Method for calibrating image data of an imaging system for a vehicle combination

Patent metadata

Field	Value
Publication number	US-11097670-B2
Application number	US-202017108434-A
Country	US
Kind code	B2
Filing date	Dec 1, 2020
Priority date	Dec 11, 2019
Publication date	Aug 24, 2021
Grant date	Aug 24, 2021

Abstract

A method for calibrating image data of an imaging system for a vehicle combination, including a first part of the tractor trailer, which encompasses the imaging system, and a second part which encompasses a calibration object, the second part being mechanically coupled to the first part so as to be movable about at least one axis. The imaging system is configured to at least partially representing the second part. The method includes: providing at least one image of the imaging system, which represents the calibration object; identifying the calibration object within the image; identifying a characteristic variable of the calibration object within the image; determining a deviation of the characteristic variable from a stored characteristic setpoint variable; generating calibrated image data by transforming the image data of the imaging system, depending on the deviation of the characteristic variable from the stored characteristic setpoint variable to compensate for the deviation.

First claim

What is claimed is:

1. A method for calibrating image data of an imaging system for a vehicle combination, the vehicle combination including a first part of a tractor trailer, which encompasses the imaging system for generating images, and a second part of the tractor trailer, which encompasses a calibration object, the second part of the tractor trailer being mechanically coupled to the first part of the tractor trailer so as to be movable relative to the first part of the tractor trailer about at least one axis, the imaging system being configured to at least partially represent the second part of the tractor trailer, the method comprising the following steps:
providing at least one image of the imaging system, which represents the calibration object;
identifying the calibration object within the image;
identifying a characteristic variable of the calibration object within the image;
determining a deviation of the characteristic variable of the calibration object within the image from a stored characteristic setpoint variable of the calibration object within the image; and
generating calibrated image data by transforming the image data of the imaging system, depending on the deviation of the characteristic variable from the stored characteristic setpoint variable of the calibration object to compensate for the deviation.

2. The method as recited in claim 1 , wherein the characteristic setpoint variable of the calibration object is determined depending on a type of the second part of the tractor trailer, and the method further includes the following steps:
identifying the type of the second part of the tractor trailer; and
determining the characteristic setpoint variable of the calibration object of the type of the second part of the tractor trailer using an allocation table.

3. The method as recited in claim 2 , wherein the identification of the type of the second part of the tractor trailer takes place using an identification method between the first part of the tractor trailer and the second part of the tractor trailer.

4. The method as recited in claim 3 , wherein the identification method takes place using a wireless identification method between the first part of the tractor trailer and the second part of the tractor trailer.

5. The method as recited in claim 3 , wherein the identification method is based on a barcode method and/or an RFID method and/or on a transmission using a vehicle bus.

6. The method as recited in claim 1 , wherein the imaging system is a camera system, or a video system, or a LIDAR system, or a radar system.

7. The method as recited in claim 1 , wherein the calibrated image data are generated, using the following steps:
determining the deviation of the characteristic variable of the calibration object within the image from the stored characteristic setpoint variable of the calibration object within the image for a plurality of images, which were generated by the imaging system at different times; and
calculating the deviation from an averaged value of the deviation of the plurality of images.

8. The method as recited in claim 1 , wherein the calibrated image data are generated, using the following steps:
determining the deviation of the characteristic variable of the calibration object within the image from the stored characteristic setpoint variable of the calibration object within the image for a plurality of images, which were generated by the imaging system at different times; and
determining an angle between the first part of the tractor trailer and the second part of the tractor trailer for each of the plurality of images; and
calculating the deviation from an averaged value across the plurality of images at a defined angle between the first part of the tractor trailer and the second part of the tractor trailer.

9. The method as recited in claim 1 , wherein, for a calibration of the imaging system, the characteristic variable of the calibration object is a position of at least one portion of the calibration object in the image of the imaging system, and the image data are transformed, in that the image data are converted into a new reference system of the calibrated image data.

10. The method as recited in claim 1 , wherein, for a calibration of the imaging system, the characteristic variable of the calibration object is a length of at least one portion of the calibration object in the image of the imaging system, and the image data are transformed, in that a length transformation and/or a rotation of the image data and/or a translation of the image data and/or a focus shift of the image data to the calibrated image data, is calculated.

11. The method as recited in claim 1 , wherein: (i) based on the deviation of the characteristic variable of the calibration object from the stored characteristic setpoint variable of the calibration object, a control signal for activating an at least semi-automated vehicle combination is provided; and/or (ii) based on the deviation of the characteristic variable of the calibration object from the stored characteristic setpoint variable of the calibration object, a warning signal is provided for warning an occupant of the vehicle combination.

12. A device configured to calibrate image data of an imaging system for a vehicle combination, the vehicle combination including a first part of a tractor trailer, which encompasses the imaging system for generating images, and a second part of the tractor trailer, which encompasses a calibration object, the second part of the tractor trailer being mechanically coupled to the first part of the tractor trailer so as to be movable relative to the first part of the tractor trailer about at least one axis, the imaging system being configured to at least partially represent the second part of the tractor trailer, the device configured to:
provide at least one image of the imaging system, which represents the calibration object;
identify the calibration object within the image;
identify a characteristic variable of the calibration object within the image;
determine a deviation of the characteristic variable of the calibration object within the image from a stored characteristic setpoint variable of the calibration object within the image; and
generate calibrated image data by transforming the image data of the imaging system, depending on the deviation of the characteristic variable from the stored characteristic setpoint variable of the calibration object to compensate for the deviation.

13. The method as recited in claim 1 , wherein the method is used for controlling the vehicle combination, the vehicle combination being an at least semi-automated vehicle combination.

14. A non-transitory machine-readable memory medium on which is stored a computer program for calibrating image data of an imaging system for a vehicle combination, the vehicle combination including a first part of a tractor trailer, which encompasses the imaging system for generating images, and a second part of the tractor trailer, which encompasses a calibration object, the second part of the tractor trailer being mechanically coupled to the first part of the tractor trailer so as to be movable relative to the first part of the tractor trailer about at least one axis, the imaging system being configured to at least partially represent the second part of the tractor trailer, the computer program, when executed by a computer, causing the computer to perform the following steps:
providing at least one image of the imaging system, which represents the calibration object;
identifying the calibration object within the image;
identifying a characteristic variable

Assignees

• Bosch Gmbh Robert

Inventors

• Goth Martin
• Pfeil Jerg
• Maehnert Uwe

Classifications

• G06V20/41

  Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items (segmenting video sequences G06V20/49) · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T7/80

  Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration · CPC title

• B60R2300/402

  Image calibration · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title