WO2001058164A1 - Ecran de proximite pour vehicule automobile - Google Patents
Ecran de proximite pour vehicule automobile Download PDFInfo
- Publication number
- WO2001058164A1 WO2001058164A1 PCT/JP2001/000580 JP0100580W WO0158164A1 WO 2001058164 A1 WO2001058164 A1 WO 2001058164A1 JP 0100580 W JP0100580 W JP 0100580W WO 0158164 A1 WO0158164 A1 WO 0158164A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- unit
- video data
- position information
- video
- Prior art date
Links
- 238000003384 imaging method Methods 0.000 claims abstract description 52
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 16
- 230000002093 peripheral effect Effects 0.000 claims description 33
- 230000010354 integration Effects 0.000 claims description 29
- 238000013500 data storage Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 17
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 238000003786 synthesis reaction Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 abstract 2
- 238000004364 calculation method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
Classifications
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- 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—Arrangement of adaptations of instruments
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- B60K35/28—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- B60K2360/179—
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- B60K2360/21—
Definitions
- the present invention relates to a vehicle peripheral display device that captures an image of the periphery of a vehicle with a camera mounted on the vehicle and displays the captured image of the periphery of the vehicle on a monitor display unit on a screen.
- such a peripheral display device for a vehicle is equipped with a plurality of cameras for capturing an image of the periphery of the vehicle, and synthesizes video images of different view angles captured by the plurality of cameras. Therefore, the area around the vehicle was displayed on the monitor display section inside the vehicle.
- the vehicle body bottom display device can be displayed. There is a problem that it is not possible to monitor and display even the road surface, and it is also impossible to monitor and display the surroundings of the vehicle in the past again.
- the present invention has been made in view of the above-described problems, and has as its object the purpose of not only mounting a plurality of cameras for imaging the entire periphery of a vehicle, but also including a road surface under a vehicle body. It is an object of the present invention to provide a vehicle periphery display device that can monitor and display the periphery of a vehicle in the past.
- a vehicle periphery display device of the present invention captures an image around a vehicle.
- Imaging means for detecting, the position information detecting means for detecting the position of the own vehicle of the vehicle as position information, video data around the vehicle imaged by the imaging means, and the position information of the imaged vehicle A video memory that reads the video data corresponding to the position information detected by the position information detection unit from the data storage unit, and combines the video data with video data representing the shape of the vehicle.
- the image processing apparatus further includes a synthesizing unit, and a display control unit that causes the display unit to display the video data synthesized by the video synthesizing unit.
- the captured image of the surroundings of the vehicle and the position information of the vehicle at the time of the imaging are sequentially stored in the data storage means, and the position information detection is performed.
- the video data corresponding to the position information detected by the means is read out from the data storage means, the video data representing the shape of the vehicle is synthesized with the video data, and the synthesized video data is displayed on the display means. Because it is displayed, it is possible to monitor not only the road surface under the vehicle body but also the past vehicle area without installing multiple cameras that image the entire area around the vehicle. .
- the vehicle periphery display device of the present invention is stored in the data storage unit corresponding to the current video data around the vehicle imaged by the imaging unit and the position information of the imaged vehicle.
- the image processing apparatus further includes video data comparing means for comparing with the video data, and the position information detecting means corrects the detected current position information based on a comparison result of the video data comparing means.
- the current image data around the imaged vehicle and the position information of the imaged vehicle are stored in the first day storage means corresponding to the image information. Since the current position information is corrected based on the comparison result with the current image data, the accuracy of the current position information of the vehicle can be improved.
- the peripheral display device for a vehicle wherein the position information detecting unit detects a steering amount corresponding to a steering angle of the vehicle, and a traveling detecting unit detects a traveling amount corresponding to a traveling distance of the vehicle.
- Distance detecting means, and steering detected by the steering amount detecting means By applying amount and integration process to the travel amount detected by the travel distance detecting means, before Symbol c was to have an integration processing unit for calculating the position information of the vehicle position of the vehicle therefore, of the present invention
- the own vehicle position of the vehicle can be easily calculated as position information by performing the integration processing on the steering amount and the travel amount of the vehicle.
- the vehicle periphery display device of the present invention is stored in the data storage unit corresponding to the current video data around the vehicle imaged by the imaging unit and the position information of the imaged vehicle.
- a video data comparing means for comparing the past video data with the past video data; and a video data comparing means for calculating the current position information based on an error of a portion where the current video data is overlapped with the past video data.
- a correction coefficient calculating means for calculating a correction coefficient of the integration processing by the integration processing means is provided.
- the current video data and the past video data around the imaged vehicle are compared, and the current video data and the past video data are overlapped. Since the correction coefficient of the integration process is calculated based on the error of the portion to be calculated, the calculation accuracy of the position information by the integration processing means can be greatly improved.
- the image synthesizing means may include a three-dimensional image based on image data corresponding to current position information and image data corresponding to position information adjacent to the current position information. An image is generated, and the image data of the vehicle is combined with the 3D image data.
- the three-dimensional video data is generated based on the current location information and the plurality of video data corresponding to the neighboring location information. Since the image of the vehicle is synthesized overnight, it can be displayed on a monitor in a stereoscopic image.
- the peripheral display device for a vehicle has a video map generation unit that generates a video map based on a plurality of pieces of position information stored in the data storage unit and past video data corresponding to each piece of the position information.
- the display control means displays the video map generated by the video map generation means on the display means. Therefore, according to the vehicle peripheral display device of the present invention, an image map is generated based on a plurality of position information stored in the data storage means and the past image data corresponding to each position information. Is displayed on the display means, so that the convenience of the user can be greatly improved by using a real image as a map that cannot be obtained by a conventional map.
- the peripheral display device for a vehicle wherein the imaging unit includes: a rear imaging unit that captures an image of the rear of the vehicle; and a front imaging unit that captures an image of the front of the vehicle.
- the imaging unit includes: a rear imaging unit that captures an image of the rear of the vehicle; and a front imaging unit that captures an image of the front of the vehicle.
- the traveling direction detecting means when the forward direction of the vehicle is detected by the traveling direction detecting means, an imaging operation is performed only by the forward imaging means, and the traveling direction detecting means performs the backward movement of the vehicle.
- the imaging operation is performed only by the rear imaging unit, so that even if the user does not perform the switching operation of the rear imaging unit and the front imaging unit, it is possible to capture more video images, Even more effects can be achieved.
- FIG. 1 is a block diagram showing a schematic configuration inside a vehicle peripheral display device shown in an embodiment of the present invention.
- FIG. 2 is an explanatory diagram showing a usage state of a vehicle employing the vehicle peripheral display device according to the present embodiment.
- FIG. 3 is a flowchart showing a processing operation of CPU relating to peripheral display processing of the vehicle peripheral display device shown in the present embodiment.
- FIG. 4 is a flowchart showing the processing operation of the CPU in the case where the planar display in the peripheral display processing according to the present embodiment is stereoscopically displayed.
- 1 denotes a peripheral display device for a vehicle
- 11 denotes a camera (imaging means)
- 1 2 Is a vehicle sensor (position information detection means)
- 12a is a steering sensor (steering amount detection means)
- 12b is a wheel rotation sensor (travel distance detection means)
- 15 is a memory (data storage means)
- 15a Is a video memory area (data storage means)
- 15b is a vehicle position information memory area (data storage means)
- 16 is a monitor display section (display means)
- 20 is a CPU
- 21 is an integration processing section.
- Video processing means 24 is a memory control section (video synthesis means), 25 is a video synthesis processing section (video synthesis means), 26 is a display control section (display control means), and 27 is a video data ratio.
- Comparison processing section video data comparison means
- 28 is a correction coefficient calculation section (correction coefficient calculation means)
- 29 is a video stereoscopic processing section (video synthesis means)
- 30 is a video map generation section (video map generation section). Means).
- FIG. 1 is a block diagram illustrating a schematic configuration inside a vehicle peripheral device according to the present embodiment
- FIG. 2 is an explanatory diagram illustrating a schematic configuration of a vehicle employing the vehicle peripheral device according to the present embodiment.
- the vehicle periphery display device 1 shown in FIG. 1 includes a camera 11 that is an imaging unit that captures an image of the periphery of the vehicle 2, a vehicle sensor 12 that detects the position of the vehicle 2 as its own vehicle, and a camera 1.
- a camera video buffer 13 that captures the video data around the vehicle 2 captured in 1 and an A / D converter that converts the video data captured by the camera video buffer 13 into digital data.
- 14 and a memory 15 which is a data storage means for sequentially storing digitized video data and various data, and a monitor display which is a display means for displaying various video data on a screen. It has a unit 16, a warning display unit 17 for displaying warnings and the like, and a CPU 20 for controlling the entire vehicle peripheral display device 1 via a CPU bus 18.
- the vehicle sensor 12 includes a steering sensor 12a that detects a steering amount corresponding to a steering angle of the vehicle 2 and a travel distance detection that detects a travel amount corresponding to the travel distance of the vehicle 2. And a wheel rotation sensor 12b.
- the CPU 20 includes a steering amount detected by the steering sensor 12a and a wheel rotation sensor 1 2b by performing an integration process on the travel distance detected in 2b, an integration processing unit 21 as integration processing means for calculating the own vehicle position of the vehicle 2 as position information, and an integration for taking in the calculated position information.
- a video synthesizing unit 25 which is a video synthesizing means for synthesizing vehicle shape data X as shown in FIG. 2 (b), and the video data synthesized by the video synthesizing processing unit 25 Table 6 is a display control means to be displayed in 6.
- the controller 26 compares the current video image around the vehicle 2 captured by the camera 11 with the past video data corresponding to the current position information around the vehicle 2 captured.
- the video data comparison processing unit 27, which is video data comparison means, and the video data comparison processing unit 27 determine the current video data based on the error of the overlapping portion between the current video data and the past video data.
- a correction coefficient calculation unit 28 which is a correction coefficient calculation unit for calculating a correction coefficient of the integration processing by the integration processing unit 21.
- the CPU 20 calculates the position change on the screen of the same target point relating to the same imaging target from the two pieces of video data related to the adjacent position information, and calculates the change in the moving distance of the vehicle 2 and the position change on the screen.
- a video stereoscopic processing unit 29 which is a video synthesizing means for generating three-dimensional video data, a plurality of position information stored in the memory 15 and each position information
- a video map generation unit 30 that is a video map generation unit that generates a video map based on past video data corresponding to the image data.
- the memory 15 includes a video memory area 15a for sequentially storing the video data captured by the camera 11 and the position of the vehicle 2 when the video data is captured in association with the video data.
- Initial setting such as installation position, camera 11 view angle, camera 11 distortion specification, display range specification of monitor display section 16 depending on automatic / manual or vehicle speed direction It has an initial setting value memory area 15 d in which values are stored.
- FIG. 2 is an explanatory diagram showing an outer parent configuration of a vehicle 2 employing the vehicle peripheral display device 1 shown in the present embodiment.
- a camera 11 for capturing the rear area Z of the vehicle 2 is installed at the rear of the vehicle 2, and a monitor display section 16 is provided inside the vehicle driver's seat. The image picked up in 1 is displayed on the monitor display section 16.
- FIG. 3 is a flowchart showing a processing operation of CPU 20 relating to peripheral display processing of vehicle peripheral display device 1 shown in the present embodiment.
- the peripheral display processing shown in FIG. 3 is usually performed by associating the image data around the vehicle 2 captured by the camera 11 with the position information of the vehicle 2 which is the imaging position around the vehicle 2 in the memory 1. 5 and further, if it is determined that the past video data corresponding to the current position information is stored in the memory 15, the past video data is combined with the video data X of the vehicle shape. This is the process of displaying the synthesized video image on a monitor.
- the CPU 20 shown in FIG. 3 reads the initial setting value stored in the initial setting value memory area 15 d, and sets the display range specification of the monitor display section 16 to display the monitor display section 16, for example. Perform initial settings such as setting the range and setting the camera specifications, for example, by setting the camera angle of view, distortion specifications, camera installation position and direction, etc. (Step S11).
- the CPU 20 determines whether or not the current mode is a display mode in which the monitor display section 16 displays the periphery of the vehicle 2 on the monitor (step S12).
- the mode settings such as the display mode can be set by operating keys prepared on the monitor display section 16.
- the current mode is the display mode
- the current mode is the image acquisition mode only for acquiring an image around the vehicle 2 without performing monitor display
- the image data sequentially captured by the camera 11 is determined.
- One night is acquired and taken into the camera video buffer 13 (step S13).
- the integration processing unit 21 of the CPU 20 detects the vehicle position captured by the camera 11 by using the steering amount from the steering sensor 12a and the travel amount from the wheel rotation sensor 12b. Then, the current position information of the vehicle is detected by performing the integration process (step S14).
- the memory control unit 24 of the CPU 20 determines whether or not the past video data corresponding to the detected current position information of the vehicle is stored in the video memory area 15a (step S1). 5) o
- the camera video buffer is determined in step S13.
- the video data captured in 13 is digit-converted, this video data is stored in the video memory area 15a, and associated with this video data.
- the position information of the vehicle detected in 14 is stored in the vehicle position information memory area 15b (step S16).
- the video data overnight comparison processing section 27 compares the current video data corresponding to the vehicle position information with the past video data to obtain the current video data and the past video data. An error in a portion overlapping with the data is detected (step S17).
- the correction coefficient calculation unit 28 calculates a correction coefficient for the integration processing by the integration processing unit 21 to correct the current position information based on the error detected by the video data comparison processing unit 27 (In step S18), the calculated correction coefficient is set in the integration processing unit 21 (step S19), and the process proceeds to Ml in the figure to acquire a further image.
- step S15 When the memory control unit 24 determines in step S15 that the previous video data corresponding to the current vehicle position is not stored, the memory controller 24 displays the video data acquired in step S13 as a video. In addition to storing the current position information of the vehicle detected in step S14 in the vehicle position information memory area 15b while storing it in the memory area 15a (step S2). 0), and move to M 1 in the figure to acquire more images.
- step S12 If it is determined in step S12 that the current mode is the display mode, the video data captured by the camera 11 is captured into the camera video buffer 13 (step S12). The current position information of the vehicle is detected through the integration processing unit 21 (step S21) (step S22).
- the memory control unit 24 determines whether or not the past video data corresponding to the current vehicle position information is stored in the video memory area 15a (step S23).
- the memory control unit 24 determines that the video data acquired in step S20 is present. One night is stored in the image memory area 15a, and the current position information detected in step S21 is stored in the vehicle position information memory area 15b in association with this image data ( Step S2 4).
- the video data comparison processor 27 compares the current video data corresponding to the vehicle position information with the past video data, thereby obtaining the current video data and the past video data. An error in a portion overlapping the evening is detected (step S25).
- the correction coefficient calculation unit 28 calculates a correction coefficient for the integration processing by the integration processing unit 21 based on the error detected by the video data comparison processing unit 27 in order to correct the current position information (Step S). 26), the calculated correction coefficient is set in the integration processing unit 21 (step S27).
- the video synthesis processing unit 25 generates synthesized video data by combining the past video data and the current video data, and a new video is generated in a range where the past video data and the current video data overlap.
- video data around the vehicle 2 to be displayed on the monitor display section 16 is generated (step S28).
- the image synthesizing unit 25 reads the vehicle shape data X stored in the vehicle shape data memory area 15c, and stores the vehicle shape data X in the image generated in step S28. Combine with the data (step S29).
- the display controller 26 displays the image data synthesized in step S29 on the monitor display 26 (step S30), and shifts to M2 in the figure to acquire further images. I do.
- an image of the lower part of the vehicle 2 that cannot be displayed on the monitor in the video data acquired in real time can be displayed on the monitor by using the past video data.
- the memory control unit 24 proceeds to step S21.
- the acquired image data is stored in the image memory area 15a, and the vehicle position information detected in step S22 is stored in the vehicle position information memory area 15b in association with the image data. (Step S 3 l) o
- the video synthesis processing unit 25 reads the vehicle shape data X stored in the vehicle shape data memory area 15c, and stores the vehicle shape data X with the video data corresponding to the current vehicle position information. Compositing (step S32).
- the display control unit 26 causes the monitor display unit 26 to display the image data synthesized in step S32 on the monitor (step S33), and shifts to M2 in the figure to acquire a further image.
- FIG. 4 is a flowchart showing the processing operation of CPU 20 relating to the stereoscopic display.
- This stereoscopic display processing starts the stereoscopic display processing by inputting a stereoscopic display activation key prepared as an operation key of the monitor display unit 16, for example.
- the video stereoscopic processing unit 29 stores the video in the video memory area 15 a.
- the video data corresponding to the current position information of the image and the video data corresponding to the position information adjacent to the current position information are compared.
- 3D image data is generated by calculating the position change of the target point on the screen from the moving distance of the vehicle 2 and the position change on the screen (step S 4).
- the image synthesizing unit 25 calculates the object and the vehicle calculated by the image stereoscopic processing unit 29
- the vehicle shape data X read from the vehicle shape data memory area 15c based on the interval between , It is combined with the generated three-dimensional image de Isseki (Step Tub S43).
- the video synthesis processing unit 25 stereoscopically displays the synthesized 3D video data on the monitor display unit 16 (step S44), and proceeds to M2 shown in FIG.
- the video stereoscopic processing unit 29 After performing the processing operations of steps S 23 and S 31, the video stereoscopic processing unit 29 generates a video image corresponding to the current position information stored in the video memory area 15 a, The current position information is compared with the image data corresponding to the position information adjacent thereto, and from these two pieces of image data, the position change on the screen of the same target point relating to the same imaging target is calculated, and the moving distance of the vehicle 2 Then, three-dimensional image data is generated by calculating the three-dimensional coordinates of the target point from the position change on the screen (step S45).
- the image stereoscopic processing unit 29 calculates an interval between the object to be imaged and the vehicle 2 (step S46).
- the video synthesizing unit 25 reads the vehicle shape data X read from the vehicle shape data memory area 15 c based on the distance between the imaging object and the vehicle calculated by the image stereoscopic viewing processing unit 29. Is combined with the generated 3D video data (Step S47) o
- the video synthesis processing unit 25 stereoscopically displays the synthesized 3D video data on the monitor display unit 16 (step S48), and shifts to M2 shown in FIG.
- the distance between the imaging target and the vehicle is calculated in steps S42 and S46.
- the CPU 20 issues a warning indicating that the vehicle may collide with the imaging target.
- the steering guide for avoiding the collision is also notified to the user through the warning display 17.
- the video data and vehicle position information stored in the video memory area 15a and the vehicle location information memory area 15b are used as described below. You can also create a simple video map.
- the image map generator 30 of the CPU 20 stores the position information stored in the image memory area 15a and the vehicle position information memory area 15b, and the past image data corresponding to each position information.
- a video map is generated based on the evening.
- the display controller 26 displays the video map generated by the video map generator 30 on the monitor display 16.
- the image data around the vehicle 2 and the position information of the vehicle at the time of imaging are sequentially stored in the image memory area 15a and the vehicle position information memory area 15b. Then, the past video data corresponding to the current position information of the vehicle 2 is read from the video memory area 15a, and the past video data is combined with the vehicle shape data X, and the synthesized video data is read. Evening is displayed on the monitor display section 16 so that even if multiple cameras 11 that capture the entire area around the vehicle 2 are not installed, the vehicles below the vehicle 2 The area around 2 can also be displayed on the monitor.
- the monitor display can improve the garage putting work. it can.
- current video data and past video data related to the current position information of vehicle 2 are compared, and these current video data and past video data are overlapped. Since the correction coefficient of the integration processing is calculated based on the error of the part, the accuracy of calculating the position information by the integration processing unit 21 can be greatly improved.
- a three-dimensional video image is generated based on the current position information and a plurality of video data corresponding to the adjacent position information. Since the vehicle shape data X is synthesized, it can be displayed on a monitor in a 3D image.
- a video map is created based on a plurality of pieces of position information stored in the video memory area 15a and the vehicle location information memory area 15b, and past video data corresponding to each piece of location information. Is generated, and this video map is displayed on the monitor display section 16.
- a rear imaging unit as a camera for imaging the rear area of the vehicle 2, and a front area of the vehicle 2
- a forward imaging means as a camera for imaging the vehicle 2, and further provided in the CPU 20, for example, a traveling direction detecting means for detecting a traveling direction of the vehicle 2 by detecting a gear range of the vehicle 2, and a traveling direction detecting means.
- Control means for executing an imaging operation only by the forward imaging means when the forward movement of the vehicle 2 is detected, and executing an imaging operation only by the rear imaging means when the backward movement of the vehicle 2 is detected by the traveling direction detection means.
- the periphery of the running vehicle 2 is stored as video data in the video memory area 15a. Therefore, after the vehicle stops running, the video memory area 1 5 By allowing the contents of a to be played back and displayed on the monitor display section 16, for example, when used in a vehicle used in a driving school, the trainee sees the video displayed on the monitor display section 16 This allows the driver to objectively recognize his driving situation.
- a video image around the vehicle that has been imaged and the position information of the vehicle at the time of the imaging are sequentially stored in the data storage means.
- the video data corresponding to the current vehicle position information is read from the data storage unit, and the video data representing the shape of the vehicle is combined with the video data, and the combined video is displayed. Since the data is displayed on the display means, it is possible to monitor not only the road surface at the bottom of the vehicle but also the surroundings of the vehicle in the past, even if it is not equipped with multiple cameras that capture the entire area around the vehicle. can do.
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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- Closed-Circuit Television Systems (AREA)
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- Traffic Control Systems (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US09/937,515 US6515597B1 (en) | 2000-01-31 | 2000-01-29 | Vicinity display for car |
EP01949082A EP1168846A4 (en) | 2000-01-31 | 2001-01-29 | DEVICE FOR DISPLAYING THE ENVIRONMENT FOR AN AUTOMOTIVE |
AU28846/01A AU2884601A (en) | 2000-01-31 | 2001-01-29 | Vicinity display for car |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-022697 | 2000-01-31 | ||
JP2000022697A JP2001218197A (ja) | 2000-01-31 | 2000-01-31 | 車両用周辺表示装置 |
Publications (1)
Publication Number | Publication Date |
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WO2001058164A1 true WO2001058164A1 (fr) | 2001-08-09 |
Family
ID=18548967
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/000580 WO2001058164A1 (fr) | 2000-01-31 | 2001-01-29 | Ecran de proximite pour vehicule automobile |
Country Status (5)
Country | Link |
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US (1) | US6515597B1 (ja) |
EP (1) | EP1168846A4 (ja) |
JP (1) | JP2001218197A (ja) |
AU (1) | AU2884601A (ja) |
WO (1) | WO2001058164A1 (ja) |
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DE102014204872A1 (de) | 2014-03-17 | 2015-09-17 | Volkswagen Aktiengesellschaft | Anzeigen von Umgebungsinformationen in einem Fahrzeug |
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Also Published As
Publication number | Publication date |
---|---|
EP1168846A1 (en) | 2002-01-02 |
EP1168846A4 (en) | 2005-01-19 |
JP2001218197A (ja) | 2001-08-10 |
US6515597B1 (en) | 2003-02-04 |
AU2884601A (en) | 2001-08-14 |
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