US 12,464,247 B2
Device and method for surround view camera system
Vicky Ranveer Singh, Canton, MI (US); William Hallendy, Chesterfield, MI (US); and Vincent Le, Dearborn, MI (US)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Sep. 15, 2023, as Appl. No. 18/468,322.
Prior Publication US 2025/0095223 A1, Mar. 20, 2025
Int. Cl. H04N 23/698 (2023.01); G06T 3/4038 (2024.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); G06T 11/00 (2006.01); B60R 1/24 (2022.01); B60R 1/26 (2022.01)
CPC H04N 23/698 (2023.01) [G06T 3/4038 (2013.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06T 11/00 (2013.01); B60R 1/24 (2022.01); B60R 1/26 (2022.01); B60R 2300/105 (2013.01); B60R 2300/30 (2013.01); G06T 2207/30252 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of operating a surround view camera system for a vehicle, the method comprising:
generating first image data at a first time using an imaging device operably connected to the vehicle, the first image data corresponding to a first image of a surroundings of the vehicle;
receiving first vehicle data generated by at least one sensor mounted on the vehicle with a processor, the first vehicle data generated at the first time, and the first vehicle data including a first steering angle of the vehicle;
generating second image data at a second time after the first time using the imaging device, the second image data corresponding to a second image of the surroundings of the vehicle;
receiving second vehicle data generated by the at least one sensor with the processor, the second vehicle data generated from the first time to the second time, and the second vehicle data including a second steering angle of the vehicle;
processing the first vehicle data and the second vehicle data using the processor to determine change data corresponding to a change in position of the vehicle from a first position at the first time to a second position at the second time, the change data including yaw data of the vehicle as determined from the first steering angle and the second steering angle, the yaw data corresponding to a change in yaw position of the vehicle from the first position to the second position;
generating composite image data using the processor by (i) moving, rotating, and/or scaling the first image based on the change in position of the vehicle, as determined from the change data including the yaw data, to generate a changed first image as represented by changed first image data, and (ii) combining the changed first image data with the second image data; and
displaying a surround view image from the composite image data on a display screen of the vehicle.