DE102016208373A1 - A method, apparatus and a mobile user device for generating a driver information comprising at least one graphical element in connection with at least one wheel of the vehicle - Google Patents

Abstract

The invention relates to a method, apparatus, a mobile user device and a corresponding computer product for generating a driver information comprising at least one graphical element in connection with at least one wheel of the vehicle. The generation of driver information (7) comprises at least one graphical element in connection with at least one wheel (4VL, 4VR, 4HL, 4HR) of the vehicle (1), in which the driver information (7) comprises a combination of: - at least one graphic Element representing the at least one wheel (4VL, 4VR, 4HL, 4HR) of the vehicle (1) and / or one of a wheel (4VL, 4VR, 4HL, 4HR) of the vehicle (1) claimed space requirement (4_S) or space requirements, and At least one image information representing at least part of the terrain area (20, 21, 22) from the surroundings of the vehicle (1), which is displayed on a display device (6) at a specific time, in particular at the time the vehicle information (7) is output. is at least partially covered by the vehicle (1).

Description

The invention relates to a method, apparatus, a mobile user device and a corresponding computer product for generating driver information comprising at least one graphical element in connection with at least one wheel of the vehicle, preferably in connection with a terrain area covered by a vehicle at least one time.

There are numerous hazards associated with driving on certain terrain areas, e.g. in case of possible terrain artifacts that may be at a drive of the vehicle under the vehicle. These can be particularly frequent when parking, maneuvering or driving on the roads outside the roads, e.g. Off-road driving with the vehicle occur. The terrain artifacts can be potholes, curbs, vaults, gutters, so-called blow-ups erosion on an unpaved roadside. For example, landing on a curb under an unfavorable (too sharp) angle is very critical for vehicle tires and rims of the vehicle. In particular, externally not noticeable damage to the skin can occur which can later lead to an accident. In most cases, the driver can not accurately estimate the current or required for a particular movement of the vehicle positions of the wheels (especially the rear wheels). In particular, a driver often lacks a spatial idea of the position of his wheels, e.g. in relation to certain conditions, in particular terrain artifacts. Particularly high disadvantages are to be expected in vehicles with a rear axle steering, because the rear axles also actively participate in parking or maneuvering operations. This can e.g. be in "common mode" or in "push-pull" to the front wheels, without the driver so far knew how his wheels currently or, for example, three seconds later to the curb are or will be.

Also a criticism of certain terrain areas with regard to their driving over with a wheel of the vehicle are often hardly objectively assessable by the driver. Also, a parking or Rangierfläche often can not be fully exploited, because the driver (without knowing the exact location of his wheels) must choose too much safety margin to certain terrain artifacts.

It is particularly disadvantageous if the vehicle (as known per se) has a partially automated maneuver, e.g. performs a maneuvering maneuver. In this case, the driver may (at least subjectively) not be sure which of the terrain artifacts the vehicle actually takes into account or which of the terrain artifacts will possibly have an effect on the vehicle. Above all, the driver can not predict which steering angles of his wheels during such maneuvers, e.g. be chosen relative to a curb.

It is therefore the object of the invention to provide a method, device, mobile user device and a corresponding computer program for generating driver information comprising at least one graphical element in connection with at least one wheel of the vehicle, preferably in connection with a terrain area covered by a vehicle at least one time ,

The object is solved by the features of the independent claims. Advantageous developments of the invention are characterized in the subclaims.

The invention is characterized according to a first and second aspect by a method and a corresponding device.

The method for generating driver information comprising at least one graphical element in connection with at least one wheel of the vehicle, wherein the driver information comprises a combination comprising at least one graphical element representing the at least one wheel of the vehicle and / or a space requirement claimed by a wheel of the vehicle or space requirement, and at least one image information representing at least part of the terrain area from the surroundings of the vehicle, which is at least partially covered by the vehicle at a certain time, in particular at the time of output of the vehicle information on a display device.

The method may include determining the data representing the at least one wheel of the vehicle and / or a space requirement or space required by a wheel of the vehicle. In this case, the so-called camber ("camber" refers to the angle between the wheel center plane and a perpendicular to the road surface or inclination or angle of the wheel relative to the X axis in the vehicle coordinate system) can also be considered. The data for at least one graphical element and / or the image information may depend on pre-stored (or read in the process) information on the (geometric, physical, etc.) properties of the at least the wheel of the vehicle, information on the current wheel position, in particular steering angle, Data on the camber, information about the current and / or predicted movement of the wheel, etc. are determined.

The method may include determining the data representing at least one terrain area from the environment of the vehicle that is at least partially located within the terrain area covered by the vehicle at the time of issuing the vehicle information.

The method may include (pre) determining a risk of damaging at least one tire or rim of a wheel of the vehicle. In this case, a predicted contact surface between a part of the wheel of the vehicle and the terrain artifact for at least one, in particular future, time interval may be below a predetermined area value and / or a certain (predicted) force transmission per area value is exceeded. Also, the location of the tire (bottom, side, ets.) And / or the direction of the transmission (pressure, shear force in certain direction, etc.) can be taken into account.

Different types of forces acting on a wheel of the vehicle may be considered in the method, e.g. Deforming, scratching, squeezing, material fatigue. Furthermore, more or less critical damage can be distinguished. The method does not necessarily exclude contact of the tire of the vehicle with a terrain artifact (even in an automated maneuver of the vehicle).

Preferably, different types of (expected) action can be distinguished in the process. In particular, in the method between a substantially vertical action on the at least one wheel of the vehicle and a lateral, in particular tangential action, and / or a direction of the shear forces occurring can be distinguished. For example, For example, possible vertical effects can be automatically classified as less critical than lateral effects. Also, the effects can be differentiated according to your pressure per area of the tire. Similarly, one or more forces acting on the terrain artifact can be predicted and taken into account in the process.

Particularly preferably, generating driver information comprises determining and providing the control signals, in particular representing at least one image or image sequence. Further, generating driver information may include outputting the driver information on a display device of the vehicle and / or a mobile user device (to be carried with a vehicle). Therefore, the method may also comprise, in particular, streaming the control signals to a mobile user device for outputting the driver information on a display device of the mobile user device. That the method may also include transmitting at least part of the driver information e.g. to a display device during output comprise a preceding portion of the driver information. Generating the driver information may also include substituting other information intended for display on a display device or displayed by the driver information. This may be done depending on the criteria described in this document or other predetermined criteria.

Generating the driver information may also be varying driver information. For example, a representation of the surroundings of the vehicle can be changed depending on the driver information (in a predefined manner) or supplemented with the driver information.

The driver information may include an at least partially, in particular graphically, modeled (ego) vehicle. In this case, a contour, axes, an enveloping line or a three-dimensional or three-dimensional appearing structure representing parts of the vehicle in the driver information, in particular with the valid at the specific time position of the wheels, are displayed.

In connection with the display of the driver information, in particular in a temporal relationship with the driver information, a further acoustic and / or haptic driver information can also be output.

Particularly preferably, the method comprises outputting at least one audible and / or haptic warning, the at least one warning being dependent, in particular, on a function that is not correct or incorrect, e.g. is not issued in a predetermined manner, driver information taken into account by the driver.

Particularly preferably, the driver information comprises at least one image sequence, the sequence representing a movement, in particular relative movement, between one or more parts of the vehicle and one or more wheels of the vehicle.

Preferably, the determination of the data for generating one of the driver information in the method can take place earlier than its output. The output of the driver information, in particular a pre-determined combination can be made depending on the fact that at least a certain terrain area is covered by the vehicle. In this case, the output of the driver information can also be executed depending on one or more pre-determined times, to which at least one particular terrain area will be within the terrain covered by the vehicle.

Furthermore, in the method, depending on the position parameters and / or movement parameters of the vehicle, a determination can be made of the driver information to be output, in particular at specific times.

Furthermore, in the method, generating the driver information on the basis of, in particular temporally synchronized (respectively current) data for representing the at least one wheel of the vehicle and / or a space requirement or space requirement AND of the data claimed by a wheel of the vehicle comprises at least one terrain area the environment of the vehicle.

This data can be generated at least partially by means of the vehicle (sensor system, database, computing unit) and / or at least partially by means of a mobile user device. In the method, control signals for generating the driver information, in particular in real time or in stock, can be determined (for a subsequent output of the driver information on a display device).

In this case, the driver information can be generated as a combination of these (in each case related to substantially matching times) data.

• – Überlagerung, und/oder
• – zumindest teiltransparente Einblendung, insbesondere Augmentation ausgestaltet sein.

The combination may be in a simplified variant of the invention, for example as a:

• - Overlay, and / or
• - At least partially transparent overlay, in particular augmentation designed.

Preferably, the driver information may comprise at least one graphic element which is a current or future spatial position of the particular wheel of the vehicle and / or associated with the wheel, in particular related to the environment of the vehicle, geometric information associated with that for the wheel of the vehicle required area comprises.

Preferably, in the method, a representation of the vehicle background data is superimposed with an additional reference to a predicted future position of the wheel relative to the terrain object.

Furthermore, the driver information can also be at least partially designed as interpreted information. The driver information may also include a situation evaluation, in particular a situation classification (classification of a current situation into one of at least two predefined classes).

In this case, the driver information particularly preferably comprises a three-dimensional (3D) display, wherein the combination represents a relation corresponding to the real conditions (relative arrangement) of the at least one graphical element representing the space requirement or rum demand required by a wheel of the vehicle and the image information at least one (in connection with this space requirement or Rumbedarf standing) terrain area from the environment of the vehicle. In this case, the driver information preferably represents a specific relative arrangement and / or geometric proportions also by means of depth information. The depth information can be obtained by means of an at least partially as three-dimensionally perceptible display, e.g. a 3D display or a perspective effective 2D image of three-dimensionally determined data are transmitted.

Further, the image information may (also) represent part of the environment of the vehicle, not being covered by the vehicle.

In an advantageous embodiment, the method is characterized in that at least one time for outputting the vehicle information depending on the completed, current or vorausermittelten covering the at least one terrain area by the vehicle and / or depending on the driving over at least one terrain area by a wheel of the vehicle is selected. In this case, the covering of the at least one terrain area by the vehicle can be determined as a function of surroundings of the vehicle and / or position parameters and / or movement parameters of the vehicle.

The term "driving over" can be considered to be the impact of the tire of the wheel of the vehicle, in particular associated with a physical (pressure) force.

The term "movement parameters" in the context of this description comprises at least one variable which is dependent on the movement of the vehicle and / or on the movement of the part of the vehicle.

The movement parameter may represent an absolute movement of the vehicle and / or a relative, in particular local movement of the vehicle or the part of the vehicle. The motion parameter preferably represents a vehicle movement in relation to a specific part of the environment. For example, a motion parameter may be a vector, a Chaining of the vectors and / or in a, in particular local coordinate system, for example, be expressed in a cylindrical coordinate system. Particularly preferably, the movement parameter represents the movement of at least two wheels of the vehicle, wherein the movement of the wheels can be detected in particular by means of wheel sensors.

A movement parameter of the at least one wheel may be a wheel movement in the rolling direction (rotation about the axis of the wheel) and / or steering movement of the wheel (rotation of the wheel about a vertical axis).

In particular, the movement parameter may represent a movement of the vehicle or of the part of the vehicle that is predicted (for the near future, in particular for a specific time).

The term "positional parameter" in the context of this description is a position-dependent variable which changes in particular in the case of local movements of the vehicle in accordance with the change in position, for example during forward travel, reverse travel, transverse movement, rotation of the vehicle. The position parameter may represent an absolute, in particular global position and / or a relative, in particular local, position of the vehicle.

The position parameter preferably represents a vehicle position in relation to a specific part of the environment. A positional parameter may be, for example, a vector, and / or a concatenation of the vectors in a, in particular local, coordinate system, e.g. be expressed in a cylindrical coordinate system. The position parameter preferably comprises one or more, in particular relative, angle values.

In this case, the method may include determining a probability value that represents the probability that a certain part of the environment will in future be covered by the vehicle. Alternatively or additionally, a variable can be determined, which suggests that a certain surrounding area with a probability that exceeds a specific value will in future be covered by the vehicle.

In this case, the method may include determining that, depending on a movement parameter and / or a position parameter of the vehicle, that a specific surrounding area is overlapped with a probability that exceeds a specific value in the future by the vehicle.

In an advantageous embodiment of the method, the driver information comprises at least one spatial relation between the at least one wheel of the vehicle and / or a surface area or space requirement claimed by the wheel of the vehicle, and at least one terrain area from the surroundings of the vehicle, for a current time or for one (certain) time in the near future, in particular highlights.

Preferably, said spatial relation may represent a spatial relationship between the at least one wheel of the vehicle and / or a surface area or space requirement claimed by the wheel of the vehicle, and at least one terrain area for at least one future time. In this case, the at least one time, e.g. to a certain maneuvering phase, e.g. Refer to vertex of a turning maneuver.

In the method, driver information may be generated which represents at least one spatial relation between the at least one wheel of the vehicle and / or a space requirement or space requirement claimed by the wheel of the vehicle, and the at least one image information representing at least one terrain area from the surroundings of Vehicle within the graphical driver information relating to the same time or time interval.

In this case, the driver information can represent at least one relatively position between at least one predicted position of the at least one wheel and / or a surface area or space requirement claimed by the wheel of the vehicle and the predicted position of the at least one specific terrain area, wherein the respective predicted positions are at the same point in time or time interval.

The image information may preferably represent a portion of the determined area that is or will be below the vehicle at a current or future time.

Further, the image information may (also) represent part of the environment of the vehicle, not being covered by the vehicle.

In an advantageous embodiment of the method, the driver information comprises at least one relative arrangement, in particular a type of arrangement between the at least one wheel of the vehicle and / or a surface area or space requirement claimed by the wheel of the vehicle, and the at least one (specific) terrain area from the surroundings of the vehicle for one current time or for a time in the near future.

In the method, driver information may preferably be generated which represents at least one relative arrangement between the at least one wheel of the vehicle and / or a space requirement or space requirement claimed by the wheel of the vehicle, and at least one image information representing at least one terrain area from the surroundings of the vehicle within the graphical driver information, refer to the same time or time interval.

In this case, the driver information may particularly preferably comprise one of at least two, in particular principally different, types of the arrangements. In this case, the (relative) arrangement between the at least one wheel of the vehicle and / or a space requirement or space requirement claimed by the wheel of the vehicle, and at least one image information representing at least one terrain area from the surroundings of the vehicle within the graphical driver information, can be at the same time or time interval, to be classified according to predetermined criteria.

For example, the (relative, spatial) arrangement can be classified into an arrangement which in the case of a forward and / or reverse maneuver and / or (only) in the case of a certain steering angle to a desired and / or undesired effect, e.g. would lead to or lead to a desired and / or undesired effect on the at least one wheel of the vehicle or on a part of the terrain.

The spatial relation can be understood in the method as a particular arrangement pattern between a (particular part of the vehicle and a (certain) terrain artifact.

• – ein Rad des Fahrzeugs zumindest größtenteils außerhalb eines Geländeartefakts, z.B. eines Schlaglochs (mögliche Einwirkung gering, kein Hervorheben), oder
• – ein Rad des Fahrzeugs vollständig innerhalb des Geländeartefakts, z.B. eines Schlaglochs (mögliche Einwirkung akzeptabel, nur geringfügiges Hervorheben), oder
• – ein Rad des Fahrzeugs, insbesondere seitlich, weitgehend übereinstimmend mit einem (scharfen) Rand des Geländeartefakts Schlaglochs (kritisch, starke Hervorhebung).

For example, arrangement patterns can be:

• A wheel of the vehicle at least largely outside a terrain artifact, eg a pothole (possible impact low, no highlighting), or
• A wheel of the vehicle completely within the terrain artifact, eg a pothole (possible impact acceptable, only slight highlighting), or
• - A wheel of the vehicle, especially laterally, largely coinciding with a (sharp) edge of the terrain artifact pothole (critical, strong emphasis).

An arrangement of at least one wheel of the vehicle corresponding to an arrangement pattern to form a terrain artifact can be represented in the driver information on the basis of one of the type of arrangement corresponding, in particular symbolic, graphic information.

Also, at least one action between at least one specific terrain artifact and at least one downwardly oriented part of the vehicle can take place in the method depending on a recognized arrangement pattern.

In an advantageous embodiment of the method, a causal relationship between the at least one wheel of the vehicle and at least two specific, in particular alternatively drivable parts of the environment of the vehicle is determined, and the driver information depending on a comparison of the causal relationships to at least two different terrain areas from the environment of the vehicle is generated.

In this case, the term "passable" may refer to a potential (possibly also defective) possibility to control a part of the environment with the vehicle, in particular with at least one wheel of the vehicle.

In particular, at least two spatial and temporal relationships and / or at least two causal relationships can correspond to at least two different options for action of the driver.

In addition, the method may include varying the perspective ratio and / or highlighting a particular terrain artifact. In this case, depending on the method determined in the method, a temporal and / or spatial and / or causal relationship between a current and / or predicted movement of the vehicle and the at least one terrain artifact can be represented, the perspective ratio adapted, in which at least part of the driver information is displayed ,

In particular, a "causal relationship" may be understood in the method as one or more particular consequences of a particular relative position and / or orientation and / or movement of the vehicle's wheel to the terrain artifact. In particular, the causal relationship may be a measure of consequence, e.g. represent an estimated damage that will occur in at least one situation scenario, preferably in at least two different situation scenarios.

In an advantageous embodiment of the method represents and / or highlights the at least one image information at least a part of the environment of the vehicle, which lies or lie under a current or future time under the vehicle and is affected by the surface of the tire or is affected.

It is preferably a part of the environment which comprises a terrain artifact, in particular a terrain artifact of a certain kind. In particular, the part of the surroundings of the vehicle is a part of the environment that can cause a certain effect on the at least one wheel of the vehicle.

• • Ermitteln einer Radinformation auch repräsentierend eine künftige Position des zumindest eines Rades des Fahrzeugs, relativ zu zumindest einem Geländeartefakt in der Umgebung des Fahrzeugs,
• • Feststellen einer prognostizierten gewünschten und/oder unerwünschten Wirkung oder Wechselwirkung zwischen dem Geländeartefakt auf und dem Rad des Fahrzeugs, und
• • Erzeugen zumindest eines grafischen Elements mit einem Hinweis auf den Geländeartefakt und/oder variieren der Darstellung der Unterbodendaten und/oder Hervorheben eines Bereichs repräsentierend die Unterbodendaten, umfassend das Geländeartefakt oder eine unmittelbare Umgebung des Geländeartefakts.

The method may preferably comprise the following additional steps:

• Determining a wheel information also representing a future position of the at least one wheel of the vehicle, relative to at least one terrain artifact in the environment of the vehicle,
• • determining a predicted desired and / or undesirable effect or interaction between the terrain artifact on and the wheel of the vehicle, and
• • generating at least one graphical element with an indication of the terrain artifact and / or varying the representation of the subfloor data and / or highlighting a region representing the subfloor data comprising the terrain artifact or an immediate vicinity of the terrain artifact.

In the context of this description, the term "terrain artifact" is in particular a deviation from a (predetermined) standard or regularity which characterizes a passable area of a road. In particular, a terrain artifact is part of an uneven terrain area. An off-road artifact may be characterized by the at least one predetermined amount of unevenness. Such a measure may e.g. a dimension (e.g., depth of the pothole or height of an elevation of the terrain) or a feature of the shape (e.g., at least one sharp edge, particularly in alignment with the vehicle).

The terrain artifacts within this description include e.g. Potholes, curbs, vaults, gutters, erosion, blow-up, an open gap, unpaved roadside.

A terrain artifact may also be part of a larger terrain artifact within the scope of this description. For example, a particular portion of an eroded roadside may be considered a terrain terrain artifact.

Alternatively or additionally, a movable and / or immovable object to the terrain area may be considered as a terrain artifact. In this case, the procedure applies mutatis mutandis. In addition, in this case, further properties of the object, in particular with regard to its object class and / or movement parameters and / or mobility, can be taken into account.

The method may be optimized for one or more particular types of terrain artifacts, in particular to obtain certain functional benefits, or may be differently configured for different types of terrain artifacts. All of the features of the method described herein may be varied qualitatively or quantitatively depending on the type of terrain artifact detected (e.g., by means of the vehicle).

• – ein Geländebereich wesentlich niedriger als die umgebenden Geländebereiche, insbesondere ein Schlagloch, eine Wasserrinne oder ein erodierter Fahrbahnrand,
• – ein Geländebereich wesentlich höher als die umgebenden Geländebereiche, insbesondere eine Welle, Wölbung, Blow-Up,etc.
• – ein mit dem Gelände verbundenes Objekt oder ein Bordstein, Pfosten, etc, insbesondere höher als eine vorausbestimmte Höhe und/oder mit einer bestimmten Form,
• – ein auf dem Gelände liegender oder befestigter Gegenstand.

The types of terrain artifacts may be preferred:

• A terrain area substantially lower than the surrounding terrain areas, in particular a pothole, a gully or an eroded roadway edge,
• - A terrain area much higher than the surrounding terrain areas, in particular a wave, curvature, blow-up, etc.
• An object connected to the terrain or a curb, posts, etc, in particular higher than a predetermined height and / or shape,
• - an object lying or fixed on the site.

Particularly preferably, at least two different types of terrain artifacts are distinguished in the process. In this case, each of the features of the method, in particular the generated driver information can be varied depending on the detected type de or the (specific) terrain artifact.

The effect or interaction may also be a desired effect in the process, for example the meeting of a conveyor belt in the car wash or a (targeted, desired) driving on a fairway.

In an advantageous embodiment, the method is characterized in that the wheel is a rear wheel of the vehicle, wherein the rear wheel is steerable.

Particularly preferably, the driver information relates to at least one front wheel and at least one rear wheel. For example, these may be the wheels from the same side of the vehicle, e.g. in the direction of a curb or a roadside.

In an advantageous embodiment of the method, the driver information represents a spatial and temporal relationship and / or a causal relationship between the movement of at least one wheel of the vehicle in relation to at least one specific terrain area, in particular representing a terrain artifact.

A spatial relationship means in particular a distance and / or alignment between the wheel and the terrain artifacts. It is particularly preferred to distinguish between the orientation substantially in a rolling direction of the wheel and substantially transversely to the rolling direction of the wheel.

In particular, a temporal relationship means a point in time at which a possible, in particular probable, action between the wheel and the terrain artifacts will take place (at least presumably). The generation of the temporal relationship is also advantageous because it allows the temporally critical relationships can be detected. In this case, the driver information can be generated depending on the temporal relationships, in particular depending on a predetermined priority logic.

In particular, a causal relationship means one or more sequences of a particular relative position and / or orientation and / or movement of the wheel of the vehicle to the terrain artifact. In particular, the causal relationship may be a measure of consequence, e.g. represent an estimated damage that will occur in at least one situation scenario, preferably in at least two different situation scenarios.

Preferably, at least one spatial and temporal relationship and / or one causal relationship can be determined in the method. In this case, the causal relationship within the driver information can be represented as a (differentiated, related to the current relative arrangement between the current and / or predicted movement of the at least one wheel) consequence that would result (in a particular case).

Particularly preferably, the spatial and temporal relationship and / or a causal relationship may relate to at least one specific time or time interval.

The determination of a spatial and temporal relationship and / or a causal relationship preferably comprises a probability calculation, wherein the probability for at least one future spatial and temporal relationship and / or causal relationship is determined, in particular estimated.

Particularly preferably, the driver information comprises at least one graphical element, representing a spatial and temporal relationship and / or a causal relationship, in particular with regard to at least one specific time interval and / or maneuver and / or action option of the driver.

In an advantageous embodiment, the method is characterized in that the terrain artifact is a curb, wherein a certain undesirable effect on the wheel of the vehicle is detected when an angle between the wheel of the vehicle and the curb is less than a predefined angle limit and / / or a distance of a wheel of the vehicle to the curb is less than a predefined distance limit and / or a contact between a wheel of the vehicle and the curb is predicted for at least one future time.

Similarly, the driver information may also include at least one desired action (e.g., undamaged, uncritical, or necessary approach to a curb), e.g. in a planned maneuver. A desired effect can be achieved in the process e.g. be recognized that a run on a curb for a particular shunting maneuver is necessary and / or done by not applying the criteria for an undesirable effect or logically inverse criteria.

In particular, the driver information is generated depending on the type of action on the wheel of the vehicle. In particular, a distinction is made according to at least two types of action on the at least one wheel of the vehicle.

In particular, the driver information is generated depending on the type of action on the wheel of the vehicle. In particular, a distinction is made according to at least two types of action on the at least one wheel of the vehicle.

Further, the driver information may include an action option for the driver of the vehicle, such as a change (to be made by the driver) from a mode of the vehicle, in particular a vehicle function, e.g. Change a landing gear mode (e.g., landing gear uplift).

The driver information may also be a symbolic representation of recommended and / or not recommended operating elements (also eg accelerator pedal, brake pedal, steering wheel).

One or more described steps of the method are preferably carried out cyclically, in particular several times per second, wherein data representing a picture sequence corresponding to the driver information, in particular also representing the vehicle background data, are provided and / or output. Particularly preferably, the provision of the (respective) vehicle background data and / or outputting of the vehicle background data ensues depending on the current position information of the vehicle. For example, the output of an image sequence on a display device may be dependent on the change in the position information.

Particularly advantageous is the application of the method at (and depending on) a supported, at least partially automated running or such a maneuver. For example, the driver information is generated in connection with an at least partially automated maneuver performed. In this case, due to the driver information, the driver can delegate an execution of the chassis interventions, longitudinal guidance, transverse guidance of the vehicle to the systems of the vehicle substantially more confidently.

The driver information can also be configured for a desired (in particular at least partially automated) overriding of terrain artifacts and / or maneuvering in a terrain with multiple terrain artifacts, whereby the effects of the terrain artifacts are reduced or maneuvering trains are optimized, e.g. a number of Rangierzüge is reduced.

Particularly preferably, the execution of the method is dependent on at least one degree of automation representing the size of the vehicle guidance or at least of the relevant maneuver. In this case, the driver information, in particular the scope of the driver information, the time or time interval of the output of the driver information on a display device depending on at least one degree representing the degree of automation can be varied (optimized).

In an advantageous embodiment, the method comprises determining a parameter indicative of a driving trajectory and / or a planned maneuver of the vehicle, and generating the driver information depending on the determined parameter of the driving trajectory and / or the planned maneuver, wherein at least a substantial part of the driver information stands for at least one (future) time in connection with the driving trajectory and / or maneuver.

In this case, driver information relating to a future point in time in the near future can be generated (determined and / or output) in the form of one or more parameters depending on one or more parameters of a driving trajectory and / or a specific planned (eg desired by the driver) maneuver wherein at least a substantial part of the driver information is related to a future time in connection with the driving trajectory and / or maneuver.

By the term "driving trajectory" may e.g. Trajectories of significant parts of the vehicle (vehicle axles, contour, "vertices", envelopes of the vehicle) and / or movement trajectories of one or more (specific) wheels of the vehicle.

Alternatively or additionally, the method may include providing the determined information about another vehicle function. For example, depending on the information determined, a decision can be made on the implementation of an at least partially automated parking and / or maneuvering maneuver. Also, depending on the information obtained or a qualitative and / or quantitative parameter, e.g. be decided to one of at least two variants of a maneuver.

The device according to the second aspect of the invention is configured to generate driver information comprising at least one graphical element in connection with at least one wheel of the vehicle, such that the driver information is a combination of at least one graphical element representing the at least one wheel of the vehicle and / or a space requirement or space requirement claimed by a wheel of the vehicle, wherein at least one image information representing at least one terrain area from the environment of the vehicle, wherein the terrain area is at least partially within the area covered by the vehicle at least at the time of issuing the vehicle information.

Furthermore, the device may be configured to carry out the method according to one or more further features of the method.

According to the third aspect, the invention is characterized by a mobile user device which is set up to carry out at least one feature of the method together with at least one data processing device of a vehicle and / or together with at least one sensor of the vehicle.

The mobile application device may in the context of this description a smartphone, tablet, smart watch, garment with an integrated electronic device in the garment, motorcycle helmet with a man-machine interface, a data glasses for the driver of the vehicle, a mitführbarer with the vehicle and be to the vehicle with a data interface connectable vehicle computer, an external navigation device, or an analogous development of such devices.

The mobile user device is designed to carry out at least one step of the method according to the first aspect. Advantageous embodiments of the first aspect apply mutatis mutandis to the third aspect. Furthermore, the mobile user device may also be considered as part of the device described.

For this purpose, the mobile application device can have a wired or wireless interface that is set up to carry out the method. Advantageously, alternatively or additionally, a transmission part and / or a sensor system and / or computing resources and / or a transceiver unit and / or authentication method of the mobile user device can be used or used in the method.

Furthermore, the mobile user device can be set up to carry out the method according to one of the described features of the method.

According to a further aspect, the invention is characterized by a computer program, in particular a computer program product comprising the computer program, wherein the computer program is designed to carry out the method according to the first aspect or an advantageous embodiment of the method according to the first aspect when executed on a data processing device.

In particular, the computer program is a software program which, e.g. as an application (colloquially: App), running on one or more types of mobile user equipment or on an on-board computer of the vehicle.

In particular, the computer program product comprises a medium which can be read by the data processing device and on which the program code is stored.

The invention is characterized according to the further aspect by a vehicle which is adapted for carrying out the method or comprising at least one essential part of the device according to the invention.

In the context of this description, the vehicle is a motor vehicle (passenger car, truck, van, so-called "semitrailer") or a vehicle trailer (motorhome, trailer, horse trailer, yacht trailer). This results in several explicitly and implicitly described in this document as well as other advantages easily comprehensible by the person skilled in the art. Further, the vehicle may be a specialized vehicle, e.g. Construction vehicle, mining vehicle, or an agricultural machine act. Furthermore, the vehicle may also be a watercraft, underwater vehicle or aerospace vehicle, the method being applied analogously.

According to a further aspect, the invention is characterized by a vehicle according to the invention, designed to carry out the method according to a first aspect of the invention.

In the following, the invention will be explained, without restricting the generality, by means of a few examples. The following features in different combinations with each other or with the features described above can be performed.

1a . 1b . 1c , and 1d show different terrain artifacts ( 30 . 31 . 32 ) which may be in the vicinity of the vehicle. The terrain artifacts ( 30 . 31 . 32 ) are recognized or classified in the method as the corresponding types (types) of the terrain artifacts, eg with a camera system of the vehicle or the mobile user device.

2 shows the vehicle ( 1 ), Terrain areas ( 20 . 21 . 22 ) in the vicinity of the vehicle, which is covered with a (exceeding a certain value probability) in the near future, in particular in the context of a recognized or by the vehicle (here as a contour of the vehicle with a safety margin) partially automated shunting maneuver planned.

The terrain areas ( 21 and 22 ) are also selected taking into account further obstacles, roads, or parking markings and parked vehicles. If a terrain area ( 20 ), for example due to insufficient movement data or position parameters, can not be precisely determined, this is in the process, eg as an envelope (see. 20 ), eg comprising several probable variants.

Furthermore, the vehicle background information is preferably assigned to the terrain areas ( 20 . 21 . 22 ) and / or on a probable driving trajectory of the vehicle to the terrain areas ( 20 . 21 . 22 ) detected. In this example of the method, this is done only for terrain areas that have a terrain artifact (exceeding certain parameters). 30 . 31 . 32 ). The exemplified terrain artifact ( 32 ) a section of a curb.

Furthermore, the required space requirement ( 4_S ) to the wheels ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) certainly. In the figure, only the target positions of the ( 4VL . 4VR . 4HL . 4HR ) within the terrain areas ( 20 . 21 . 22 ). In addition, the total space requirement ( 4_S ) and / or space requirements ( 4_S ' ) and in a certain way in the driver information ( 7 ) represented by the wheels ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) in its movement to the respective terrain area ( 20 . 21 . 22 ) is claimed or claimed in an implementation of the particular variant of a maneuver. This will also be a future (depending on the maneuver) position of the wheels ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ), in particular determined as a respective target position and represented graphically as such.

In the process, possible effects of terrain artifacts ( 30 . 31 . 32 ) on at least one downwardly oriented part of the vehicle, in particular on its wheels ( 4VL . 4VR . 4HL . 4HR ), in particular on the rims and / or tires of the wheels ( 4VL . 4VR . 4HL . 4HR ) can be estimated by means of a pattern recognition with respect to geometric arrangements.

3 shows the driver information generated in the method ( 7 ), at least in connection with the determined terrain artifacts, is directly or indirectly dependent on the respective types of terrain artifacts ( 30 . 31 . 32 ).

The driver information ( 7 ) is displayed on a display device ( 6 ), in this example designed as a 3D display of the vehicle ( 1 ) or the mobile user device ( 5 ). The control data for displaying the driver information can be determined early, eg 1-30 seconds before their display. Furthermore, these can be updated as necessary and / or only a particularly relevant part of the underlying data can be displayed. In this example, the driver information is displayed only if a risk of damage and / or an undesirable effect on at least one downwardly oriented part of the vehicle (with a relatively high probability) is determined. Also, the driver information ( 7 ) is no longer displayed when it is no longer needed or as far as a certain speed is exceeded.

• – einer Übersichts-Ansicht auf einen relativ großen Teil des Szene die dem Fahrer eine Orientierung erlaubt, und
• – eines vergrößerten Darstellung, virtuell „gezoomten“ Bereichs mit einer bestimmten Anordnung zwischen einem Teil des Fahrzeugs und dem Geländeartefakt.

In this example, the driver information ( 7 ) an alternate representation of

• - An overview view of a relatively large part of the scene which allows the driver an orientation, and
• - an enlarged view, virtually "zoomed" area with a specific arrangement between a part of the vehicle and the terrain artifact.

Both representations may relate to a near future, here: to a not yet arrived arrangements and / or actions between at least a part of the vehicle and the at least one terrain artifact.

3 illustrates the method with the following combinable steps ( 100 ) to ( 700 ) and selected other features:
In this example, the method ostensibly relates to generating driver information associated with a terrain area currently covered by the vehicle or in the near future.

( 100 ) Determining vehicle background data representing at least a portion of the environment of the vehicle that is or will be below the vehicle at a current or (at least approximately) future time.

The determination of vehicle background data is dependent on a detection of the measured values, in particular sensor measurement values (for example also image data) which relate to an environment of the vehicle. These can also be determined or read in by vehicle sensor signals derived from sensor measured values. Optionally, the measured values are stored, in particular in a ring memory for about 0.5-30 seconds. In this case, storage or intermediate storage of corresponding data can also be configured as a function of a movement parameter and / or position parameter of the vehicle.

( 200 ) Determining a wheel information representing at least one current and / or future orientation of at least one wheel of the vehicle.

( 300 ) Determining a spatial and temporal relationship and / or a causal relationship between the at least one wheel of the vehicle and the at least one specific part from the area surrounding the vehicle at least at one time. In particular, the causal refers Connection to the result of at least one (possible) relative movement of the at least one wheel of the vehicle to at least a certain part of the environment.

In this example, the causal relationship ("what if ...") is determined depending on the execution of at least one pattern recognition.

The pattern recognition can be applied based on the geometric conditions (arrangements, angles, distances) between the at least one wheel of the vehicle and at least one terrain artifact. In this case, the pattern recognition may relate to the current and / or for at least one future time, in particular at the time of issuing the driver information.

( 400 ) A driver information based on the determined data is generated. The driver information is dependent on at least one determined spatial and temporal relationship and / or a causal relationship. In this example, the driver information changes in the event of a change in the determined spatial and temporal relationship and / or a causal relationship, in particular almost in real time.

The driver information may in particular also represent at least a region of the environment. The representation of the environment can be carried out in particular as image information and / or relief information.

The driver information in this example refers to at least a part of the environment which is located under the vehicle at the time of issuing the driver information and / or comprises at least one detected terrain artifact. The driver information is determined in this example depending on the previously acquired measured values. It may be measured values that are at an earlier time, e.g. at least 1, 3, 5, 15, 30 seconds before, have been detected.

Particularly preferably, the driver information is generated in the method as a function of measured values, in particular sensor measurement values which are recorded at one or more earlier times, e.g. at least 1, 3, 5, 15, 30 seconds before, have been detected. In this case, measured values can be selected or preferred, which were recorded from the best possible acquisition perspective.

( 500 In addition, the method will include varying the perspective ratio and / or highlighting a particular terrain artifact. In this case, depending on the method determined in the method, a temporal and / or spatial and / or causal relationship between a current and / or predicted movement of the vehicle and the at least one terrain artifact can be represented, the perspective ratio adapted, in which at least part of the driver information is displayed ,

Varying the perspective ratio and / or highlighting a particular terrain artifact may be performed such that at least one particular temporal and / or spatial and / or causal relationship in the driver information is more visible to the user.

Particularly preferably, the perspective ratio of at least part of the representation is varied in such a way that the spatial distance between at least one wheel of the vehicle, in particular the spatial distance which is most critically reduced during the movement of the vehicle, and the terrain artifact, is varied (new ) Perspective is aligned in the direction of the width or widths of the display device.

Varying the perspective ratio in one or more steps is desired. Particularly preferably, a stepwise, in particular stepless adjustment of the perspective relationship takes place. The driver can better understand the change.

( 600 Furthermore, a determination (selection) or change of the driver information to be displayed on a display device takes place as a function of the at least one (first) determined predetermined criterion and / or depending on at least one second predetermined criterion.

In this case, at least one of the display priority of the display of the generated driver information can be changed depending on the predetermined criterion, in particular increased and / or reduced. For example, as the risk of damage increases, the priority is increased. For example, as the danger decreases, the display priority is lowered. This is done in this example such that in the presence of further displayable information, the display time is adapted to at least a portion of the display and / or display duration and / or display order of at least two displayable information.

Furthermore, the scope of the driver information to be displayed (also with regard to the spatial area represented in the driver information item) can be adapted as a function of the at least one first predefined criterion and / or of the at least one predefined criterion.

A first predetermined criterion represents a substantial increase in the likelihood of impact and / or a certain amount of impact on at least one downwardly oriented portion of the vehicle. In this example, the at least one (first) predetermined criterion essentially represents a product of the extent of the impact and the probability that an impact will occur with at least the amount of impact. That is, for example, that the display priority, display timing of the driver information is higher as the likelihood of occurrence of the impact increases and if the anticipated level of the impact is sure to increase.

In this example, the at least one first predetermined criterion is determined from a predicted driving in the near future of an uneven terrain area with at least one wheel of the vehicle. Preferably, an uneven terrain area may also include (certain) parts of an unpaved roadside.

In the method, the at least one predetermined criterion can be permanently predefined and / or adaptively, in particular situation-adaptively, controlled as a function of predefined limit values and / or specific value patterns for the parameters which are characteristic of the abovementioned measured variables.

( 700 Furthermore, the method comprises determining, possibly reading out, at least one size of the vehicle guidance representing the degree of automation or at least of the relevant (current) maneuver, eg of a parking or maneuvering maneuver. This can be done, for example, by means of a driver assistance system or function for at least partially automated driving or maneuvering which is carried out for carrying out the maneuver.

Execution of the method depending on at least one degree of automation representing the size of the vehicle guidance or at least the relevant maneuver. In this case, the driver information, in particular the scope of the driver information, the time or time interval of the output of the driver information on a display device depending on at least one degree representing the degree of automation can be varied (optimized). Furthermore, the selection of the criteria to be taken into account and / or value thresholds or parameters can be varied (optimized) as a function of at least one variable representing the degree of automation.

• A1: unterstütztes Manöver;
• A2: teilautomatisiertes Manöver;
• A3: hochautomatisiertes Manöver;
• A4: automatisches Manöver;

As the size representing the degree of automation, for example, according to VDA (Association of the Automotive Industry) defined dimensions or category values apply. For example, these can be classes or category values for the following automation levels:

• A1: assisted maneuver;
• A2: partially automated maneuver;
• A3: highly automated maneuver;
• A4: automatic maneuver;

For example, a size of the drive representing the degree of automation can also be taken into account selectively with respect to at least two different aspects of the automation of the movement of the vehicle and / or for two or more different driver assistance functions of the vehicle in the control unit.

The driver information may further include parts of the surroundings of the vehicle, in particular also raised objects and / or a representation of the surroundings of the vehicle. These may allow the driver to better orient themselves when viewing the driver information.

The space requirement required for the wheels of the vehicle can be represented in the driver information by means of tire marks symbolically represented, in particular by graphic textures.

In the process, at least partially water-covered terrain artifacts can also be taken into account and / or represented. In particular, the water-covered terrain artifacts, e.g. Potholes will be together with an information representing your personality and / or depth in the driver information.

All of the discussed features of the invention may be applied separately and differently for different aspects of automation. The driver information may also alternatively or additionally be an acoustic and / or haptic driver information, wherein acoustic and / or haptic depends in particular on at least one feature discussed in this document. For example, in the method, depending on a likely or imminent danger of damage to a part of the vehicle, kinesthetic information may be provided e.g. a short-term rolling, pitching, lifting, lowering the passenger compartment or a vehicle seat are performed. Further, as an alternative or in addition to an output of graphical information, the driver information may include one, in particular special, directional, e.g. include acoustic information related to the hazard site. The driver information may also include a special signal, e.g. a ringtone generated at the appropriate (first) predetermined criterion by means of the mobile user equipment.

The above-described steps of the method may also be generated (determined and / or output) with respect to a future time in the near future in the form of one or more parameters.

The at least one future point in time can be determined as a function of a planned driving trajectory and / or of a planned maneuver and in particular represent a critical phase of the driving trajectory or of the maneuver. Thus, the driver can get a driver information that relates to a (particularly interesting) time of a planned, especially intended maneuver.

The driving trajectory and / or a planned maneuver can be determined, for example, on the basis of driver intention recognition and / or from a driver assistance system, and depending on the planned maneuver, the driver information or of the corresponding parameters are generated, in which the driver information (at least one essential feature or Part of the driver information) refers to a future time in the context of the determined driving trajectory and / or the maneuver. This driving information can represent the then valid contents.

In this case, the driver information can be generated, for example, even before the initiation of a maneuver to be carried out by the driver or at least partially automated (correspondingly automatically). Thus, the driver can be informed about possible consequences even before a start of a specific (automated) maneuver.

LIST OF REFERENCE NUMBERS

1

Vehicle;

20, 21, 22

 Terrain areas;

30, 31, 32

Terrain artifacts, it is 32 a section of a curb;

4VR

 the front right wheel of the vehicle;

4VL

 the front left wheel of the vehicle;

4HR

 the rear right wheel of the vehicle;

4HL

 the rear left wheel of the vehicle;

4_S

 claimed (required) space required by the wheels of the vehicle;

5

a mobile user device;

6

Display device;

7

Driver information;

100-700

Steps or phases of the process;

Claims (14)

Method for generating driver information ( 7 ) comprising at least one graphic element in connection with at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ), in which the driver information ( 7 ) a combination comprising: - at least one graphical element representing the at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and / or one of a wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) claimed area requirements ( 4_S ) or space requirements, and - at least one image information that at least a part of the terrain area ( 20 . 21 . 22 ) from the environment of the vehicle ( 1 ), which at a certain point in time, in particular at the time of issuing the vehicle information ( 7 ) on a display device ( 6 ) at least partially from the vehicle ( 1 ) is covered. Method according to Claim 1, in which at least one point in time for outputting the vehicle information depends on the past, present or predefined covering of the at least one terrain area ( 20 . 21 . 22 ) by the vehicle ( 1 ) and / or depending on driving over at least one terrain area ( 20 . 21 . 22 ) by a wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) is selected. Method according to one of claims 1 or 2, wherein the driver information at least one spatial relation between the at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and / or one from the wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) claimed surface area ( 4_S ) or space requirements, and at least one terrain area ( 20 . 21 . 22 ) from the environment of the vehicle ( 1 ), for a current time or for a time in the near future. Method according to one of the preceding claims, in which the driver information comprises at least one relative arrangement, in particular a type of arrangement between the at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and / or one from the wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle claimed surface area ( 4_S ) or space requirements, and the at least one terrain area ( 20 . 21 . 22 ) from the environment of the vehicle ( 1 ), for a current time or for a time in the near future. Method according to one of the preceding claims, in which a causal relationship between the at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and at least two specific, in particular alternatively passable terrain areas ( 20 . 21 . 22 ) and the driver information ( 7 ) depending on a comparison of the causal relationships to at least two different terrain areas from the environment ( 2 ) of the vehicle ( 1 ) is produced. Method according to one of the preceding claims, characterized in that the at least one image information at least a part of the environment of the vehicle ( 1 ) and / or emphasizes that is or will lie under the vehicle at a current or future point in time, and from the resting surface of the tire of at least one wheel ( 4VL . 4VR . 4HL . 4HR ) is affected or affected. Method according to one of the preceding claims, characterized in that the wheel of the vehicle is a rear wheel ( 4HL . 4HR ) of the vehicle ( 1 ), the rear wheel ( 4HL . 4HR ) is steerable. Method according to one of the preceding claims, in which the driver information has a spatial and temporal relationship and / or a causal relationship between the movement of at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) in relation to at least one particular terrain area ( 20 . 21 . 22 ), in particular a terrain artifact ( 30 . 31 . 32 ). Method according to one of the preceding claims, characterized in that the terrain artifact is a curb ( 32 ), whereby a certain undesirable effect on the wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle is detected for at least one time, when - an angle between the wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and the curb ( 3 ) is less than a predefined angle limit and / or - a distance of a wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) to the curb ( 3 ) is less than a predefined distance limit value and / or - a contact between a wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and the curb ( 32 ) is predicted for at least one future time interval. Method according to one of the preceding claims, comprising: determining a parameter indicative of a driving trajectory and / or a planned maneuver of the vehicle ( 1 ), and - generating the driver information ( 7 ) depending on the determined parameter of the driving trajectory and / or the planned maneuver, wherein at least a substantial part of the driver information ( 7 ) for at least one (future) time in connection with the driving trajectory and / or maneuver. Device for generating driver information ( 7 ) comprising at least one graphic element in connection with at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ), the driver information ( 7 ) a combination comprising: - at least one graphical element representing the at least one wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) and / or one of a wheel ( 4VL . 4VR . 4HL . 4HR ) of the vehicle ( 1 ) claimed area requirements ( 4_S ) or space requirements, and - at least one image information that at least a part of the terrain area ( 20 . 21 . 22 ) from the environment of the vehicle ( 1 ), which at a certain point in time, in particular at the time of issuing the vehicle information ( 7 ) on a display device ( 6 ) is at least partially covered by the vehicle.  Apparatus according to claim 11, also designed to carry out the method according to one of claims 2 to 10. Mobile user device ( 6 ), which is configured, together with at least one data processing device of a vehicle and / or together with at least one sensor of the vehicle to carry out a method according to claims 1 to 10.  Computer program, in particular a computer program product comprising the computer program, wherein the computer program is designed to carry out the method according to one of claims 1 to 10 when executed on a data processing device of the vehicle or of the mobile user device.

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