US 12,469,302 B2
Method and environment-capture system for producing an environmental image of an entire multi-part vehicle
Thomas Dieckmann, Pattensen (DE); Tobias Klinger, Springe (DE); Ralph-Carsten Luelfing, Garbsen (DE); and Tobias Werle, Hannover (DE)
Assigned to ZF CV SYSTEMS EUROPE BV, Brussels (BE)
Appl. No. 18/549,358
Filed by ZF CV SYSTEMS EUROPE BV, Brussels (BE)
PCT Filed Mar. 1, 2022, PCT No. PCT/EP2022/055073
§ 371(c)(1), (2) Date Sep. 7, 2023,
PCT Pub. No. WO2022/194532, PCT Pub. Date Sep. 22, 2022.
Claims priority of application No. 10 2021 106 670.0 (DE), filed on Mar. 18, 2021.
Prior Publication US 2024/0177495 A1, May 30, 2024
Int. Cl. G06V 20/56 (2022.01); G06T 5/50 (2006.01); G06V 10/74 (2022.01)
CPC G06V 20/56 (2022.01) [G06T 5/50 (2013.01); G06V 10/761 (2022.01); G06T 2207/20221 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method for producing an environmental image of an entire multi-part vehicle having a tractor vehicle and at least one trailer vehicle, the method comprising:
providing an image capture device comprising:
a front camera on a front side of the tractor vehicle for capturing a front capture region in front of the tractor vehicle and outputting a front individual image,
front lateral cameras on the tractor vehicle for capturing front lateral capture regions and outputting front lateral individual images,
a front rear camera provided on the tractor vehicle for capturing a front side of the trailer vehicle,
back lateral cameras on the trailer vehicle for capturing back lateral capture regions and outputting back lateral individual images, and
a rear camera on a rear region of the trailer vehicle for capturing a back capture region behind the trailer vehicle and outputting a back individual image;
recording the individual images with the cameras;
evaluating and/or cropping the individual images such that overlap regions are in each case formed at least between the front lateral individual images and the back lateral individual images; and
combining the individual images to form the environmental image and/or matching of the individual images in the overlap regions, which represents an environment around the entire vehicle, taking account of an articulation angle of the trailer vehicle relative to the tractor vehicle about an articulation axis disposed forward of at least one axle of the tractor vehicle,
wherein the articulation angle is ascertained using an image from the front rear camera of the front side of the trailer vehicle and based on the relative position of the front side of the trailer vehicle relative to the tractor vehicle.