Aptiv Technologies Limited

Motorola Solutions, Inc.

Aptiv Technologies Ag

Aptiv Services Poland S.a.

Waldemar K Dworakowski

Rafal Dlugosz

Krzysztof Gongolewski

Marzena Banach

Pawel Jurzak

Piotr Kuzio

Robert Mrowiec

Piotr Bogacki

Andrzej Lichnerowicz

Zofia Dlugosz

Tomasz Mariusz Warzecha

Jim Bellizio

Przemyslaw Kryger

Maciej Krzanowski

Lukasz Szpiech

Krzysztow Gongolewski

A computer implemented method for calibrating a camera comprises the following steps carried out by computer hardware components: activating a subset of a plurality of light sources according to a plurality of activation schemes, wherein each activation scheme indicates which of the plurality of light sources to activate; capturing an image for each activation scheme using the camera; and calibrating the camera based on the captured images.

Methods and systems for calibrating a camera

A heating device includes a housing, a primary induction coil, a controller circuit, and a secondary induction coil. The housing is configured to retain a camera lens. The primary induction coil is positioned proximate the housing and configured to generate a magnetic field in response to receiving electrical power from a power supply. The controller circuit is in electrical contact with the primary induction coil and is configured to control the electrical power delivered to the primary induction coil. The secondary induction coil overlays the primary induction coil and is configured to receive the magnetic field from the primary induction coil and generate heat. The secondary induction coil heats the camera lens when the primary induction coil receives the electrical power.

Heating device

Described is a system including a camera module connected to an electronic device. The camera module includes a non-volatile memory that includes instructions storing a script for setting up the camera module. The electronic device includes an interpreter that executes at least partially the instructions including the script stored in the non-volatile memory of the camera module to set up the camera module.

System including a camera module connected to an electronic device

An automated driving system (ADS) includes an automation control module for controlling one or more driving functions of a vehicle, and a safety control module for determining one or more operating conditions relevant to the safety performance of the vehicle, such as driver awareness and processor temperature. The automation control module is configured to automatically adjust the speed of the vehicle based on the one or more operating conditions determined by the safety control module.

Automated driving system

The system comprises at least two sensors of object detection that each comprise a transmitter for producing an original periodic signal, one or two antennas for transmitting the original signal and, after the original signal has reflected off the object, receiving a reflected signal, and a receiver for detecting an information related to the object using the received reflected signal, wherein the transmitting antenna has a radiation pattern including a main lobe and side lobes at various angles, characterized in that the two sensors have respective coverage areas that overlap, and the transmitter of one of the two sensors, that is the transmitter sensor, encodes data to be transmitted to the other one of the two sensors, that is the receiver sensor, by modulating the original signal radiated by the transmitting antenna of the transmitter sensor.

Object detection system with a side communication channel

A method of processing an image of a scene including a road acquired by a vehicle-mounted camera to generate boundary data indicative of a boundary of an image region which represents an unoccupied area of the road, comprising: generating an LL sub-band image of an Nlevel of an (N+1)-level discrete wavelet transform, DWT, decomposition of the image by iteratively low-pass filtering and down-sampling the image N times, where N is an integer equal to or greater than one; generating a sub-band image of an (N+1)level by high-pass filtering the LL sub-band image of the Nlevel, and down-sampling a result of the high-pass filtering, such that the sub-band image of the (N+1)level has a pixel region having substantially equal pixel values representing the unoccupied area of the road in the image; and generating the boundary data by determining a boundary of the pixel region.

Method and apparatus for processing an image of a road to identify a region of the image which represents an unoccupied area of the road

A method for calibrating the position and orientation of a camera, in particular a vehicle-mounted camera, relative to a calibration pattern includes the steps of: A] acquiring an image of the calibration pattern by the camera; B] determining a parameter of the image or of the calibration pattern; C] transforming the image based on the parameter; D] identifying characteristic points or possible characteristic points of the calibration pattern within the transformed image; E] deriving the position or orientation of the camera relative to the calibration pattern from the identified characteristic points or possible characteristic points; F] in dependence of a confidence value of the derived position or orientation of the camera or in dependence of the number of iterations of steps B to F so far, repeating steps B to F; and G] outputting the position or orientation of the camera derived in the last iteration of step E.

Method for calibrating the position and orientation of a camera relative to a calibration pattern

A heating device includes a housing, a primary induction coil, a controller circuit, and a secondary induction coil. The housing retains a camera lens. The primary induction coil is positioned proximate the housing and generates a magnetic field in response to receiving electrical power from a power supply. The controller circuit is in electrical contact with the primary induction coil and controls the electrical power delivered to the primary induction coil. The secondary induction coil overlays the primary induction coil and receives the magnetic field from the primary induction coil and generates heat. The secondary induction coil is in direct contact with a windshield of a vehicle and heats the viewing window when the primary induction coil receives the electrical power.

A control module comprises: a first interface to a camera provided in a vehicle; a second interface to a serializer for communication with an electronic control unit of the vehicle; and a processing unit configured to process input data received via the first interface or via the second interface to obtain output data, and to output the output data via the first interface or via the second interface.

Control modules and methods

A method for calibrating the position and/or orientation of a camera, in particular a camera mounted to a vehicle such as a truck, relative to a calibration pattern includes the steps of: A] acquiring an image of the calibration pattern by means of the camera; B] determining at least one parameter of the image and/or of the calibration pattern or a sub-pattern of the calibration pattern as it appears in the image; C] transforming the image based on the at least one parameter; D] identifying characteristic points or possible characteristic points of the calibration pattern within the transformed image of the calibration pattern; E] deriving the position and/or orientation of the camera relative to the calibration pattern from the identified characteristic points or possible characteristic points; F] in dependence of a confidence value of the derived position and/or orientation of the camera and/or in dependence of the number of iterations of steps B to F so far, repeating steps B to F, wherein in step B the derived position and/or orientation of the camera are taken into account for determining the at least one parameter; and G. outputting the position and/or orientation of the camera derived in the last iteration of step E.

Calibrating the orientation of a camera mounted to a vehicle includes providing calibration pattern defining at least two horizontal lines and two vertical lines; acquiring an image of the calibration pattern by means of the camera, the image having a first axis and a second axis corresponding to a horizontal axis and a vertical axis, respectively; identifying the horizontal lines and the vertical lines within the image; determining a horizontal vanishing point from the representations of the horizontal lines; determining a vertical vanishing point from the representations of the vertical lines; calculating a roll angle from the location of the horizontal vanishing point based on the image, calculating a yaw angle from a first coordinate of the horizontal vanishing point measured along the first axis, and calculating a pitch angle from a second coordinate of the vertical vanishing point measured along the second axis.

Method for calibrating the orientation of a camera mounted to a vehicle

This document describes an improved method for identifying of characteristic points of a calibration pattern within a set of candidate points in an image of the calibration pattern. The method includes scaling a template arrangement of template points that corresponds to the calibration pattern to an initial size. The method uses the scaled template arrangement to determine potential characteristic points. The method then determines whether the potential characteristic points meet a termination criterion. If the termination criterion is not met, the scaling of the template arrangement is modified and the previous step and this step are repeated. If the termination criterion is met, the potential characteristic points are identified as the characteristic points. In this way, the described method provides a robust means to automatically identify the characteristic points in the image of the calibration pattern without having to determine the distance between a camera and the calibration pattern.

Method for identification of characteristic points of a calibration pattern within a set of candidate points derived from an image of the calibration pattern

A method for identification of characteristic points of a calibration pattern within an image includes: (i) overlaying a template arrangement of template points over the candidate point such that a principal point of the template points coincides with the candidate point, wherein the template arrangement corresponds to the calibration pattern or to a sub-pattern of the calibration pattern, (ii) for each template point of the template arrangement, except the principal point, identifying from the set of candidate points the candidate point closest to the template point, and (iii) determining a degree of deviation by summing the distances between each template point of the template arrangement, except the principal point, and the candidate point closest to this template point; and identifying as characteristic points of the calibration pattern all those candidate points of the set of candidate points with a degree of deviation below a deviation threshold.

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Warsaw, Poland

Waldemar K Dworakowski