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WO2020007624A1 - Panoramic rear-view device using head-up display cameras - Google Patents

Panoramic rear-view device using head-up display cameras Download PDF

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Publication number
WO2020007624A1
WO2020007624A1 PCT/EP2019/066504 EP2019066504W WO2020007624A1 WO 2020007624 A1 WO2020007624 A1 WO 2020007624A1 EP 2019066504 W EP2019066504 W EP 2019066504W WO 2020007624 A1 WO2020007624 A1 WO 2020007624A1
Authority
WO
WIPO (PCT)
Prior art keywords
panoramic
retro
strip
vehicle
vision device
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/EP2019/066504
Other languages
French (fr)
Inventor
Antoine LASSAGNE
Marie Pierre BOUSSIER
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.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
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 Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Publication of WO2020007624A1 publication Critical patent/WO2020007624A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B60R1/26—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 to the rear of the vehicle
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/176—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
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/011—Head-up displays characterised by optical features comprising device for correcting geometrical aberrations, distortion
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0149—Head-up displays characterised by mechanical features
    • G02B2027/0167—Emergency system, e.g. to prevent injuries
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle

Definitions

  • the present invention relates to camera back vision on board road vehicles.
  • a device for panoramic retro-vision by cameras for a vehicle comprising at least one camera for acquiring the rear field of vision of the vehicle, a depth-of-field sensor, and a user interface available. from the driver, exchanging information with a computer.
  • the position of the interior mirror is not determined by positive ergonomic requirements, but generally by the constraints of mirror optics.
  • mirror mirrors With mirror mirrors, the driver must regularly look away from the road scene to observe the rear of the road.
  • the mirrors are adjusted for each driver, and partially reproduce the rear road scene, on a reduced scale.
  • the present invention aims to project forward an enlarged and recomposed retro-vision image, with enriched information.
  • the image acquired by the cameras be restored to the driver, after processing by the computer, on a horizontal transparent head-up display strip extending over the width of the vehicle windshield.
  • the display panel can be placed at the foot of the windshield, or at the top of it.
  • FIG. 1 is an overview of the proposed H.U.D device.
  • FIG. 2 illustrates two variants of the display.
  • FIG. 3 illustrates the phenomena of image distortion and straightening.
  • FIG. 4 shows a particular embodiment of the strip.
  • FIG. 5 illustrates the operation of the device.
  • a retro-vision device is generally composed of several subsystems, mainly
  • a retro-vision device is generally composed of several subsystems, mainly a set of cameras for enhancing the rear field of vision,
  • a depth sensor system (not shown), a head-up display (HUD),
  • an image projector (not shown), integrated for example into the dashboard or the roof,
  • the device for panoramic back-vision by cameras is illustrated by FIGS. 1 and 2. It comprises at least one camera for enhancing the rear field of vision of the vehicle (not shown), a depth-of-field sensor, and a user setting interface, available to the driver, exchanging information with a computer.
  • the panoramic strip 1a, 2b, 2a, 2b, constituting the head-up display of FIGS. 1 and 2 is made up of a long glazed strip, or of plexiglass, of about a few centimeters in height, the width of which can range up to the entire windshield 3.
  • the strip can be placed at the top (1b, 2b) or, preferably, at the bottom of the windshield (la, 2a). As illustrated in Figure 2, it can be either glued on it (la, lb), or placed vertically behind the windshield (2a, 2b).
  • the images restored on the display are controlled by the computer, which obtains its data from the other subsystems, and according to the configuration carried out by the user.
  • the image acquired by cameras is returned to the driver, after processing by the computer on the horizontal strip, which preferably extends over the entire width of the windshield 3.
  • the projected image appears distorted to the driver, if the projection plane is inclined with respect to the driver's line of sight, in particular if the strip is glued to the windshield.
  • Figure 4 highlights the necessity and the principles of rectification applied by calculation to the projected image: without rectification, a straight image projected on the inclined plane of the windshield appears distorted for the driver's eye, whereas a distorted image on an incline may be straight for the driver's eye.
  • the deformation calculations are carried out by the computer, as a function of the height position of the driver's eyes if it is known, the angle of projection of the image, and the angle of vision of the driver.
  • a horizontal deformation of the image on the strip is also possible, so that the image can be seen, from the front by the driver, and simultaneously in lateral perspective, by the passenger.
  • the panoramic strip can display, in the central position, a rear view of the rear road scene, framed on each side by a side view.
  • Horizontal distortion can also be applied to the ends of the image, to maximize the field of vision.
  • the perspectives of the road scene can advantageously be straightened vertically and / or horizontally by the computer on the strip, for the comfort and safety of the driver.
  • the transparency of the image can vary depending on the context. It is preferably inversely proportional to the distance from the object detected by the sensors: the background of the environment (the decor, objects not detected by proximity sensors, etc.) are then displayed but with greater (or even total) transparency than that of the critical elements.
  • the transparency is preferably adjustable by the user, from its interface, but the detection of a nearby vehicle must be able to systematically trigger its highlighting, in order to improve the perception by the driver, whatever the setting adopted.
  • the vehicles detected by the cameras are therefore preferably automatically highlighted in the image.
  • the device can also display, under the control of the computer, contextual information, in the form of "colored gauges".
  • contextual information in the form of "colored gauges".
  • the speed of the following vehicle, or its speed difference with the vehicle for example in green between 0 and 5km / h of difference, in orange between 5 and 15km / h, and in purple beyond.
  • the transparency preferably varies according to the critical nature of the information, such as the current speed of the vehicle, or the gear engaged.
  • the transparency of the images projected on the panoramic banner can also vary depending on the direction of movement of the vehicle: the transparency of the projected scene, can thus be practically non-existent (zero) when the reverse gear is engaged, or at very low speed (traffic jams - parking), to increase when the speed of movement increases, so as to less capture the driver's attention.
  • the transparency of the image can change depending on the critical nature of the information displayed.
  • FIG. 5 groups together on a diagram the main interactions of the device, with the intervention of the driver on his interface to configure the device.
  • This setting leads, with the images acquired by the cameras, to the realization of a complete scene of retro-vision.
  • the data acquired by different sensors contributes, depending on the context, to the development of the scene, projected in wide field on a head-up display, in front of the driver.
  • the advantages of the invention are numerous.
  • the proposed device makes it possible to restore the retro-vision image on a larger scale, than known systems (up to scale 1), over the entire width of the vehicle. It allows you to place the viewing window in the best place so that the user does not have to look away from the road. Finally, it makes it possible to differentiate the situations where an important element, or at risk, enters the field of retro-vision.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Optics & Photonics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

A panoramic rear-view device using cameras for a vehicle, having at least one camera for acquiring the rear field of view of the vehicle, a field depth sensor and a user settings interface available to the driver, exchanging information with a computer, characterized in that the image acquired by the cameras is rendered to the driver, after processing by the computer, on a transparent horizontal head-up display strip (1a, 1b, 2a, 2b) extending over the width of the windscreen (3) of the vehicle.

Description

DESCRIPTION DESCRIPTION

TITRE : DISPOSITIF DE RETROVISION PANORAMIQUE PAR CAMERAS AVEC AFFICHAGE TETE-HAUTE  TITLE: PANORAMIC CAMERA REVIEW DEVICE WITH HEAD-UP DISPLAY

Domaine technique de l'invention Technical field of the invention

La présente invention se rapporte à la rétro-vision par caméras, à bord des véhicules routiers .  The present invention relates to camera back vision on board road vehicles.

Plus précisément, elle a pour objet un dispositif de rétro-vision panoramique par caméras pour véhicule, comportant au moins une caméra d'acquisition du champ de vision arrière du véhicule, un capteur de profondeur de champ, et une interface de réqlaqe utilisateur à disposition du conducteur, échanqeant des informations avec un calculateur .  More specifically, it relates to a device for panoramic retro-vision by cameras for a vehicle, comprising at least one camera for acquiring the rear field of vision of the vehicle, a depth-of-field sensor, and a user interface available. from the driver, exchanging information with a computer.

Etat de la technique  State of the art

Dans la plupart des véhicules, la position du rétroviseur intérieur n'est pas déterminée par des besoins d'ergonomie positifs, mais généralement par les contraintes de l'optique par miroir.  In most vehicles, the position of the interior mirror is not determined by positive ergonomic requirements, but generally by the constraints of mirror optics.

Avec les rétroviseurs à miroirs, le conducteur doit détourner régulièrement son regard de la scène routière, pour observer l'arrière de la route. Les rétroviseurs sont réglés pour chaque conducteur, et restituent partiellement la scène routière arrière, à une échelle réduite.  With mirror mirrors, the driver must regularly look away from the road scene to observe the rear of the road. The mirrors are adjusted for each driver, and partially reproduce the rear road scene, on a reduced scale.

Par ailleurs, les informations critiques, telles que l'apparition ou les trajectoires des autres véhicules, ne sont pas identifiées. Le conducteur est obligé de consulter régulièrement ses rétroviseurs, pour s'assurer qu'aucun danger ne survient par l'arrière ou les côtés de son véhicule. Enfin, l'agrandissement du champ de vision arrière et latéral, et l'identification de situations à risques survenant par l'arrière, sont difficiles à réaliser avec les rétroviseurs à miroir . La publication US 2018/0065482 décrit un système H.U.D (« Head Up Display », pour « affichage tête haute ») , permettant de projeter devant le conducteur une vue, vers l'arrière, de son véhicule. Ce système permet d'avertir visuellement le conducteur, de l'approche d'un autre véhicule vers l'arrière. Mais il ne lui offre pas vers l'avant, une vue complète et structurée de la scène arrière, consultable sans détourner son attention de la route. In addition, critical information, such as the appearance or the trajectories of other vehicles, is not identified. The driver is obliged to regularly consult his mirrors, to make sure that no danger arises from the rear or sides of his vehicle. Finally, the enlargement of the rear and lateral field of vision, and the identification of risk situations occurring from the rear, are difficult to achieve with mirror mirrors. The publication US 2018/0065482 describes a HUD (“Head Up Display”) system, making it possible to project a rear view of his vehicle in front of the driver. This system visually warns the driver when another vehicle is approaching backwards. But he does not offer her a forward, complete and structured view of the rear scene, which can be viewed without diverting her attention from the road.

La présente invention vise projeter vers l'avant une image de rétro-vision élargie et recomposée, avec des informations enrichies .  The present invention aims to project forward an enlarged and recomposed retro-vision image, with enriched information.

Présentation de l'invention  Presentation of the invention

Dans ce but, elle propose que l'image acquise par les caméras soit restituée au conducteur, après traitement par le calculateur, sur un bandeau horizontal d'affichage tête haute transparent s'étendant sur la largeur du pare-brise du véhicule .  To this end, it proposes that the image acquired by the cameras be restored to the driver, after processing by the computer, on a horizontal transparent head-up display strip extending over the width of the vehicle windshield.

Le bandeau d'affichage peut être placé au pied du pare-brise, ou en haut de celui-ci.  The display panel can be placed at the foot of the windshield, or at the top of it.

Brève description des figures  Brief description of the figures

D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description qui suit de modes particuliers de réalisation de l'invention donnés à titre d'exemples non limitatifs et représentés sur les dessins annexés, dans lesquels :  Other characteristics and advantages of the invention will appear on reading the following description of particular embodiments of the invention given by way of nonlimiting examples and represented in the appended drawings, in which:

[Fig. 1] est une vue d'ensemble dispositif H.U.D proposé.  [Fig. 1] is an overview of the proposed H.U.D device.

[Fig. 2] illustre deux variantes de l'afficheur.  [Fig. 2] illustrates two variants of the display.

[Fig. 3] illustre les phénomènes de déformation et de redressement d'image. [Fig. 4] montre un mode de réalisation particulier du bandeau. [Fig. 5] illustre le fonctionnement du dispositif. [Fig. 3] illustrates the phenomena of image distortion and straightening. [Fig. 4] shows a particular embodiment of the strip. [Fig. 5] illustrates the operation of the device.

Description détaillée des figures  Detailed description of the figures

Un dispositif de rétro-vision est généralement composé de plusieurs sous-systèmes, principalement  A retro-vision device is generally composed of several subsystems, mainly

Un dispositif de rétro-vision est généralement composé de plusieurs sous-systèmes, principalement un ensemble de caméras d' acguisition du champ de vision arrière , A retro-vision device is generally composed of several subsystems, mainly a set of cameras for enhancing the rear field of vision,

un système de capteur de profondeur (non représenté) , un afficheur tête-haute (HUD) ,  a depth sensor system (not shown), a head-up display (HUD),

un projecteur d'image (non représenté), intégré par exemple à la planche de bord ou au pavillon,  an image projector (not shown), integrated for example into the dashboard or the roof,

un calculateur, et  a calculator, and

une interface utilisateur.  a user interface.

Le dispositif de rétro-vision panoramigue par caméras proposé, est illustré par les figures 1 et 2. Il comporte au moins une caméra d' acguisition du champ de vision arrière du véhicule (non représentée) , un capteur de profondeur de champ, et une interface de réglage utilisateur, à disposition du conducteur, échangeant des informations avec un calculateur. Le bandeau panoramigue la, lb, 2a, 2b, constituant l'afficheur tête-haute des figures 1 et 2, est constitué une longue bande vitrée, ou en plexiglas, d'environ une guinzaine de centimètres de hauteur, dont la largeur peut aller jusgu'à la totalité du pare-brise 3. Le bandeau peut être placé en haut (lb, 2b) ou, de préférence, en bas du pare-brise (la, 2a) . Comme illustré par la figure 2, il peut être, soit collé sur celui-ci (la, lb) , soit placé verticalement derrière le pare-brise (2a, 2b) .  The device for panoramic back-vision by cameras, is illustrated by FIGS. 1 and 2. It comprises at least one camera for enhancing the rear field of vision of the vehicle (not shown), a depth-of-field sensor, and a user setting interface, available to the driver, exchanging information with a computer. The panoramic strip 1a, 2b, 2a, 2b, constituting the head-up display of FIGS. 1 and 2, is made up of a long glazed strip, or of plexiglass, of about a few centimeters in height, the width of which can range up to the entire windshield 3. The strip can be placed at the top (1b, 2b) or, preferably, at the bottom of the windshield (la, 2a). As illustrated in Figure 2, it can be either glued on it (la, lb), or placed vertically behind the windshield (2a, 2b).

Les images restituées sur l'afficheur sont pilotées par le calculateur, gui tire ses données des autres sous-systèmes, et selon le paramétrage effectué par l'utilisateur. L'image acguise par les caméras est restituée au conducteur, après traitement par le calculateur sur le bandeau horizontal, qui s'étend de préférence sur toute la largeur du pare-brise 3. En l'absence de correction, l'image projetée apparaît déformée au conducteur, si le plan de projection est incliné par rapport à l'axe de vision du conducteur, en particulier si le bandeau est collé au pare-brise. La figure 4 met en évidence la nécessité et les principes du redressement appliqué par calcul à l'image projetée : sans redressement, une image droite projetée sur le plan incliné du pare-brise apparaît déformée pour l'œil du conducteur, alors qu'une image déformée sur un plan incliné peut être droite pour l'œil du conducteur. Les calculs de déformation sont effectués par le calculateur, en fonction de de la position en hauteur des yeux du conducteur si elle est connue, de l'angle de projection de l'image, et de l'angle de vision du conducteur. Une déformation horizontale de l'image sur le bandeau, est également possible, pour que l'image puisse être vue, de face par le conducteur, et simultanément en perspective latérale, par le passager . The images restored on the display are controlled by the computer, which obtains its data from the other subsystems, and according to the configuration carried out by the user. The image acquired by cameras is returned to the driver, after processing by the computer on the horizontal strip, which preferably extends over the entire width of the windshield 3. In the absence of correction, the projected image appears distorted to the driver, if the projection plane is inclined with respect to the driver's line of sight, in particular if the strip is glued to the windshield. Figure 4 highlights the necessity and the principles of rectification applied by calculation to the projected image: without rectification, a straight image projected on the inclined plane of the windshield appears distorted for the driver's eye, whereas a distorted image on an incline may be straight for the driver's eye. The deformation calculations are carried out by the computer, as a function of the height position of the driver's eyes if it is known, the angle of projection of the image, and the angle of vision of the driver. A horizontal deformation of the image on the strip is also possible, so that the image can be seen, from the front by the driver, and simultaneously in lateral perspective, by the passenger.

Dans un mode de réalisation particulier de l'invention, illustré par la figure 3, le bandeau panoramique peut afficher, en position centrale, une vue arrière de la scène routière arrière, encadrée de chaque côté par une vue latérale. Une déformation horizontale peut aussi être appliquée aux extrémités de l'image, pour maximiser le champ de vision. Conformément à l'invention, les perspectives de la scène routière peuvent avantageusement être redressées verticalement et/ou horizontalement par le calculateur sur le bandeau, pour le confort et la sécurité du conducteur.  In a particular embodiment of the invention, illustrated by FIG. 3, the panoramic strip can display, in the central position, a rear view of the rear road scene, framed on each side by a side view. Horizontal distortion can also be applied to the ends of the image, to maximize the field of vision. According to the invention, the perspectives of the road scene can advantageously be straightened vertically and / or horizontally by the computer on the strip, for the comfort and safety of the driver.

Selon une autre caractéristique de l'invention, la transparence de l'image peut varier en fonction du contexte. Elle est de préférence inversement proportionnelle à l'éloignement de l'objet détecté par les capteurs : le fond de l'environnement (le décor, les objets non détectés par les capteurs de proximité, etc.) sont alors affichés mais avec une transparence supérieure (voire totale) à celle des éléments critiques. According to another characteristic of the invention, the transparency of the image can vary depending on the context. It is preferably inversely proportional to the distance from the object detected by the sensors: the background of the environment (the decor, objects not detected by proximity sensors, etc.) are then displayed but with greater (or even total) transparency than that of the critical elements.

La transparence est de préférence réglable par l'utilisateur, à partir de son interface, mais la détection d'un véhicule proche doit pouvoir déclencher systématiquement sa mise en surbrillance, pour en améliorer la perception par le conducteur, quel que soit le réglage adopté. Les véhicules détectés par les caméras, sont donc de préférence affichés automatiquement en surbrillance sur l'image.  The transparency is preferably adjustable by the user, from its interface, but the detection of a nearby vehicle must be able to systematically trigger its highlighting, in order to improve the perception by the driver, whatever the setting adopted. The vehicles detected by the cameras are therefore preferably automatically highlighted in the image.

Le dispositif peut également afficher, sous le contrôle du calculateur, des informations contextuelles, sous la forme de « jauges colorées ». Parmi celles-ci, la vitesse du véhicule suiveur, ou son écart de vitesse avec le véhicule : par exemple en vert entre 0 et 5km/h d'écart, en orange entre 5 et 15km/h, et en violet au-delà. La transparence varie de préférence selon le caractère critique de l'information, comme la vitesse actuelle du véhicule, ou le rapport engagé. La transparence des images projetées sur le bandeau panoramique peut aussi varier en fonction du sens de déplacement du véhicule : la transparence de la scène projetée, peut ainsi être pratiquement inexistante (nulle) lorsque la marche arrière est enclenchée, ou à très faible vitesse (embouteillages - stationnement) , pour augmenter lorsque la vitesse de déplacement augmente, de manière à moins capter l'attention du conducteur. En règle générale, la transparence de l'image peut évoluer en fonction du caractère critique des informations affichées.  The device can also display, under the control of the computer, contextual information, in the form of "colored gauges". Among these, the speed of the following vehicle, or its speed difference with the vehicle: for example in green between 0 and 5km / h of difference, in orange between 5 and 15km / h, and in purple beyond. The transparency preferably varies according to the critical nature of the information, such as the current speed of the vehicle, or the gear engaged. The transparency of the images projected on the panoramic banner can also vary depending on the direction of movement of the vehicle: the transparency of the projected scene, can thus be practically non-existent (zero) when the reverse gear is engaged, or at very low speed (traffic jams - parking), to increase when the speed of movement increases, so as to less capture the driver's attention. In general, the transparency of the image can change depending on the critical nature of the information displayed.

La figure 5 regroupe sur un schéma les principales interactions du dispositif, avec l'intervention du conducteur sur son interface pour paramétrer le dispositif. Ce paramétrage conduit, avec les images acquises par les caméras, à la réalisation d'une scène complète de rétro-vision. Les données acquises par différents capteurs concourent, selon le contexte, à l'élaboration de la scène, projetée en champ large sur un afficheur tête haute, devant le conducteur. FIG. 5 groups together on a diagram the main interactions of the device, with the intervention of the driver on his interface to configure the device. This setting leads, with the images acquired by the cameras, to the realization of a complete scene of retro-vision. The data acquired by different sensors contributes, depending on the context, to the development of the scene, projected in wide field on a head-up display, in front of the driver.

Les avantages de l'invention sont nombreux. Le dispositif proposé permet de restituer l'image de rétro-vision à plus grande échelle, que les systèmes connus (jusqu'à l'échelle 1) , sur toute la largeur du véhicule. Il permet de placer la fenêtre de vision au meilleur endroit pour que l'utilisateur n'ait pas à détourner son regard de la route. Enfin, il permet de différencier les situations où un élément important, ou à risque, entre dans le champ de rétro-vision.  The advantages of the invention are numerous. The proposed device makes it possible to restore the retro-vision image on a larger scale, than known systems (up to scale 1), over the entire width of the vehicle. It allows you to place the viewing window in the best place so that the user does not have to look away from the road. Finally, it makes it possible to differentiate the situations where an important element, or at risk, enters the field of retro-vision.

Claims

REVENDICATIONS 1. Dispositif de rétro-vision panoramique par caméras, pour véhicule, comportant au moins une caméra d'acquisition du champ de vision arrière du véhicule, un capteur de profondeur de champ, et une interface de réqlaqe utilisateur à disposition du conducteur, échanqeant des informations avec un calculateur, caractérisé en ce que le dispositif restitue au conducteur, après traitement par le calculateur, l'imaqe du champ de vision arrière du véhicule acquise par les caméras sur un bandeau horizontal d'affichaqe tête haute transparent (la, lb, 2a, 2b) s'étendant sur la larqeur du pare-brise (3) du véhicule.  1. Panoramic retro-vision device by cameras, for a vehicle, comprising at least one camera for acquiring the rear field of vision of the vehicle, a depth-of-field sensor, and a user adjustment interface available to the driver, exchanging information with a computer, characterized in that the device restores to the driver, after processing by the computer, the image of the rear field of vision of the vehicle acquired by the cameras on a horizontal strip of transparent head-up display (la, lb, 2a, 2b) extending over the width of the windshield (3) of the vehicle. 2. Dispositif de rétro-vision panoramique selon la revendication 1, caractérisé en ce que le bandeau d'affichaqe (la, 2a) est placé au pied du pare-brise (3) .  2. Panoramic retro-vision device according to claim 1, characterized in that the display strip (la, 2a) is placed at the foot of the windshield (3). 3. Dispositif de rétro-vision panoramique selon la revendication 1, caractérisé en ce que le bandeau d'affichaqe (lb, 2b) est placé en haut du pare-brise (3) .  3. Panoramic retro-vision device according to claim 1, characterized in that the display strip (lb, 2b) is placed at the top of the windshield (3). 4. Dispositif de rétro-vision panoramique selon la revendication 1, 2 ou 3, caractérisé en ce que le bandeau d'affichaqe (la, lb) est collé sur le pare-brise.  4. Panoramic retro-vision device according to claim 1, 2 or 3, characterized in that the display strip (la, lb) is glued to the windshield. 5. Dispositif de rétro-vision panoramique selon la revendication 1, 2 ou 3, caractérisé en ce que le bandeau panoramique (2a, 2b) est placé verticalement derrière le pare-brise (3) .  5. Panoramic retro-vision device according to claim 1, 2 or 3, characterized in that the panoramic strip (2a, 2b) is placed vertically behind the windshield (3). 6. Dispositif de rétro-vision panoramique selon l'une des revendications précédentes, caractérisé en ce que le bandeau panoramique (la, lb, 2a, 2b) affiche en position centrale une vue arrière de la scène routière arrière, encadrée de chaque côté par une vue latérale de celle-ci.  6. Panoramic retro-vision device according to one of the preceding claims, characterized in that the panoramic strip (la, lb, 2a, 2b) displays in the central position a rear view of the rear road scene, framed on each side by a side view of it. 7. Dispositif de rétro-vision panoramique selon l'une des revendications précédentes, caractérisé en ce que les perspectives de la scène routière sont redressées par le calculateur sur le bandeau panoramique (la, lb, 2a, 2b) .  7. Panoramic retro-vision device according to one of the preceding claims, characterized in that the perspectives of the road scene are rectified by the computer on the panoramic strip (la, lb, 2a, 2b). 8. Dispositif de rétro-vision panoramique selon l'une des revendications précédentes, caractérisé en ce que les véhicules détectés par les caméras sont affichés en surbrillance sur l'image.8. Panoramic retro-vision device according to one of the previous claims, characterized in that the vehicles detected by the cameras are highlighted on the image. 9. Dispositif de rétro-vision panoramique selon l'une des revendications précédentes, caractérisé en ce que des informations contextuelles sont superposées à l'image de la scène routière affichée sur le bandeau panoramique (la, lb, 2a, 2b) . 9. Panoramic retro-vision device according to one of the preceding claims, characterized in that contextual information is superimposed on the image of the road scene displayed on the panoramic strip (la, lb, 2a, 2b). 10. Dispositif de rétro-vision panoramique selon l'une des revendications précédentes, caractérisé en ce que la transparence des images projetées sur le bandeau panoramique (la, lb, 2a, 2b), varie en fonction du sens de déplacement du véhicule, de sa vitesse de déplacement, ou du caractère critique des informations affichées.  10. Panoramic retro-vision device according to one of the preceding claims, characterized in that the transparency of the images projected on the panoramic strip (la, lb, 2a, 2b) varies according to the direction of movement of the vehicle, its speed of movement, or the critical nature of the information displayed.
PCT/EP2019/066504 2018-07-05 2019-06-21 Panoramic rear-view device using head-up display cameras Ceased WO2020007624A1 (en)

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FR1870800A FR3083623B1 (en) 2018-07-05 2018-07-05 PANORAMIC REVERSING DEVICE BY CAMERAS WITH HEAD-UP DISPLAY
FR1870800 2018-07-05

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FR3083623B1 (en) 2022-06-24

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