WO2012168038A1 - Système de caméras de véhicule pour la fourniture d'une image sans parties manquantes de l'environnement du véhicule et procédé correspondant - Google Patents

Système de caméras de véhicule pour la fourniture d'une image sans parties manquantes de l'environnement du véhicule et procédé correspondant Download PDF

Info

Publication number
WO2012168038A1
WO2012168038A1 PCT/EP2012/058915 EP2012058915W WO2012168038A1 WO 2012168038 A1 WO2012168038 A1 WO 2012168038A1 EP 2012058915 W EP2012058915 W EP 2012058915W WO 2012168038 A1 WO2012168038 A1 WO 2012168038A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
image
vehicle environment
frame
camera system
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2012/058915
Other languages
German (de)
English (en)
Inventor
Wolfgang Niehsen
Markus Respondek
Jochen Wingbermuehle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2012168038A1 publication Critical patent/WO2012168038A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint

Definitions

  • Vehicle camera systems for providing a complete picture of the vehicle environment and corresponding method
  • the present invention relates to a vehicle camera system and a corresponding method for providing a complete image of the vehicle environment. Also, the invention relates to a vehicle with such
  • FIG. 1 shows a vehicle 10 with such a multi-camera system 20 with four cameras 30, 40, 50, 60 and a central processing unit
  • Control unit 90 for surround view display In general, such as the second generation VW Touareg from 04/2010, are one
  • each side camera 40, 50 integrated in the two exterior mirrors and a rear camera 60 at the rear of the vehicle in the grip of the trunk lid.
  • the Central processing unit (image processing unit) 90 Vehicle environment to the central processing unit (image processing unit) 90 transmitted, transformed with a suitable imaging model and to an overall image containing the own vehicle 10 as a central pixel, assembled and brought to display on a display 70.
  • the Cameras 30, 40, 50, 60 and the central processing unit 90 are by means of
  • the camera modules 30, 40, 50, 60 are each equipped with an optical system which allows a horizontal opening angle of more than 180 ° (fish-eye optics), so that with the four cameras 30, 40, 50, 60 a gapless
  • the camera signals are analog, such as via NTSC (National Television Systems Committee) or via PAL (Phase Alternating Line), digital with lossy coding, such as by means of MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts Group) , or digitally without data compression, such as LVDS (Low Voltage Diferential Signaling) transmitted.
  • NTSC National Television Systems Committee
  • PAL Phase Alternating Line
  • digital with lossy coding such as by means of MJPEG (Moving Joint Photographic Experts Group) or MPEG4 (Moving Picture Experts Group)
  • digitally without data compression such as LVDS (Low Voltage Diferential Signaling) transmitted.
  • Analogue surround systems (surround view systems) have a limited resolution and therefore provide an unsatisfactory image quality.
  • dynamic artifacts contain coding artifacts (block artifacts, time-varying image resolution, etc.).
  • Image data compensation the components for connecting the digital camera modules to the central processing unit are very expensive.
  • Camera modules including the basic characteristic in the form of an intelligent reversing camera detectable.
  • a vehicle rear view system in which a rear panoramic view with at least two video cameras is produced. It is further described that it is determined by means of a preprocessing, which is performed for each camera, which image part overlaps and which not. In order to be able to determine the overlapping image areas, the respective preprocessing processes of the images recorded by means of the individual cameras must coincide with one another
  • the overlapping image areas and an image overlapping area obtained by correlating the information from both cameras are respectively separately provided to a display.
  • the possibility of a decentralized pre-processing and the separate transmission of different image areas, such as the overlapping and non-overlapping areas, of the two cameras is thereby opened up.
  • DE 100 35 223 A1 discloses a device and a corresponding method for monitoring the surroundings of an object, in which a large amount of image data, which comprise the images of a plurality of video cameras with overlapping fields of view, is displayed in an appropriately short time at an evaluation unit must be transferred.
  • the images of the plurality of video cameras are transmitted to an evaluation unit and assembled centrally in the evaluation unit into an overall image, wherein the overlapping area or overlapping area is taken into account in the evaluation and as a continuous transition between
  • the vehicle camera system according to the invention for providing a complete image of the vehicle environment comprises one or more
  • Camera modules each comprising a camera and a local arithmetic unit, wherein the local arithmetic units are each adapted to pre-process the images of the vehicle environment taken by the associated camera. Furthermore, the arithmetic units each comprise at least one analog output for signal transmission.
  • the vehicle camera system has an image fusion unit, which is designed to be transmitted from the preprocessed, analog transmitted by means of the analog outputs of the local processing units Images of the vehicle environment to produce at least a complete full screen of at least a portion of the vehicle environment.
  • the invention provides a method for providing at least one complete image of at least one region of the vehicle environment, which is carried out by means of a vehicle camera system according to the invention.
  • the method one or more images of the vehicle environment are captured and preprocessed, and one or more analog image signals, each associated with a preprocessed image of the vehicle
  • Image signals at least one frame signal corresponding to a gap-free frame of the vehicle surrounding area generated.
  • connection of the computing units comprised by the camera modules to the central one takes place
  • Image fusion unit analog which causes a high compatibility of the vehicle camera system according to the invention to the components already available today in motor vehicles. This eliminates the high cost of the components
  • Vehicle camera system each adapted to perform an image interpretation of the images taken by the associated cameras of the vehicle environment and / or to transform the images of the vehicle environment taken by the associated cameras each into a partial image, each of a predefined image section of at least one of the
  • Image fusion unit generated full screen of the vehicle environment area corresponds.
  • intelligent camera modules are used, each one integrated in particular
  • the preprocessing according to the invention of the individual camera images results in a significant data reduction without loss of information, which makes it possible to use cost-minimized crosslinking solutions.
  • the image fusion unit includes a multi-camera controller (e.g., EPSON
  • Quadrants together.
  • One quadrant each represents a suitably preprocessed image of a camera.
  • the analogue connection of the camera modules to the image fusion unit enables the use of standard multi-camera controllers (eg EPSON S2S65P10 or S2D13P04)
  • the use of the concept of decentralized intelligence ensures the scalability of a vehicle camera system according to the invention from, for example, a reversing camera to an inventive intelligent vehicle camera system with preferably four or more individual cameras.
  • the vehicle camera system according to the invention comprises a
  • a display device adapted to be read by one of
  • Image fusion unit comprised analog output to display analog transmitted full screen of the vehicle environment area.
  • the image fusion unit comprises a computing unit configured to process at least one further frame of the vehicle surroundings area and / or additional information, in particular object detections of a vehicle Object detection system, in at least one frame of the
  • the displaying vehicle multi-camera system (such as a surround-view system) with respect to the object recognition.
  • a vehicle is provided with a vehicle camera system according to the invention.
  • the driver of such a vehicle can then be warned early when detecting an obstacle.
  • Accessing various vehicle data such as the steering angle, the wheel speeds and the inertial sensor data, and thereby be designed in particular for intervening in the vehicle dynamics when detecting an obstacle.
  • the risk of collision of the vehicle is preferably significantly reduced when parking.
  • FIG. 1 shows a vehicle with a vehicle multi-camera system according to the
  • Figure 2 is a complete full screen of the vehicle with its entire
  • Vehicle environment from the bird's eye view which was generated by means of a vehicle camera system according to the invention according to a first embodiment of the invention
  • FIG. 3 is a block diagram of an inventive
  • FIG. 4 is a block diagram of a vehicle system according to the invention according to a second embodiment of the invention.
  • Embodiments of the invention Figure 2 shows a full screen 72 of the vehicle with its entire
  • Vehicle environment from a bird's eye view which was generated by means of a vehicle camera system according to the invention (not shown) according to a first embodiment of the invention and was brought to display on a display 70.
  • Embodiment of the invention comprises a plurality of intelligent camera modules, each comprising a highly integrated computing unit for decentralized image signal processing and image interpretation.
  • the arithmetic unit is either integrated directly on the imaging imager module or is integrated as a separate component on the imager PCB (Printed Circuit Board) or on one or more additional PCBs in the camera module.
  • the arithmetic unit can be used, for example, as DSP (Digital Signal Processor), FPGA (Field Programmable Gate
  • the arithmetic unit makes in addition to the image interpretation in particular a non-linear transformation of the input image to generate the
  • FIG. 3 shows a block diagram of an inventive device
  • Vehicle camera system according to the first embodiment of the invention.
  • the image detail (patch) 36, 46, 56, 66 generated in each case by means of a nonlinear transformation is converted analogously (NTSC / PAL) and to a central image
  • Image fusion unit 90 transfer, so that the networking of the individual intelligent camera modules 30, 40, 50, 60 with the central image fusion unit 90 cost by means already available in a motor vehicle
  • Components can be made.
  • Multizerkontrollers 91 the preprocessed frames (patches) 36, 46, 56, 66 assembled into a frame 71.
  • This frame 71 includes, for example, four tiles, each tile including a suitably preprocessed frame 36, 46, 56, 66 of a camera 30, 40, 50, 60 of the multi-camera system 20.
  • a control line 93 to the image fusion unit 90 allows the assembly of the individual camera images 36, 46, 56, 66 (front view, side views, rear view, top view) and possibly also a static plan view 1 1 of the own vehicle.
  • the analog image signals are transmitted via the coaxial lines 37, 47, 57, 67 between the camera modules 30, 40, 50, 60 and the multi-camera controller 91, processed by the latter and transmitted via the further coaxial line 92 to a display unit (head unit - HU) 100 that of the
  • Multivaluekontroller 91 on the control line 93 receives a control signal.
  • the image signal generated by the multi-camera controller 91 can be digitally further processed into a frame 72 or converted back into an analog signal (NTSC / PAL) by means of an encoder so as to be fed directly to the display unit (HU) 100.
  • the display unit (HU) 100 is in this case from the frame 71 by means of a further optimization of
  • Figure 4 shows a block diagram of a vehicle system 20 according to the invention according to a second embodiment of the invention.
  • Vehicle camera system 20 according to the second embodiment of the invention, in particular a central processing unit 1 10. If the digital output signal 71 of the multi-camera controller 91 is fed into the additional, comprised of the image fusion unit 90 computing unit 1 10, so is an independent
  • the display system 100 can process this Full screen 72, which is transmitted analogously, immediately and without post-processing on the display 70 show.
  • the central processing unit 110 which is included in the image fusion unit 90 of the vehicle system 20 according to the second embodiment of the invention, can also additionally offer the option of patch composition and additional
  • the central processing unit 110 has access to various vehicle data 120 via the bus system 111, such as the steering angle, the wheel speeds and the inertial sensor data.
  • the bus system 111 may include a Car Area Network Bus (CAN), a Local Interconnect Network Bus (LIN), or a Media Oriented Systems Transport Bus (MOST).
  • CAN Car Area Network Bus
  • LIN Local Interconnect Network Bus
  • MOST Media Oriented Systems Transport Bus
  • Coaxial lines 37, 47, 57, 67 between the camera modules 30, 40, 50, 60 and the multi-camera controller 91 which are processed by this and transmitted via the further coaxial line 92 to the display unit (HU) 100, which from the multi-camera controller 91 on the control line 93 receives a control signal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un système de caméras de véhicule destiné à fournir une image sans parties manquantes de l'environnement du véhicule au moyen d'un ou de plusieurs modules de caméra, qui comprennent chacun une caméra et une unité de calcul locale. Les unités de calcul locales sont réalisées chacune pour prétraiter les images de l'environnement du véhicule prises par la caméra qui leur est associée et comprennent respectivement au moins une sortie analogique servant à la transmission de signaux. Le système de caméras du véhicule comporte une unité de fusion d'images qui est réalisée pour générer, à partir des images prétraitées de l'environnement du véhicule transmises au moyen des sorties analogiques des unités de calcul locales, au moins une image complète sans parties manquantes d'au moins une zone de l'environnement du véhicule.
PCT/EP2012/058915 2011-06-10 2012-05-14 Système de caméras de véhicule pour la fourniture d'une image sans parties manquantes de l'environnement du véhicule et procédé correspondant Ceased WO2012168038A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011077398.3 2011-06-10
DE102011077398.3A DE102011077398B4 (de) 2011-06-10 2011-06-10 Fahrzeugkamerasystem zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung und entsprechendes Verfahren

Publications (1)

Publication Number Publication Date
WO2012168038A1 true WO2012168038A1 (fr) 2012-12-13

Family

ID=46124338

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/058915 Ceased WO2012168038A1 (fr) 2011-06-10 2012-05-14 Système de caméras de véhicule pour la fourniture d'une image sans parties manquantes de l'environnement du véhicule et procédé correspondant

Country Status (2)

Country Link
DE (1) DE102011077398B4 (fr)
WO (1) WO2012168038A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6022930B2 (ja) * 2012-12-25 2016-11-09 京セラ株式会社 カメラシステム、カメラモジュールおよびカメラ制御方法
DE112013006385B4 (de) 2013-01-09 2018-09-06 Mitsubishi Electric Corporation Fahrzeugperipherie-Anzeigevorrichtung
DE102013200431A1 (de) * 2013-01-14 2014-07-31 Robert Bosch Gmbh Kamerasystem für ein Fahrzeug
DE102016220651A1 (de) * 2016-10-20 2018-04-26 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Erzeugung einer Fahrzeugumgebungsansicht bei einem Fahrzeug
DE102016223391A1 (de) 2016-11-25 2018-05-30 Conti Temic Microelectronic Gmbh Verfahren und vorrichtung zum erzeugen einer fahrzeugumgebungsansicht bei einem fahrzeug
DE102018218745B4 (de) 2018-11-01 2021-06-17 Elektrobit Automotive Gmbh Kameravorrichtung, Fahrerassistenzsystem und Fahrzeug
EP4219237A1 (fr) * 2022-01-26 2023-08-02 Ficosa Adas, S.L.U. Système de rétroviseur
DE102022123561A1 (de) 2022-09-15 2024-03-21 Valeo Schalter Und Sensoren Gmbh Frontkamerasystem für ein Fahrzeug
DE102024112776A1 (de) * 2024-05-07 2025-11-13 Audi Aktiengesellschaft Verfahren zur Generierung einer virtuellen Darstellung eines Kraftfahrzeugs und Kraftfahrzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10035223A1 (de) 2000-07-20 2002-01-31 Daimler Chrysler Ag Vorrichtung und Verfahren zur Überwachung der Umgebung eines Objekts
DE10164516A1 (de) 2001-12-19 2003-07-10 Magna Auteca Ag Weiz Elektronisches Fahrzeugrückblicksystem
US20050190261A1 (en) * 2002-12-20 2005-09-01 Hamdan Majed M. Vehicle video processing system
WO2010099416A1 (fr) * 2009-02-27 2010-09-02 Magna Electronics Système d'alerte pour véhicule

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010033108A (ja) 2008-07-24 2010-02-12 Sony Corp 画像処理システム、撮像装置、画像処理方法及びコンピュータプログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10035223A1 (de) 2000-07-20 2002-01-31 Daimler Chrysler Ag Vorrichtung und Verfahren zur Überwachung der Umgebung eines Objekts
DE10164516A1 (de) 2001-12-19 2003-07-10 Magna Auteca Ag Weiz Elektronisches Fahrzeugrückblicksystem
US20050190261A1 (en) * 2002-12-20 2005-09-01 Hamdan Majed M. Vehicle video processing system
WO2010099416A1 (fr) * 2009-02-27 2010-09-02 Magna Electronics Système d'alerte pour véhicule

Also Published As

Publication number Publication date
DE102011077398B4 (de) 2021-11-04
DE102011077398A1 (de) 2012-12-13

Similar Documents

Publication Publication Date Title
DE102011077143B4 (de) Fahrzeugkamerasystem und Verfahren zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung
DE102011077398B4 (de) Fahrzeugkamerasystem zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung und entsprechendes Verfahren
EP2431226B1 (fr) Dispositif de rétroviseur pour un véhicule automobile
EP2623374B1 (fr) Système de vision pour véhicules utilitaires destiné à la représentation de champs de vision règlementaires d'un rétroviseur principal et d'un rétroviseur grand angle
DE102006003538B3 (de) Verfahren zum Zusammenfügen mehrerer Bildaufnahmen zu einem Gesamtbild in der Vogelperspektive
DE102012015398B3 (de) Spiegelersatzsystem für ein Fahrzeug
DE102012025322B4 (de) Kraftfahrzeug mit Kamera-Monitor-System
DE102008046214A1 (de) Verfahren und Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges
DE102008046544A1 (de) Verfahren und Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges
WO2018184608A1 (fr) Dispositif formant caméra et procédé de détection d'une zone environnante d'un véhicule
DE102013214369A1 (de) Verfahren und Vorrichtung zur Wiedergabe eines Umgebungsbereichs eines Fahrzeugs
DE112015005753B4 (de) Bildverarbeitungssystem und Vorrichtung davon
DE102017100669A1 (de) Verfahren zum Erfassen eines Umgebungsbereichs eines Kraftfahrzeugs mit Anpassung einer Region von Interesse in Abhängigkeit von einem Anhänger, Recheneinrichtung, Kamerasystem sowie Kraftfahrzeug
EP2312525A2 (fr) Procédé et système de caméra destinés à produire des images pour la transmission vers une unité de commande externe
EP1922871B1 (fr) Transmission d'informations dans le signal video d'un systeme de camera
DE102013226196A1 (de) Optisches Sensorsystem
WO2009089932A1 (fr) Procédé de réglage d'image destiné à une image vidéo
EP3234907A1 (fr) Système de cameras et procédé de visualisation d'au moins une zone située dans la périphérie d'un véhicule
DE102006020930B4 (de) Verfahren zur Umgebungsüberwachung für ein Kraftfahrzeug
DE102018128636A1 (de) Verfahren zum Bereitstellen einer visuellen Information über zumindest einen Teil einer Umgebung, Computerprogrammprodukt, mobiles Kommunikationsgerät und Kommunikationssystem
DE102013000261A1 (de) Verfahren und Kamerasystem zum Abbilden einer Umgebung eines Kraftwagens
DE102005002636A1 (de) Verfahren und System zur Verarbeitung von Videodaten eines Kamerasystems
DE102019002664A1 (de) Verfahren zur Anzeige einer fahrzeugdynamischen virtuellen Realität in einem Fahrzeug
DE102018207162A1 (de) Vorrichtung, Fortbewegungsmittel und Verfahren zur Unterstützung eines Anwenders eines Fortbewegungsmittels
EP2149107A1 (fr) Procédé et dispositif pour reconnaître des panneaux de signalisation

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12721824

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 12721824

Country of ref document: EP

Kind code of ref document: A1