensoreinheit eine Kompressionseinheit zur Komprimierung der von der Bildsensoreinheit gelieferten Rohdaten in die Bilddaten oder eine andere Vorverarbeitungseinheit, wodurch die Bandbreite für die Übertragung verringert wird. Preferably, the camera unit comprises, in addition to the image sensor unit, a compression unit for compressing the raw data supplied by the image sensor unit into the image data or another preprocessing unit, thereby reducing the bandwidth for transmission.
Um eine sensornahe Bildverarbeitungsfunktionalität ohne ÜbertragungsVerzögerung in das genannte System zu integrieren bietet es sich also an, Teile der Verarbeitung bereits im Sensor vorzunehmen, den Sensor der Kameraeinheit also mit einer zusätzlichen kamerainternen Verarbeitungseinheit auszustatten, wie die oben genannte Kompressionseinheit, in der Teile eines Bildverarbeitungsalgorithmus umgesetzt werden. Dabei kann die Schnittstelle zwischen der Kameraeinheit und der von der Kameraeinheit getrennten Verarbeitungseinheit auch so gewählt werden, dass eine möglichst geringe Datenübertagung per Funk notwendig ist. Denkbar ist auch eine Schnittstellenwahl, die einen leichten Austausch der Komponenten im Sinne einer Funktionsanpassung (z.B. Aktivierung, Deaktivie- rung einzelner Bestandteile, Verwendung eines billigeren/teureren Sensors, Funktions-Hubs zwecks Integration aktuellster Entwicklungen) ermöglicht. Es ist auch möglich dass die externe Datenverarbeitungsein- heit ausschließlich als Signalempfänger dient und keine zusätzlichen Berechnungen durchführt (Nachrüstung von Fahrerassistenzsystemen) . In order to integrate a near-sensor image processing functionality without transmission delay in said system, it therefore makes sense to make parts of the processing already in the sensor to equip the sensor of the camera unit with an additional in-camera processing unit, such as the above-mentioned compression unit, implemented in the parts of an image processing algorithm become. In this case, the interface between the camera unit and the processing unit separate from the camera unit can also be selected such that the lowest possible data transfer by radio is necessary. Also conceivable is an interface selection which permits easy replacement of the components in the sense of a functional adaptation (eg activation, deactivation). individual components, use of a cheaper / more expensive sensor, functional hubs to integrate latest developments). It is also possible that the external data processing unit serves exclusively as a signal receiver and does not carry out any additional calculations (retrofitting of driver assistance systems).
Die Berechnungen der externen, von der Kamera ge- trennten Datenverarbeitungseinheit können auch direkt vom Bordrechner vorgenommen werden. Die Übertragung kann auch in einem für Bussysteme üblichen Format (z.B. CAN, IBIS) realisiert werden. Weiter können beide Systeme als Sendeempfangseinheit verwendet wer- den, also eine Rückmeldung des Empfängers an den Sender zulassen, in der ggf . auch Daten übertragen werden können . The calculations of the external data processing unit separated from the camera can also be made directly by the on-board computer. The transmission can also be realized in a format usual for bus systems (for example CAN, IBIS). Furthermore, both systems can be used as a transceiver unit, ie allow a feedback of the receiver to the transmitter, in the ggf. also data can be transferred.
Vorzugsweise arbeiten die Funksende- und Empfangsein- heiten im Hochfrequenzbereich, wobei WLAN-Module oder Bluetooth-Module verwendet werden können. Preferably, the radio transmitter and receiver units operate in the high-frequency range, whereby WLAN modules or Bluetooth modules can be used.
In einem weiteren bevorzugten Ausführungsbeispiel steht die Verarbeitungseinheit mit einer Displayein- heit in Wirkverbindung, wobei letztere gleichfalls eine Funkempfangseinheit umfasst. Vorzugsweise sind die Kameraeinheit und die Verarbeitungseinheit und/oder die Displayeinheit mit einer Sende-Empfangseinheit, dem so genannten Funkknoten versehen, die auf Chipebene angeboten werden und aufgrund ihrer minimalen Sendeleistung und begrenzten Reichweite relativ kostengünstig sind. In a further preferred embodiment, the processing unit is operatively connected to a display unit, the latter also comprising a radio receiving unit. The camera unit and the processing unit and / or the display unit are preferably provided with a transceiver unit, the so-called radio node, which is offered at the chip level and is relatively inexpensive due to its minimal transmission power and limited range.
Eine Anwendung ist des hier beschriebenen kameraba- sierten Fahrerassistenzsystems ist der Einsatz inOne application of the camera-based driver assistance system described here is the use in
Fahrzeugen verschiedener Art, beispielsweise in einem Personenkraftfahrzeug, einem Bus, einem Lastkraftwagen, einem Schienenfahrzeug (Eisenbahn, Straßenbahn, Zug, Güterzug) . Dabei können Funktionen, wie beispielsweise eine Füllstandmessung des Fahrzeuges oder ein Messung eines Personenaufkommens an den Türen, durchgeführt werden. Vehicles of various kinds, for example in one Passenger car, a bus, a lorry, a rail vehicle (railway, tram, train, freight train). In this case, functions, such as a level measurement of the vehicle or a measurement of a number of people at the doors, are performed.
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird in der nachfolgenden Beschreibung näher erläutert. Es zeigen An embodiment of the invention is illustrated in the drawing and will be explained in more detail in the following description. Show it
Fig. 1 einen schematischen Aufbau eines Ausführungsbeispiels der vorliegenden Erfindung für ein kamerabasiertes Fahrerassistenzsys- tem, 1 shows a schematic structure of an embodiment of the present invention for a camera-based driver assistance system,
Fig. 2 einen Innenaufbau der Kameraeinheit und der Fig. 2 shows an internal structure of the camera unit and the
Verarbeitungseinheit nach der Erfindung, und  Processing unit according to the invention, and
Fig. 3 die Verteilung von Einzelkomponenten des erfindungsgemäßen kamerabasierten Fahrerassistenzsystems in einem Kraftfahrzeug. In Fig. 1 ist schematisch ein Teil eines kamerabasierten Fahrerassistenzsystems dargestellt, das eine Kameraeinheit 1 aufweist, die hinter einer Windschutzscheibe 5 eines Kraftfahrzeugs angeordnet ist. Räumlich getrennt von der Kameraeinheit 1 ist eine Verarbeitungseinheit 2 vorgesehen, die als Mikroprozessor, MikroController, DSP oder sonstiger Prozessor ausgebildet sein kann. In der Verarbeitungseinheit 2 wird die Bildverarbeitung der von der Kameraeinheit 1 gelieferten Bilddaten vorgenommen und die verarbeite- ten Bilddaten werden dann auf einer Displayeinheit 3 angezeigt, die beispielsweise im Armaturenbrett des Kraftfahrzeugs angeordnet ist. Weiterhin ist die Verarbeitungseinheit 2 mit einem Bordrechner 4 verbunden, der üblicherweise im Motorraum des Kraftfahrzeugs angeordnet ist. Wie in Fig. 1 angedeutet, wer- den die Bilddaten von der Kameraeinheit 1 über eine Hochfrequenz-Funkstrecke 6 an die Verarbeitungseinheit 2 übertragen, wobei die Funksignale vorzugsweise z.B. im 2,245 GHz-Frequenzband liegen. In Fig. 2 sind die elektronischen Einzelblöcke der3 shows the distribution of individual components of the camera-based driver assistance system according to the invention in a motor vehicle. 1 shows schematically a part of a camera-based driver assistance system, which has a camera unit 1, which is arranged behind a windshield 5 of a motor vehicle. Spatially separated from the camera unit 1, a processing unit 2 is provided, which may be designed as a microprocessor, microcontroller, DSP or other processor. In the processing unit 2, the image processing of the image data supplied from the camera unit 1 is performed, and the processed image data is then displayed on a display unit 3, which is for example in the dashboard of Motor vehicle is arranged. Furthermore, the processing unit 2 is connected to an on-board computer 4, which is usually arranged in the engine compartment of the motor vehicle. As indicated in FIG. 1, the image data is transmitted from the camera unit 1 via a high-frequency radio link 6 to the processing unit 2, wherein the radio signals are preferably in the 2.245 GHz frequency band, for example. In Fig. 2, the electronic blocks of the
Kamera- und der Verarbeitungseinheit dargestellt. Die Kameraeinheit 1 umfasst ein Sensorarray 11, das mit einer elektronischen Kompressionseinheit 13 verbunden ist, in der die Pixeldaten mittels eines Kompressi- onsalgorithmus in zu übertragende Bilddaten umgewandelt werden. Die Kompressionseinheit 13 kann ebenfalls als digitaler Signalprozessor DSP oder Mikro- controller oder Mikroprozessor ausgebildet sein. Weiterhin umfasst die Kameraeinheit 1 mindestens eine Funksendeeinheit, vorzugsweise eine Sende-Empfangs- einheit 12, die analog oder digital arbeiten kann und die die Bilddaten auf ein Trägersignal im genannten GHz-Bereich aufmoduliert und über eine Antenne aussendet . Camera and the processing unit shown. The camera unit 1 comprises a sensor array 11, which is connected to an electronic compression unit 13, in which the pixel data are converted by means of a compression algorithm into image data to be transmitted. The compression unit 13 can also be designed as a digital signal processor DSP or microcontroller or microprocessor. Furthermore, the camera unit 1 comprises at least one radio transmitter unit, preferably a transceiver unit 12, which can operate analog or digital and which modulates the image data onto a carrier signal in the aforementioned GHz range and transmits it via an antenna.
In entsprechender Weise ist in der Verarbeitungseinheit 2 mindestens eine Empfangseinheit, vorzugsweise eine Sende-Empfangseinheit 21 vorgesehen, die die von der Kameraeinheit 1 gesendeten Funksignale empfängt, demoduliert und in Bildsignale zurückwandelt. Diese werden an ein elektronisches Verarbeitungsmodul 22 geliefert, das die Bildverarbeitung vornimmt. In a corresponding manner, at least one receiving unit, preferably a transceiver unit 21, is provided in the processing unit 2, which receives the radio signals transmitted by the camera unit 1, demodulates and converts them back into image signals. These are supplied to an electronic processing module 22, which performs the image processing.
In Fig. 3 ist die Anordnung der verschiedenen, oben beschriebenen Komponenten in einem Kraftfahrzeug 7 dargestellt, wobei die Kameraeinheit 1 hinter der Windschutzscheibe 5 sitzt und die Verarbeitungseinheit im hinteren Teil des Kraftfahrzeugs eingebaut ist. Der Ort kann frei gewählt werden und an die Ausbildung des Kraftfahrzeugs 7 bzw. dessen Innenraum angepasst werden. Zu erkennen ist ebenfalls die Funkstrecke 6, die beispielsweise eine Reichweite lediglich im Bereich von 5 bis 6 m haben muss. Die Verarbeitungseinheit ist über eine elektrische Leitung mit einem Bordrechner 4 verbunden, der im Motorraum ange- ordnet ist. Schließlich ist hier noch eine elektrische Verbindung über eine Leitung zu einer Displayeinheit 3 gezeigt, die im Bereich der Instrumententafel liegt. In einem anderen Ausführungsbeispiel kann die Displayeinheit 3 ebenfalls eine Sendeempfangseinheit umfassen, wobei die von der Verarbeitungseinheit 2 verarbeiteten Bilddaten ebenfalls über eine Funkstrecke hochfrequent übertragen werden können. Dies geschieht üblicherweise innerhalb des gleichen Frequenzbandes wie die Funkübertragung 6, jedoch mit einer anderen Kanalfrequenz . In Fig. 3, the arrangement of the various components described above in a motor vehicle 7 is shown, wherein the camera unit 1 behind the Windshield 5 sits and the processing unit is installed in the rear part of the vehicle. The location can be chosen freely and adapted to the design of the motor vehicle 7 and its interior. The radio link 6, which, for example, has a range only in the range of 5 to 6 m, can also be seen. The processing unit is connected via an electrical line to an on-board computer 4, which is arranged in the engine compartment. Finally, here an electrical connection via a line to a display unit 3 is shown, which lies in the area of the instrument panel. In another embodiment, the display unit 3 may also comprise a transceiver unit, wherein the image data processed by the processing unit 2 may also be transmitted high frequency over a radio link. This is usually done within the same frequency band as the radio transmission 6, but with a different channel frequency.
Das gezeigte Fahrzeug ist ein Personenkraftfahrzeug (PKW) . Es könnte sich bei dem Fahrzeug aber ebenso um einen Bus, einen Lastkraftwagen oder ein Schienenfahrzeug, wie etwa eine Straßenbahn, einen Zug für den Personentransport oder einen Güterzug handeln. Dann kann das Fahrerassistenzsystem beispielsweise dazu eingerichtet sein, einen Füllstand eines Füllgutes in einem Füllbehälter des Fahrzeugs zu messen bzw. eine durch Türen des Fahrzeugs zu- oder ausgestiegene Personenzahl. The vehicle shown is a passenger car. However, the vehicle could also be a bus, a truck or a rail vehicle, such as a tram, a train for passenger transport or a freight train. The driver assistance system can then be set up, for example, to measure a filling level of a filling material in a filling container of the vehicle or a number of persons to go in or out through doors of the vehicle.

Claims

Patentansprüche claims
1. Kamerabasiertes Fahrerassistenzsystem für ein Kraftfahrzeug mit einer Kameraeinheit zur Ausgabe von Bilddaten und mit einer räumlich getrennt zu der Kameraeinheit vorgesehenen Verarbeitungs- einheit zur Verarbeitung und Auswertung der1. A camera-based driver assistance system for a motor vehicle having a camera unit for outputting image data and having a processing unit provided spatially separate from the camera unit for processing and evaluating the
Bilddaten, Image data,
d a d u r c h g e k e n n z e i c h n e t , dass die Kameraeinheit (1) eine Funksendeeinheit (12) aufweist und die Verarbeitungseinheit (2) eine Funkempfangseinheit (21) umfasst und dass die Funksendeeinheit (12) der Kameraeinheit (1) und die Funkempfangseinheit (21) der Verarbeitungseinheit (2) ausgebildet sind, eine Funkstrecke (6) zur Übertragung der Bilddaten von der Kameraeinheit (1) zu der Verarbeitungseinheit (2) herzustellen.  characterized in that the camera unit (1) comprises a radio transmitting unit (12) and the processing unit (2) comprises a radio receiving unit (21) and that the radio transmitting unit (12) of the camera unit (1) and the radio receiving unit (21) of the processing unit (2) are to establish a radio link (6) for transmitting the image data from the camera unit (1) to the processing unit (2).
2. Fahrerassistenzsystem nach Anspruch 1, dadurch gekennzeichnet, dass die Kameraeinheit (1) eine Bildsensoreinheit (11) und eine Kompressionsein- heit (13) zur Komprimierung der von der Bildsensoreinheit (11) gelieferten Bildpunktdaten in die Bilddaten umfasst. 2. Driver assistance system according to claim 1, characterized in that the camera unit (1) comprises an image sensor unit (11) and a compression unit (13) for compressing the image sensor data supplied by the image sensor unit (11) into the image data.
3. Fahrerassistenzsystem nach Anspruch 1 oder Anspruch 2, dadurch gekennzeichnet, dass die Funk- sendeeinheit (12) und die Funkempfangseinheit3. driver assistance system according to claim 1 or claim 2, characterized in that the radio transmitter unit (12) and the radio receiving unit
(21) im Hochfrequenzbereich arbeiten. (21) work in the high frequency range.
4. Fahrerassistenzsystem nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Verar- beitungseinheit (2) mit einer Displayeinheit (3) in Wirkverbindung steht, wobei die Verarbeitungseinheit eine weitere Funksendeeinheit (21) die Displayeinheit eine weitere Funkempfangsein- heit aufweist. 4. Driver assistance system according to one of claims 1 to 3, characterized in that the processing processing unit (2) is operatively connected to a display unit (3), wherein the processing unit has a further radio transmitter unit (21), the display unit has a further radio receiver unit.
5. Fahrerassistenzsystem nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Verarbeitungseinheit (2) über eine Datenleitung mit einem Bordrechner (4) verbunden ist. 5. Driver assistance system according to one of claims 1 to 4, characterized in that the processing unit (2) via a data line to an on-board computer (4) is connected.
6. Fahrerassistenzsystem nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Kameraeinheit (1), die Verarbeitungseinheit (2) und/oder die Displayeinheit (3) eine Sende- /Empfangseinheit (12, 21) aufweist. 6. driver assistance system according to one of claims 1 to 5, characterized in that the camera unit (1), the processing unit (2) and / or the display unit (3) has a transmitting / receiving unit (12, 21).
7. Fahrzeug, insbesondere ein straßentaugliches 7. Vehicle, especially a roadworthy
Personenkraftfahrzeug oder ein Schienenfahrzeug, ausgestattet mit einem Fahrerassistenzsystem nach einem der vorausgehenden Ansprüche.  Passenger vehicle or a rail vehicle equipped with a driver assistance system according to one of the preceding claims.
PCT/EP2010/004764 2009-07-24 2010-07-26 Camera-based driver assistance system WO2011009644A1 (en)

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DE102009035136.1 2009-07-24

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