# US 10,308,179 B2 · Device and method for providing a vehicle surround view > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,308,179 B2 - Document ID: US10308179B2 - Status: Granted - Kind: B2 - Application number: 15/334,363 - Filed: 2016-10-26 - Published: 2017-05-04 - Granted: 2019-06-04 - Earliest claimed: 2015-10-30 - Assignees: Conti Temic microelectronic GmbH; Deere & Company - Applicants: Conti Temic Microelectronic GmbH; Deere & Company - Inventors: Johannes Petzold; Kilian Wolff; Denis Selensky; Wolfram Haiges - Web page: https://patentgrep.com/patent/US10308179B2 ## CPC - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - E02F 9/24: Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} - E02F 9/261: {Surveying the work-site to be treated} - G06T 3/12: Panospheric to cylindrical image transformations - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N 9/3179: {Video signal processing therefor} - B60R 2300/105: using multiple cameras - B60R 2300/50: characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller - E02F 9/024: {with laterally or vertically adjustable wheels or tracks (for vehicles in general B60B35/10; B62D55/084)} - E02F 9/028: {with arrangements for levelling the machine (hydraulic drives therefor E02F9/2257)} - E02F 9/085: {Ground-engaging fitting for supporting the machines while working, e.g. outriggers, legs (for vehicles in general B60S9/00, for cranes B66C23/78)} - G06V 10/247: {by affine transforms, e.g. correction due to perspective effects; Quadrilaterals, e.g. trapezoids} - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Device and method for providing a vehicle surround view for a vehicle, which is located on a driving plane, comprising vehicle cameras, which provide camera images of a vehicle environment of the vehicle, a location-detection unit, which detects a change in location of at least one vehicle camera relative to the driving plane of the vehicle, and comprising an image data processing unit which projects the camera images provided by the vehicle cameras onto a projection surface to generate the vehicle surround view, which projection surface is adapted according to the detected change in location of the vehicle camera. ## Claims ### Claim 1 A device for providing a vehicle surround view for a vehicle, comprising: vehicle cameras which provide camera images of a vehicle environment of the vehicle; a location-detection unit which detects a change in location of at least one vehicle camera relative to a normal driving or standing plane of the vehicle; and an image data processing unit which projects the camera images provided by the vehicle cameras onto a projection surface to generate the vehicle surround view, which projection surface is adapted according to the detected change in location of the vehicle camera, wherein the image data processing unit is operable to at least one of (i) rotate the projection surface about one or more axes of rotation relative to the normal driving or standing plane and (ii) shift said projection surface in a translational manner relative to a coordinate system origin, according to the detected change in location of the at least one vehicle camera. ### Claim 2 (depends on 1) Device according to claim 1, wherein the projection surface is a dish-shaped projection surface which is dynamically adapted according to the detected change in location of the at least one vehicle camera. ### Claim 3 A device for providing a vehicle surround view for a vehicle, comprising: vehicle cameras which provide camera images of a vehicle environment of the vehicle; a location-detection unit which detects a change in location of at least one vehicle camera relative to a normal driving or standing plane of the vehicle; and an image data processing unit which projects the camera images provided by the vehicle cameras onto a projection surface to generate the vehicle surround view, which projection surface is adapted according to the detected change in location of the vehicle camera, wherein an inclination-capture unit captures a currently existing inclination of the vehicle relative to the normal driving or standing plane. ### Claim 4 (depends on 3) Device according to claim 3, wherein the location-detection unit detects the change in location of the at least one vehicle camera relative to the normal driving or standing plane according to the inclination captured by the inclination-capture unit. ### Claim 5 (depends on 4) Device according to claim 4, wherein an inclination-compensation unit compensates for the inclination captured by the location-capture unit in such a way that at least one of a driver's seat provided in a driver's cabin and a working assembly of the vehicle is oriented in a substantially horizontal manner. ### Claim 6 (depends on 3) Device according to claim 3, wherein the image data processing unit generates a rotation matrix based on angles of inclination which are captured by the inclination-capture unit. ### Claim 7 (depends on 6) Device according to claim 6, wherein projection surface points of the projection surface are multiplied by the generated rotation matrix by the image data processing unit to dynamically adapt the projection surface. ### Claim 8 (depends on 1) Device according to claim 1, wherein the vehicle cameras are attached to at least one of a vehicle body of the vehicle and a driver's cabin of the vehicle. ### Claim 9 (depends on 8) Device according to claim 8, wherein the driver's cabin is mounted so as to be rotatable relative to the vehicle body of the vehicle. ### Claim 10 (depends on 9) Device according to claim 9, wherein a rotation-capture unit captures a rotation of the driver's cabin relative to the vehicle body of the vehicle. ### Claim 11 (depends on 10) Device according to claim 10, wherein the location-detection unit detects the change in location of the at least one vehicle camera according to the rotation captured by the rotation-capture unit. ### Claim 12 A device for providing a vehicle surround view for a vehicle, comprising: vehicle cameras which provide camera images of a vehicle environment of the vehicle; a location-detection unit which detects a change in location of at least one vehicle camera relative to a normal driving or standing plane of the vehicle; and an image data processing unit which projects the camera images provided by the vehicle cameras onto a projection surface to generate the vehicle surround view, which projection surface is adapted according to the detected change in location of the vehicle camera, wherein a display unit displays the generated vehicle surround view to a driver of the vehicle. ### Claim 13 (depends on 1) Device according to claim 1, wherein the vehicle is located on a tilted plane or is tilted with respect to a horizontal plane. ### Claim 14 (depends on 1) Device according to claim 1, wherein the normal driving or standing plane is a horizontally extending reference plane. ### Claim 15 A method for providing a vehicle surround view for a vehicle, comprising: (a) generating camera images of the vehicle environment of the vehicle by means of vehicle cameras; (b) detecting a change in location of the vehicle cameras relative to a normal driving or standing plane of the vehicle; (c) adapting a projection surface according to the detected change in location of the vehicle cameras; (d) projecting the generated camera images onto the adapted projection surface in order to generate the vehicle surround view; and (e) at least one of (i) rotate the projection surface about one or more axes of rotation relative to the normal driving or standing plane and (ii) shift said projection surface in a translational manner relative to a coordinate system origin, according to the detected change in location of the at least one vehicle camera. ### Claim 16 A driver assistance system for a vehicle, comprising: a device for providing a vehicle surround view for the vehicle comprising (i) vehicle cameras which provide camera images of a vehicle environment of the vehicle, (ii) a location-detection unit which detects a change in location of at least one vehicle camera relative to a normal driving or standing plane of the vehicle, and (iii) an image data processing unit which projects the camera images provided by the vehicle cameras onto a projection surface to generate the vehicle surround view, which projection surface is adapted according to the detected change in location of the vehicle camera, wherein the image data processing unit is operable to at least one of (i) rotate the projection surface about one or more axes of rotation relative to the normal driving or standing plane and (ii) shift said projection surface in a translational manner relative to a coordinate system origin, according to the detected change in location of the at least one vehicle camera.