DE10059900A1 - Method for helping a motor vehicle driver by representation of surrounding objects in birds-eye view, so that especially during parking he can better judge distances and see any hidden or moving objects - Google Patents
Method for helping a motor vehicle driver by representation of surrounding objects in birds-eye view, so that especially during parking he can better judge distances and see any hidden or moving objectsInfo
- Publication number
- DE10059900A1 DE10059900A1 DE2000159900 DE10059900A DE10059900A1 DE 10059900 A1 DE10059900 A1 DE 10059900A1 DE 2000159900 DE2000159900 DE 2000159900 DE 10059900 A DE10059900 A DE 10059900A DE 10059900 A1 DE10059900 A1 DE 10059900A1
- Authority
- DE
- Germany
- Prior art keywords
- image data
- space
- driving space
- free driving
- eye view
- 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.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a method according to the preamble of patent claim 1.
Das Rangieren und Einparken mit heutigen Kraftfahrzeugen erfordert immer noch erhebliche Fertigkeiten des Fahrzeugführers bei der Abschätzung des freien Raumes und der Geometrie der eigenen Bewegung.Shunting and parking with today's vehicles still requires considerable skills of the driver in estimating the free space and the geometry of your own movement.
Es sind diverse Ansätze zur Unterstützung des Fahrzeugführers auf der Basis von Ultraschall-, Radar- oder Lidar-Sensoren bekannt. Sie erfordern jedoch zum einen erhebliche Sicherheitsmargen (z. B.: Ultraschall, Radar), aufwendige Sensorik (z. B.: Lidar) und müssen für die Informationsübermittlung an eine Person gesondert aufbereitet werden. Dabei ist das Resultat dieser Aufbereitung im allgemeinen recht undifferenziert (z. B.: Warnton) oder aber für einen ungeübten Betrachter schwer interpretierbar (z. B.: symbolhafte Skizzen). There are various approaches to support the driver based on Ultrasonic, radar or lidar sensors are known. On the one hand, however, they require considerable safety margins (e.g. ultrasound, radar), complex sensors (e.g.: Lidar) and must be separate for the transmission of information to one person be processed. The result of this processing is generally correct undifferentiated (e.g. warning tone) or difficult for an inexperienced viewer interpretable (e.g. symbolic sketches).
Die für einen Fahrzeugführer eingängigste, weil gewohnte Darstellung von Umgebungsinformation ergibt sich durch die Präsentation von bildhafter Information bzw. durch die Darstellung von Kamerabildern oder Ausschnitten daraus. Soll der Fahrzeugführer bei Navigationsmanövern durch Bildinformation des Umfeldes unterstützt werden, so bietet es sich an ihm die bildhafte Information in der Art und Weise einer Draufsicht (Vogelperspektive) auf das Fahrzeugumfeld zu bieten.The most catchy because a familiar representation of a driver Surrounding information results from the presentation of pictorial information or by displaying camera images or sections of them. Should he Vehicle driver during navigation maneuvers through image information of the environment are supported, it offers him the pictorial information in the way and To offer a top view (bird's eye view) of the vehicle surroundings.
Die Schrift US 51 28 874 zeigt ein Luftfahrzeug basiertes Navigationssystem, welches mit Hilfe eines Kamerasystems seine Umgebung beobachtet. Die Bilddaten werden mit dem Ziel der Entdeckung von Hindernissen ausgewertet, wobei unter anderem auf Algorithmen zur Bewegungsdetektion (Optischer Fluß) zurückgegriffen wird.The document US 51 28 874 shows an aircraft-based navigation system, which observes his surroundings with the help of a camera system. The image data are with evaluated the goal of obstacle detection, including on Algorithms for motion detection (optical flow) are used.
In der Schrift JP 10-211849 wird ein System zur Videoüberwachung des Rückraums von Fahrzeugen beschrieben, bei welchem mittels einer am Fahrzeug an einer möglichst hohen Stelle angebrachten Kamera der rückwärtige Raum aufgenommen wird. Die aus der erhöhten Position aufgenommenen Bilddaten werden sodann in das Koordinatensystem der Fahrbahn transformiert und in dieser Weise dem Fahrzeugführer präsentiert. Der Fahrzeugführer erhält somit ein Bild des rückwärtigen Raums in Vogelperspektive dargestellt. Die Darstellung wird dabei noch durch zusätzliches Einblenden von Fahrbahnbegrenzungen überlagert.JP 10-211849 describes a system for video surveillance of the rear area of Vehicles described, where possible by means of one on the vehicle high-mounted camera the rear room is recorded. From The image data recorded in the elevated position are then transferred to the Coordinate system of the road is transformed and in this way the Driver presented. The driver thus gets a picture of the rear Room shown in a bird's eye view. The representation is still by additional superimposition of lane boundaries.
In einem Bekannten Verfahren zur Auswertung des Fahrzeugumfeldes mittels mehrerer Kameras, wird durch Transformation der Bilddaten in das Koordinatensystem der Fahrbahn eine einer Vogelperspektive ähnliche Abbildung der Umgebung generiert. Die perspektivische Darstellung wird hier durch das symbolhafte Einblenden des die Kameras mitführenden Fahrzeugs ergänzt, so dass der zugehörige Fahrzeuglenker direkt aus der resultierenden Bildinformation die Abstände seines Fahrzeugs von den dieses Fahrzeug umgebenden Objekten schätzen kann.In a known method for evaluating the vehicle environment by means of several Cameras, by transforming the image data into the coordinate system of the Roadway generated a bird's-eye view of the surrounding area. The Perspective is shown here by the symbolic display of the Cameras accompanying vehicle added, so that the associated vehicle driver the distances between his vehicle and the vehicle directly from the resulting image information can appreciate objects surrounding this vehicle.
Nachteilig wirkt sich bei den oben beschriebenen, aus dem Stand der Technik bekannten Verfahren zur entzerrten Darstellung einer auf den Boden projizierten Vogelperspektive aus, dass auf Grund von Wank- und Nickbewegungen des Fahrzeugs und der Erhabenheit von das Fahrzeug umgebenden Objekten Verzerrungen auftreten. Diese Verzerrungen zu einer mitunter starken Störung eines Fahrzeugführers. A disadvantage of the prior art described above known method for the rectified representation of a projected onto the floor Bird's eye view from that due to roll and pitch movements of the vehicle and the majesty of objects surrounding the vehicle. This distortion leads to a sometimes severe disruption to a driver.
Aufgabe der Erfindung ist es ein Verfahren nach dem Oberbegriff des Patentanspruches 1 zu finden.The object of the invention is a method according to the preamble of Find claim 1.
Die Aufgabe wird durch ein Verfahren gelöst, welches die Merkmale des Patentanspruches 1 aufweist.The task is solved by a method which the characteristics of Claim 1.
In besonders vorteilhafter Weise ist das erfindungsgemäße Verfahren zur Darstellung bildhafter Umgebungsinformation eines Beobachters in Vogelperspektive, insbesondere zur Unterstützung beim Betrieb von Kraftfahrzeugen, dergestalt ausgebildet, daß es daß erhabene oder sich bewegende Objekte innerhalb der Bilddaten detektiert. Hierbei kann in gewinnbringender Weise auf aus der Stereo-Bildverarbeitung bekannte Verfahren zurückgegriffen werden. Hierbei können in besonders vorteilhafter Weise Stereoverfahren zur Bewegungserkennung (Motion Stereo-Bildverarbeitung), wie sie beispielsweise auch aus der Schrift US 51 28 874 bekannt sind, verwendet werden.The method according to the invention is particularly advantageous pictorial environmental information of an observer in a bird's eye view, in particular designed to assist in the operation of motor vehicles in such a way that it raised or moving objects detected within the image data. in this connection can be profitably based on known from stereo image processing Procedure. This can be done in a particularly advantageous manner Stereo method for motion detection (motion stereo image processing), like them are also known, for example, from US 51 28 874.
Das Verfahren zeichnet sich durch die Möglichkeit aus, die Ortsparameter der detektierten Objekte einem System oder einer Person zur Weiterverarbeitung zur Verfügung zu stellen. Dabei ist es denkbar, dass der durch seine Ortsparameter beschriebene, nicht befahrbare Raum aus einem zusammenhängenden Bereich besteht oder aber aus mehreren nicht zusammenhängenden Teilbereichen gebildet wird. Zur Hervorhebung der nicht befahrbaren Räume, beziehungsweise um einen Beobachter durch Verzerrte Bildbereiche nicht zu irritieren ist es denkbar die entsprechenden Bereiche in den Bilddaten auszublenden oder in den Bilddaten zu maskiert. Auf diese Weise bearbeite Bilddaten können sodann gewinnbringend mittels einer Anzeigeeinheit dargestellt werden, wobei in vorteilhafter Weise an die Stelle in der Szene, an welcher sich der Beobachter befindet, dieser symbolhaft innerhalb der Bilddaten dargestellt wird. Auf diese Weise kann beispielsweise ein das Symbol eines Kraftfahrzeugs eventuell sogar korrekt bezüglich seiner Ausrichtung innerhalb der Szene eingeblendet werden. Besonders gewinnbringend kann hierbei sein, die Zeitdauer der Darstellung so zu begrenzen, daß sie nur unbewußt vom Fahrzeuglenker wahrgenommen wird (entsprechend dem in DE 199 52 506 beschriebenen Verfahren). So kann dieser bereits unbewußt vor potentiellen Gefahren gewarnt und seine Reaktionsfähigkeit zusätzlich unterstützt werden.The method is characterized by the possibility of determining the spatial parameters of the detected objects to a system or a person for further processing To make available. It is conceivable that by its location parameters described, inaccessible space consists of a coherent area or is formed from several non-contiguous sections. to Emphasis on the non-navigable spaces or around an observer not to irritate by distorted image areas, it is conceivable the corresponding Hide areas in the image data or masked in the image data. To this Image data processed in this way can then be profitable by means of a display unit are shown, advantageously at the point in the scene at which the observer is located, this is represented symbolically within the image data becomes. In this way, for example, the symbol of a motor vehicle possibly even correctly displayed with regard to its orientation within the scene become. The duration of the presentation can be particularly profitable to limit that it is only unconsciously perceived by the driver (according to the method described in DE 199 52 506). So this can already unconsciously warned of potential dangers and his ability to react additionally get supported.
Eine besonders vorteilhafte Ausgestaltung der Erfindung ergibt sich für den Fall, dass in Kenntnis der Ortsparameter des nicht befahrbaren Raums die Ortsparameter des freien Fahrraums ermittelt werden. Wobei im allgemeinen der freie Fahrraum durch denjenigen gebildet wird, welcher nicht durch den nicht befahrbaren Raum belegt ist. In Kenntnis von Parametern des eigenen Fahrzeugs läßt sich nachfolgend in gewinnbringender Weise der freie Fahrraum einschränken, indem beispielsweise sehr schmale Bereiche, welche auf Grund der Abmessung des eigenen Fahrzeugs nicht befahren werden können, eliminiert werden. Es ist auch denkbar eine Einschränkung des freien Fahrraums auf Grund der Eigengeschwindigkeit durchzuführen, so dass beispielsweise Teile des freien Fahrraums, welche einen nicht ausreichenden Bremsweg garantieren, bzw. in welche nicht ohne die Gefahr des Schleuderns ausgewichen werden kann, aus dem Datensatz eliminiert werden. Andererseits können in vorteilhafter Weise auch Bereiche aus dem den freien Fahrraum beschreibenden Datensatz eliminiert werden, von welchen in Kenntnis von Parametern des Fahrzeugumfeldes (beispielsweise durch Klassifikation) bekannt ist, daß sie ein hohes Gefährdungspotential aufweisen (Fußgänger, massive Fahrbahnbegrenzungen).A particularly advantageous embodiment of the invention results for the case that in Knowledge of the location parameters of the inaccessible space, the location parameters of the free one Driving space can be determined. In general, the free driving space through is formed who is not occupied by the inaccessible space. In Knowledge of parameters of your own vehicle can be found below in profitably restrict the free driving space, for example by very much narrow areas, which are not due to the size of your own vehicle can be driven on, are eliminated. A limitation is also conceivable of the free driving space due to the airspeed so that for example, parts of the free driving space that have an insufficient braking distance guarantee, or in which not avoided without the risk of skidding can be eliminated from the data set. On the other hand, in advantageously also areas from the one describing the free driving space Data set are eliminated, of which with knowledge of parameters of the Vehicle environment (for example, by classification) is known to be high Show danger potential (pedestrians, massive lane boundaries).
Das erfindungsgemäße Verfahren kann gewinnbringend dahingehend weitergebildet werden, dass die Information über den freien Fahrraum über eine Telekommunikationsanlage an andere Verkehrsteilnehmer oder eine Verkehrszentrale zur Weiterverarbeitung übermittelt wird. Auch ist es denkbar, das Verfahren so auszugestalten, dass der freie Fahrraum oder Teile davon auf die Eignung als Parkraum überprüft werden, so dass in vorteilhafter Weise ein als Parkraum geeigneter Fahrraum einer Verkehrszentrale oder einem Fahrzeugführer gemeldet wird.The method according to the invention can be further developed profitably that the information about the free driving space over a Telecommunications system to other road users or a traffic center is transmitted for further processing. It is also conceivable to do the process this way To design that the free driving space or parts thereof on the suitability as a parking space are checked, so that advantageously a suitable as a parking space a traffic control center or a driver is reported.
Claims (16)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2000159900 DE10059900A1 (en) | 2000-12-01 | 2000-12-01 | Method for helping a motor vehicle driver by representation of surrounding objects in birds-eye view, so that especially during parking he can better judge distances and see any hidden or moving objects |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2000159900 DE10059900A1 (en) | 2000-12-01 | 2000-12-01 | Method for helping a motor vehicle driver by representation of surrounding objects in birds-eye view, so that especially during parking he can better judge distances and see any hidden or moving objects |
Publications (1)
Publication Number | Publication Date |
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DE10059900A1 true DE10059900A1 (en) | 2002-06-13 |
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ID=7665528
Family Applications (1)
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DE2000159900 Withdrawn DE10059900A1 (en) | 2000-12-01 | 2000-12-01 | Method for helping a motor vehicle driver by representation of surrounding objects in birds-eye view, so that especially during parking he can better judge distances and see any hidden or moving objects |
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DE (1) | DE10059900A1 (en) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10317044A1 (en) * | 2003-04-11 | 2004-10-21 | Daimlerchrysler Ag | Optical monitoring system for use in maneuvering road vehicles provides virtual guide surfaces to ensure collision free movement |
GB2416901A (en) * | 2004-08-03 | 2006-02-08 | Denso Corp | Vehicle parking assistant that calculates and displays to the driver the position needed to reverse the steering lock when parallel parking |
CN100473131C (en) * | 2002-10-04 | 2009-03-25 | 索尼株式会社 | Display equipment, image processing equipment and image processing method, imaging equipment and program |
DE102009051265A1 (en) | 2009-10-29 | 2010-07-01 | Daimler Ag | Display device for displaying image information about surrounding of car, has image information display formed as projector for projection of image information on projection surface that is provided outside of motor vehicle |
DE102011014699A1 (en) * | 2011-03-22 | 2012-09-27 | Audi Ag | Method for operating driver assistance system for protection of motor car, involves determining recording locations of object from different positions of motor car based on three-dimensional positional data and endangerment value |
DE102011082881A1 (en) | 2011-09-16 | 2013-03-21 | Bayerische Motoren Werke Aktiengesellschaft | Method for representing surroundings of vehicle e.g. motor vehicle e.g. car, involves transforming primary image information into secondary image information corresponding to panoramic view using spatial information |
DE102012203092A1 (en) * | 2012-02-29 | 2013-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Method for image processing of image data of image detected by camera, involves determining availability of predetermined object type depending on image data of image, where position is determined with respect to planimetric projection |
US8917904B2 (en) | 2008-04-24 | 2014-12-23 | GM Global Technology Operations LLC | Vehicle clear path detection |
DE102013220005A1 (en) | 2013-10-02 | 2015-04-02 | Continental Automotive Gmbh | Method and device for displaying the environment of a vehicle and driver assistance system |
US9852357B2 (en) | 2008-04-24 | 2017-12-26 | GM Global Technology Operations LLC | Clear path detection using an example-based approach |
-
2000
- 2000-12-01 DE DE2000159900 patent/DE10059900A1/en not_active Withdrawn
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100473131C (en) * | 2002-10-04 | 2009-03-25 | 索尼株式会社 | Display equipment, image processing equipment and image processing method, imaging equipment and program |
DE10317044A1 (en) * | 2003-04-11 | 2004-10-21 | Daimlerchrysler Ag | Optical monitoring system for use in maneuvering road vehicles provides virtual guide surfaces to ensure collision free movement |
GB2416901A (en) * | 2004-08-03 | 2006-02-08 | Denso Corp | Vehicle parking assistant that calculates and displays to the driver the position needed to reverse the steering lock when parallel parking |
GB2416901B (en) * | 2004-08-03 | 2008-05-07 | Denso Corp | Vehicle parking assisting system |
US9852357B2 (en) | 2008-04-24 | 2017-12-26 | GM Global Technology Operations LLC | Clear path detection using an example-based approach |
US8917904B2 (en) | 2008-04-24 | 2014-12-23 | GM Global Technology Operations LLC | Vehicle clear path detection |
DE102009051265A1 (en) | 2009-10-29 | 2010-07-01 | Daimler Ag | Display device for displaying image information about surrounding of car, has image information display formed as projector for projection of image information on projection surface that is provided outside of motor vehicle |
DE102011014699B4 (en) * | 2011-03-22 | 2015-10-29 | Audi Ag | Method for operating a driver assistance system for protecting a motor vehicle against damage and motor vehicle |
DE102011014699A1 (en) * | 2011-03-22 | 2012-09-27 | Audi Ag | Method for operating driver assistance system for protection of motor car, involves determining recording locations of object from different positions of motor car based on three-dimensional positional data and endangerment value |
DE102011082881A1 (en) | 2011-09-16 | 2013-03-21 | Bayerische Motoren Werke Aktiengesellschaft | Method for representing surroundings of vehicle e.g. motor vehicle e.g. car, involves transforming primary image information into secondary image information corresponding to panoramic view using spatial information |
DE102012203092A1 (en) * | 2012-02-29 | 2013-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Method for image processing of image data of image detected by camera, involves determining availability of predetermined object type depending on image data of image, where position is determined with respect to planimetric projection |
WO2015048967A1 (en) | 2013-10-02 | 2015-04-09 | Conti Temic Microelectronic Gmbh | Method and apparatus for displaying the surroundings of a vehicle, and driver assistance system |
DE102013220005A1 (en) | 2013-10-02 | 2015-04-02 | Continental Automotive Gmbh | Method and device for displaying the environment of a vehicle and driver assistance system |
US10093233B2 (en) | 2013-10-02 | 2018-10-09 | Conti Temic Microelectronic Gmbh | Method and apparatus for displaying the surroundings of a vehicle, and driver assistance system |
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Legal Events
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OP8 | Request for examination as to paragraph 44 patent law | ||
8127 | New person/name/address of the applicant |
Owner name: DAIMLERCHRYSLER AG, 70327 STUTTGART, DE |
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8127 | New person/name/address of the applicant |
Owner name: DAIMLER AG, 70327 STUTTGART, DE |
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R120 | Application withdrawn or ip right abandoned |
Effective date: 20110915 |