Daimler Ag

Daimler-benz Ag

Daimler Chrysler Ag

Uwe Franke

Stefan Hahn

Avshalom Suissa

Zoltan Zomotor

Volker Oltmann

Bernd Woltermann

Ingo Dudeck

Hernan Badino

Reinhold Schoeb

Alexander Wuerz-Wessel

Uwe Regensburger

Rainer Moebus

Frank-Werner Mohn

Carsten Knoeppel

Reinhard Janssen

Axel Gern

Helmut Schittenhelm

Edgar Bihler

Thomas Hans Braeunl

Steffi Mehring

David Pfeiffer

A method for environmental representation, in which two images of an environment (U) are taken respectively and a disparity image is determined by means of stereo image processing. An unobstructed free space (F) is identified in the disparity image, in that each pixel of the disparity image is allocated either to the unobstructed ground surface (B) or to one of several segments (Sto S) depending on disparity values of the respective pixel. Segments (Sto S) of the same width are formed from pixels of the same or similar distance to an image plane. An object (Oto Ok) located outside of the free space (F) is modelled in the environment (U) using one segment (Sto S) or several segments (Sto S).

Method for representing surroundings

A method for detecting objects, wherein two images of a surrounding () are taken and a disparity image is determined by means of stereo image processing, wherein a depth map of the surrounding () is determined from the determined disparities, wherein a free space delimiting line () is identified, delimiting an unobstructed region of the surrounding (), wherein outside and along the free space delimiting line () the depth card is segmented by segments () of a suitable width formed by pixels of the same or similar distance to an image plane, wherein a height of each segment () is estimated as part of an object (to) located outside of the unobstructed region in a way, such that each segment () is characterized by the two-dimensional position of the base (for example the distance and angle to the longitudinal axis of the vehicle) and the height thereof.

Method for detecting objects

The opening of vehicle doors often leads to collisions with stationary obstacles that are not visible to the occupants or with moving obstacles that approach the vehicle without being noticed. Thus to avoid collisions when vehicle doors are opened, the aim of the invention is to take any modifications to the environmental situation of the vehicle as a result of a movement of the vehicle and the detected objects into consideration. This allows a collision of the vehicle doors with the objects to be reliably avoided. To achieve this, in a first step the probable trajectory of a vehicle is determined. In an additional step, the objects in the vicinity of the vehicle are detected and probable trajectories of said detected objects are determined. Respective probability ranges are then defined both for the vehicle and the pivoting zone of the vehicle doors and for the detected objects. The probability ranges of the pivoting zones of the vehicle doors are respectively compared with the individual probability ranges of the objects, in order to determine whether they overlap. If an overlap is identified, a response; signal that indicates the risk of a collision is generated.

Process and device for avoiding collision while opening vehicle doors

The invention relates to a vehicle () comprising at least one catadioptric camera (), which is mounted on the vehicle and which has an optical axis () and at least one first mirror () that is arranged on the optical axis. The optical axis () of the camera () is slanted relative to a vertical ().

Vehicle with a catadioptric camera

The first commercially-available driver assist systems required a compromise between the resolution of the scanning and the extent of the scanned region, according to application. Conventional video-based systems have a good compromise between resolution and recording range, however do not generally provide direct distance information. According to the new arrangement of the object of the invention, it is possible to achieve a system, which, on installation in a road vehicle, can record complex dynamic scenes, for example the lateral 3D geometry to the road edge from the point of view of the dynamically operating vehicle and use the same to advantage on parking. According to the invention, the monitoring and measuring of the lateral environment of a vehicle is displayed on the one hand by means of a camera with the digital images and on the other hand with a computer unit which serves to provide the images with a time stamp and to buffer the same. The movements of the vehicle are further recorded, in order to select image pairs from the buffered images, based on the above data. A local 3D depth image of the lateral environment of a vehicle can thus be generated by an algorithm for stereo image processing.

Method and device for video-based observation and measurement of the lateral environment of a vehicle

A device for acquiring data indicative of the path of a lane is provided. The device incorporates a lane detection sensing circuit, an object position sensing circuit that detects at least the distance of an object located in front of the vehicle and its directional angle relative to the direction of vehicle motion, and a sensing circuit for the vehicle's own motion. An estimating device is provided that is supplied with lane recognition measurement data, object position measurement data, and measurement data on the vehicle's own motion. As a function of the vehicle's own motion, the estimating device determines the lane curvature and/or the transverse position of an object ahead of the vehicle relative to the lane by estimation, using a presettable estimation algorithm including a dynamic vehicle motion model. The device preferably includes a Kalman filter for this purpose, and is used, for example, in road vehicles.

Device for acquiring lane path indicative data

Apparatus for automatic transverse vehicle guidance is provided for the automatic transverse guidance of a vehicle along a traffic lane. The apparatus can be activated in such a way using an activating actuation of an operating element that the actual transverse-position value present at the activation instant serves as a desired transverse-position value for subsequent automatic transverse guidance operation.

Apparatus for automatic transverse vehicle guidance along a traffic lane

In a method for detecting and tracking objects by stereo image evaluation a part of structure class images is initially generated from a recorded stereo image pair. Differences in brightness of selected pixels in the environment are determined for each pixel as digital values, which are combined to form a digital value group, with identical groups defining their own structure classes. Structure classes which lack a brightness change along the epipolar line are discarded. Corresponding disparity values are then determined for the pixels in the other structure classes and are collected in a disparity histogram with a given frequency increment. The pixel group that belongs to a given grouping point area of the histogram is then interpreted as an object to be detected.

Method for stereo image object detection

Apparatus is provided for determining the distance of a vehicle from a roadway side marking. An arrangement of light sensitive sensor elements is fitted to the vehicle for optically scanning a portion of the roadway located in front of the vehicle. An evaluation unit, connected downstream of the sensor element arrangement, is also provided. Only one or a few sensor element lines are used as the sensor element arrangement. Each line scans a narrow strip of the roadway which runs in front of the vehicle, not parallel to the vehicle longitudinal axis, and extends laterally as far as the roadway side marking. The evaluation unit reads each sensor element line sequentially and processes the received signals to determine the lateral distance of the vehicle from the roadway marking. The relatively small quantity of data which accumulates permits the processing of the data digitally in real time by a conventional microprocessor. The apparatus is used as sleep warning system or lane guard for motor vehicles.

Apparatus for determining the distance of a vehicle from a roadway side

A device for steering and maintaining the course of a vehicle contains, in addition to a device for detecting the position of the vehicle, and a steering control device which acts on a steering angle adjustment device, a preselectable limitation of the steering angle setting requested by the control. A steering angle setting requested by the control is combined with the steering angle setting requested by the driver, and the steering angle adjustment device sets the steering angle in accordance with this combination.

Growing community of inventors

Uhingen, Germany

Uwe Franke