DE102016002470B4 - Vision system for a vehicle, in particular a commercial vehicle - Google Patents

Abstract

Vision system (10) for a vehicle (100), in particular a commercial vehicle, with a recording unit (20) for recording a field of vision, a calculation unit (30) which is adapted to generate image data to be displayed from the recorded image data and to send it to an image reproduction unit (40) deliver, the image data to be displayed including the viewing area recorded by the recording unit (20), the image display unit (40) being adapted to the display of the image data to be displayed that is visible to the driver of the vehicle (100), the calculation unit (30) being adapted to a Modify the image area of the image data to be displayed in such a way that a dissolve object (70) present in the image to be displayed is at least partially provided with a dissolve (60) that follows a contour of the dissolve object (70), so that the dissolve object (70) that may irritate the driver of the vehicle ) is eliminated from the image to be displayed.

Description

The invention relates to a vision system for a vehicle, in particular a commercial vehicle, with the aid of which images of the vehicle environment can be displayed in a vehicle interior, for example a driver's compartment of a commercial vehicle, so that they can be viewed by the driver while driving. Such vision systems serve i.a. as a mirror replacement system or they are used in addition to the mirrors, in particular exterior mirrors, of a vehicle in order to show the driver the situation around the vehicle in certain driving situations or at any time in a manner that is visible and ergonomically as possible. Such vision systems thus contribute to improving road safety, as the driver of the vehicle always has a good overview of the traffic situation around the vehicle and possible dangers.

State of the art

Mirror replacement systems and other camera monitor systems or display devices for vehicles are known in the prior art. For example, the DE 10 2012 001 835 A1 a mirror replacement system for a commercial vehicle, with the aid of which in particular the field of view of a main mirror and the field of view of a wide-angle mirror, which are usually attached to a commercial vehicle, can be displayed by means of a camera system inside a driver's compartment of the commercial vehicle. Such a mirror replacement system or vision system usually includes a recording unit, such as a camera, with which at least one field of vision around the vehicle can be recorded and with which image data of the field of vision can be recorded, a computing unit that processes the image data and for display on a display unit, such as a monitor or a projection onto vehicle structural components. The recorded fields of vision around the vehicle can, in particular when the system is used as a mirror replacement system, also contain fields of vision prescribed by law, which are prescribed for the European area, for example in ECE directive R46.

In particular when the systems are used as mirror replacement systems, a perspective representation is often chosen for the representation on the display unit, such as a monitor or display, which corresponds to a view that a driver of a vehicle has when he looks into a conventional mirror. This means in particular, for example, that when the vision system is used as a mirror replacement system for a main or wide-angle mirror of a utility vehicle, a rearward-facing and laterally-oriented representation is selected, based on a recording unit on the driver's cab.

In the case of such vision systems, it is also known, particularly when they are used, among other things, by a so-called driver assistance system or as a contribution to such a driver assistance system, to superimpose warnings or other indications such as distance lines on the image displayed on the display unit. For this purpose, the calculation unit is designed to recognize an obstacle or a danger point in the recorded image, for example by means of image analysis. The obstacle or the danger point is then highlighted by means of a warning frame that the calculation unit places around the possible danger on the image to be displayed. It is also known to show other graphics, such as partially transparent graphics, or fonts. Such systems are for example from the DE 10 2005 034 201 A1 , of the DE 10 2012 200 762 A1 and the DE 103 29 054 A1 known.

It is also known to also detect or display vehicle reference elements in the recorded and displayed image in such vision systems, or virtual vehicle reference elements are superimposed on an image that does not have them or only very small ones. This offers the advantage that the driver has a better orientation with regard to the limits of his vehicle when looking into the virtual mirror or the display. Such vehicle reference elements are in particular parts of the vehicle geometry.

In the not pre-published DE 10 2015 002 923 A1 a vision system is also described in which, depending on the image properties of the image to be displayed, properties of the dissolve or superimposition are adapted. For this purpose, the image area contains a measurement area in which at least one image property of the image area is recorded. The calculation unit is adapted to define a fade-in area property on the basis of the detected property in the measurement area, which, for example, can be the brightness, transparency, contrast or the like of the fade-in.

With such vision systems it sometimes occurs that there are areas in the image to be displayed which irritate or mislead the driver. For example, such

Areas include reflections that represent alleged road users, glare from light from others or from your own vehicle, advertising posters or the like.

Object of the invention

It is therefore the object of the invention to provide a vision system for a vehicle, in particular a utility vehicle, which can reduce or exclude such disruptive or irritating influences for the driver on the image to be displayed.

Presentation of the invention

This object is achieved with a vision system with the features of claim 1. Preferred embodiments are given in the dependent claims.

The invention is based on the idea that when an object potentially irritating or disturbing the driver is recognized in the displayed image, by the driver himself or by the vision system, a dissolve is carried out over the disturbing area or object. As a result of this dissolving, the disruptive dissolving object, for example bright or dazzling light, is at least attenuated in the displayed image and thus no longer disturbs the driver of the vehicle when looking at the displayed image. The cross-fading therefore takes place depending on the image content. If a (potentially) annoying or irritating dissolve object is detected in the image content, a dissolve is carried out.

The cross-fade essentially follows the contour of the cross-fade object in order to enable the most unrestricted view of the vehicle environment and at the same time to eliminate the potentially irritating object and to avoid irritations caused by the cross-fade itself. This means that the contour, i.e. the shape progression of the dissolve object is retained as far as possible, so that the driver can still identify the dissolve object with regard to its type, etc. However, the fact that the transition follows a contour of the transition object does not mean that the contour of the transition and that of the transition object have to be 100% identical. Rather, a fading that is simplified, for example in the edge areas, can be carried out, which approximately reproduces the contour course and yet fades as few parts as possible from the image to be displayed that cannot be faded out. This means that, for example, in the case of a dissolve object with a not clearly defined edge or a not clearly defined contour, such as the sun, the essential, bright area of the sun or the dissolve object is removed from the image and areas adjacent to it that are less are bright, are retained. In the case of a dissolve object with a heavily chiseled or filigree edge, a simplified shape can be used as a dissolve for the dissolve object. The fact that the cross-fade follows the contour of the cross-fade object means that a cross-fade that is dependent on the image content and the cross-fade that is dependent on objects present in the image content is carried out with regard to their contour, which largely emulates the objects of the image content in terms of shape and arrangement on the image to be displayed is. For e.g. However, geometrically simple shapes of the dissolve object can, of course, also have a complete geometric correspondence between the dissolve and the dissolve object. Furthermore, with regard to the contour of the dissolve and the outer contour of the dissolve object, it is not necessary that these necessarily coincide completely. Rather, at least in some areas, the dissolve allows a distance to the dissolve object to be maintained, for example only an inner sub-area of the dissolve object can be provided with the dissolve, as long as the contour of the dissolve object is reproduced and no or only absolutely necessary other image areas with the dissolve be provided.

The influence that may lead to the driver being irritated and the irritation itself, for example glare, which leads to the vehicle environment no longer being sufficiently distinguishable from the vehicle shown in the image. Can be detected by the vision system itself, in particular the calculation unit. Alternatively, a driver can make a corresponding input in the vision system, which leads to the fading being triggered. Possible irritations can be that the driver is blinded by, for example, a light source from another road user or by marker lights attached to his own vehicle, or that reflections on his own vehicle or, for example, advertising posters on the roadside give the impression of other road users who do not actually exist are. Such irritations can either be caused by the vision system itself, e.g. by image analysis, capture or by fading can be triggered by actuating a corresponding input device in the vision system.

The triggering of a dissolve on the image to be displayed by the driver is particularly advantageous if parts of the vehicle's geometry are to be superimposed, for example because reflections in the vehicle's own vehicle from other road users occur in the visual system on the image to be displayed, which can irritate the driver. Another example of when the driver-operated fade is beneficial is a Position of the sun, which makes it difficult to differentiate between the vehicle and its surroundings, for example. Recognition and differentiation can also be simplified here by overlaying the vehicle geometry. Above all, if a cross-fade triggered by the driver of the vehicle is carried out, it is advantageous to use cross-fades stored in the vision system with regard to geometry and position.

The image data recorded by the recording unit or units preferably correspond at least partially to the view of a side mirror, a main mirror and a wide-angle mirror of a vehicle. This means that the perspective with which the display in the driver's compartment of the vehicle takes place on the display unit has a perspective that corresponds to the perspective when looking into a normal mirror. This makes it possible to use the corresponding vision system as a mirror replacement system for at least one mirror. Of course, it is also possible to replace several mirrors with a corresponding vision system. The representations can either be as in an ordinary mirror, that is, the image of a main mirror and the image of a wide-angle mirror of a commercial vehicle are displayed one below the other on the display unit, like the view when looking into an ordinary main and wide-angle mirror on commercial vehicles is. Alternatively, the image of a main mirror and the image of a wide-angle mirror can be displayed side by side and merging into one another in such a way that a panoramic view is created, that is, a perspective view, similar to a mirror, is created, but with a seamless transition between the usual image the main mirror and that of the wide-angle mirror.

A recording unit can be provided for recording the viewing area, or several recording units can be provided. Such a recording unit can be, for example, a camera or an image sensor. According to a preferred embodiment, the receiving unit or units is / are arranged in such a way that they are directed to the rear and / or to the front and / or to the side in relation to the vehicle forward travel direction. The representation on the image display unit also corresponds to this perspective and thus corresponds, at least approximately, to the view that a driver has when he looks into a normal mirror.

If the vision system is used as a mirror replacement system according to a preferred embodiment, it is also necessary that the display on the image display unit takes place permanently and in real time, with permanent means that the display is not temporarily interrupted by other overlays or interrupted in any way (e.g. temporarily is hidden).

When using the vision system as a mirror replacement system, it is also advantageous that the field of vision that is recorded by the recording unit and in the image data to be displayed, which are provided by the image reproduction unit for the display for the driver of the vehicle to see, also contain legally prescribed fields of vision are. These legally prescribed fields of vision are for commercial vehicles, for example for the European area in the ECE directive R46 defines and specifies, for example, the field of view of a main mirror, the field of view of a wide-angle mirror on the passenger side, the field of view of a main mirror and the wide-angle mirror on the driver's side and the like in their dimensions with respect to the vehicle or the driver's position in the vehicle. Their lateral extension and longitudinal extension are thus defined with respect to the vehicle. If the vision system is to be used as a mirror replacement system, these fields of vision must be visible to the driver at any time, for example as soon as the ignition of the vehicle is switched on or the vehicle is in a usable operating state.

The vision system can preferably analyze the image data recorded by the recording unit by means of the computation unit with regard to whether a reflection, a light source and / or an image of another road user is present as a reflection or through advertising posters that cause irritation. This analysis can take place by means of image data analysis or it can take place by means of additional sensors attached to the vehicle, such as, for example, distance sensors, radar, infrared sensors or the like, which have an input into the calculation unit. The calculation unit can then, preferably, when recognizing such a possible disturbance for the driver on the image to be displayed, carry out a dissolve over the corresponding image area and in particular the dissolve object.

For example, the image data can be analyzed, in particular by an image analysis device, to determine whether an excessively bright image area is present and whether a dissolve object can be made out on it. If this is the case, according to a preferred embodiment, the vision system can automatically, i. Carry out a dissolve over the corresponding dissolve object without additional intervention by the driver.

In an alternative, the fading can also take place when a driver triggers it. This means, for example, that data available by means of the vehicle geometry for performing a fade over the vehicle contour is carried out as soon as the driver, for example manually, makes a corresponding input in the vision system. For this purpose, data stored in advance with regard to the vehicle geometry or data obtained in real time with regard to the vehicle geometry, such as a supposed position of a trailer from a steering angle sensor, are superimposed over the image to be displayed and thus, for example, reflections that appear in the vehicle display the image display unit, faded out or faded out. The position of the cross-fade can alternatively also be entered into the vision system by the driver of the vehicle, for example via a touch display, and then automatically tracked by the vision system when their position changes.

According to a preferred embodiment, the cross-fading accordingly contains at least part of the vehicle geometry. In particular, reflections can occur in the side contour of the vehicle or irritation can occur from warning lights provided on the side of the vehicle, in particular a utility vehicle. If a driver recognizes this, he can, for example, trigger the fading of the vehicle contour or part of the vehicle contour in the image to be displayed by a corresponding input in the vision system. Another example in which the triggering of the cross-fade by the driver is particularly preferred is in poor lighting conditions, for example when the recording unit has to take a backlight recording in which the vehicle is difficult to distinguish from its surroundings. By fading in or overlaying the vehicle contour and vehicle geometry on the image to be displayed, orientation on the displayed image can then be made easier for the driver.

The recording unit preferably records at least part of the vehicle geometry of the vehicle accordingly. The dissolve object is also the vehicle geometry. In this case, however, the vehicle geometry that is displayed on the image display device can also be expanded virtually, for example, by additional areas that display the vehicle. The cross-fading can also or exclusively be located in the virtually added part of the vehicle geometry. In this case, it is then only necessary to record a small part of the vehicle geometry with the recording unit. Nevertheless, orientation for the driver remains easy due to the additional expansion of the vehicle geometry on the image to be displayed.

If the cross-fade is the vehicle geometry, the cross-fade does not have to be above the complete vehicle geometry. Rather, it is sufficient if the essential areas of the vehicle geometry are faded approximately, that is to say for example areas in which reflections occur or edges of the vehicle geometry as required. It is also sufficient if the main characteristics of the vehicle geometry are traced with regard to the contour. For example, the cross-fading can also be at a certain distance from the vehicle contour.

According to another preferred embodiment, the transition is a dividing line between the vehicle geometry and the vehicle environment. This is particularly advantageous if, due to the lighting conditions, the image recorded by the recording unit permits poor differentiation or no differentiation between the vehicle geometry and the surroundings. Such a dividing line does not have to be exactly on the division between vehicle geometry and surroundings. It is usually sufficient if this is in the approximate position of the separation between the vehicle environment and the vehicle geometry. It is also not necessary to trace the entire dividing line, but partial areas can be sufficient.

As an alternative to this, instead of just providing a dividing line between the vehicle geometry and the vehicle environment, the dissolve with regard to the vehicle geometry can be an area of the dissolve that completely or partially dissolves the vehicle geometry. This has the advantage that reflections that occur in the vehicle geometry are also excluded or reduced.

In particular, if the vision system is used as a mirror replacement system and covers legally prescribed fields of vision, it is preferred that the cross-fading takes place in an image area that is outside the representation of the legally prescribed field of vision. This ensures that the driver always has an unrestricted view into or onto the legally prescribed field of vision.

The transition can be transparent or non-transparent. The cross-fading is preferably transparent, so that contours or objects lying under the cross-fading can also be recognized by the driver.

The dissolve, especially if it is a two-dimensional dissolve, is preferably such that the original contour of the dissolve object remains visible, ie it takes place at a distance from the contour of the dissolve object, but follows in geometric course as much as possible of this contour. This also has the advantage that although, for example, disruptive bright points or the like are largely removed from the representation, the original properties of the fade object remain recognizable for the driver of the vehicle.

The cross-fading is preferably such that it results in a change in the contrast of the cross-fade object to the surroundings or / and a change in brightness of the cross-fade object to the surroundings with respect to the original image recorded by the recording unit on the image to be displayed. For example, instead of darkening the dissolve object by means of the dissolve, in order to hide or soften disturbing light influences, for example, the dissolve object can be highlighted by the dissolve, for example when another road user is recognized, for example at night, this can be brightened by the dissolve so that the driver recognizes and identifies the road user more easily.

According to a preferred embodiment, the cross-fading takes place dynamically, preferably as a function of vehicle parameters that are detected by vehicle sensors and / or of vehicle environment parameters that can also be detected by suitable sensors and / or of the geometry of the vehicle. For this purpose, the computation unit determines the corresponding parameters or retrieves them from a database or a memory, or receives them from corresponding sensors that are attached to the vehicle, and then adjusts the fade depending on these determined parameters or the geometry of the vehicle , for example with regard to their position and location, with regard to their brightness and / or with regard to their contrast to the rest of the image. The adjustment preferably takes place essentially in real time. The determination of the parameters with regard to the cross-fading to be carried out, for example with regard to the brightness, can also take place through image analysis of the recorded image, i.e. that for example a dividing line is adapted in its brightness or in its color depending on the coloring of the rest of the image. In this context, it is further preferred to adapt to such dynamically changing variables, if necessary, only when the change in the corresponding variable is present over a certain period of time. In this way, it can be avoided that, for example, if the overall brightness of the picture is only changed for a short time, another fade is made and this is reversed as soon as the short-term change disappears, which leads to a flickering of the picture and thus an unfavorable visual impression for the Driver leads.

In addition to the cross-fading, which is carried out in order to change a certain area of the image to be displayed with a cross-fade object, the calculation unit can of course also carry out further cross-fades in the image to be displayed, which either also cross-fade a cross-fade object and thus largely follow the contour of the object, or which are independent of this, such as the insertion of distance lines when reversing, warnings to the driver or the like.

With regard to the calculation unit, it should be noted that this can be present as a separate unit for the vision system, divided into several units, as an integrated unit in an on-board computer (ECU) or the like. Furthermore, the computation unit can be provided with a memory for pre-storing cross-fading geometries, in particular those relating to the cross-fading of the vehicle geometry. This memory can also be provided in other vehicle components apart from the calculation unit itself on the vehicle, as long as the calculation unit accesses it.

Figure list

• 1 schematisch ein Sichtsystem für ein Fahrzeug zeigt;
• 2 eine Draufsicht auf ein Fahrzeug ist, die Erfassungsbereiche von Aufnahmeeinheiten, die am Fahrzeug angebracht sind, veranschaulicht;
• 3 eine schematische Darstellung eines Beispiels für ein Bild ist, das auf der Bildwiedergabeeinheit zu sehen ist;
• 4 die Darstellung des Bilds gemäß 3 bei ungünstigen Lichtverhältnissen andeutet;
• 5 ein erstes Beispiel für eine Überblendung gemäß der Erfindung in der Darstellung gemäß 4 ist;
• 6 ein weitere Beispiel für eine Überblendung in der Darstellung gemäß 4 ist;
• 7 ein weiteres Beispiel für eine Überblendung in der Darstellung gemäß 4 ist;
• 8 ein weiteres Beispiel für eine Überblendung in der Darstellung gemäß 4 ist;
• 9 ein weiteres Beispiel für eine schematische Ansicht eines darzustellenden Bilds ohne Überblendung mit einer Spiegelung innerhalb der Fahrzeuggeometrie ist;
• 10 der Darstellung gemäß 9 mit einer transparenten Überblendung entspricht;
• 11 der Darstellung gemäß 8 mit einer nicht transparenten Überblendung entspricht;
• 12 ein weiteres Beispiel für eine Ansicht des auf der Wiedergabeeinheit darzustellenden Bilds ohne Überblendung ist;
• 13 das in 12 dargestellte Bild mit Überblendung zeigt;
• 14 das in 12 dargestellte Bilde mit einer anderen Überblendung zeigt;
• 15 ein weiteres Beispiel für ein auf der Wiedergabeeinheit darzustellendes Bild ohne Überblendung zeigt;
• 16 das in 15 gezeigte Bild mit Überblendung zeigt;
• 17 eine weitere mögliche Darstellung auf der Wiedergabeeinheit zeigt, wenn das Sichtsystem als Spiegelersatzsystem verwendet wird;
• 18 eine alternative Darstellung zur 17 bei Verwendung des Sichtsystems als Spiegelersatzsystem zeigt;
• 19 ein weiteres Beispiel für eine Darstellung auf der Wiedergabeeinheit mit Überblendung ist;
• 20 noch ein weiteres Beispiel für eine Darstellung auf der Wiedergabeeinheit mit Überblendung ist;
• 21 noch ein weiteres Beispiel für eine Darstellung auf einer Wiedergabeeinheit mit Überblendung ist;
• 22 noch ein weiteres Beispiel für eine Darstellung auf einer Wiedergabeeinheit mit Überbeldung ist;
• 23 eine weitere Darstellung auf der Wiedergabeeinheit mit Überblendung mit virtuellem Fahrzeugbezug zeigt;
• 24 eine weitere Darstellung auf der Wiedergabeeinheit mit Überblendung mit virtuellem Fahrzeugbezug zeigt; und
• 25 eine weitere Darstellung auf der Wiedergabeeinheit mit Überblendung mit virtuellem Fahrzeugbezug zeigt.

The invention is described below by way of example with reference to the accompanying figures, in which:

• 1 shows schematically a vision system for a vehicle;
• 2 Fig. 12 is a plan view of a vehicle illustrating detection areas of pickup units mounted on the vehicle;
• 3 Fig. 3 is a schematic diagram of an example of an image to be seen on the image display unit;
• 4th the representation of the image according to 3 indicates in poor light conditions;
• 5 a first example of a dissolve according to the invention in the illustration according to FIG 4th is;
• 6th another example of a dissolve in the illustration according to FIG 4th is;
• 7th another example of a dissolve in the illustration according to FIG 4th is;
• 8th another example of a dissolve in the illustration according to FIG 4th is;
• 9 Another example of a schematic view of an image to be displayed without blending with a reflection within the vehicle geometry;
• 10 as shown 9 corresponds with a transparent fade;
• 11 as shown 8th corresponds with a non-transparent fade;
• 12 is a further example of a view of the image to be displayed on the display unit without fading;
• 13 this in 12 shows the image shown with dissolve;
• 14th this in 12 shows displayed images with a different fade;
• 15th shows another example of an image to be displayed on the display unit without dissolving;
• 16 this in 15th shown image shows with dissolve;
• 17th shows another possible representation on the display unit when the vision system is used as a mirror replacement system;
• 18th an alternative representation to 17th shows when the vision system is used as a mirror replacement system;
• 19th is a further example of a display on the display unit with fading;
• 20th is yet another example of a display on the display unit with fading;
• 21st Figure 3 is yet another example of a display on a display unit with fading;
• 22nd Figure 3 is yet another example of a display on a display with over-messaging;
• 23 shows another representation on the display unit with fading with virtual vehicle reference;
• 24 shows another representation on the display unit with fading with virtual vehicle reference; and
• 25th shows another representation on the display unit with fading with virtual vehicle reference.

Description of preferred embodiments

1 shows schematically a vision system 10 according to the invention. The vision system contains one or more recording units 20th , a unit of calculation 30th and an image display unit 40 . The recording units 20th can for example be cameras or image sensors. It is possible that there is a one-to-one assignment, that a recording unit 20th each one on the playback unit 40 , separately from the images of other recording units 20th takes the displayed image. For example, a first receiving unit takes 20 ' the image corresponding to a right side mirror, and a second pickup unit 20th captures an image corresponding to a left side mirror, and these images are displayed on the image display unit 40 side by side, e.g. separated by dividing lines. Alternatively, it is also possible that several receiving units 20th record a common image, that is, by means of the calculation unit 30th the individual images of the recording units 20th on on the playback unit 40 Common image to be displayed, which for example merges seamlessly into one another, can be put together. The vision system can also be connected to further vehicle sensors or the like, for example are shown schematically in FIG 1 Entrances 25th intended for vehicle and / or environmental sensors. For example, such a sensor can be a brightness sensor, a steering angle sensor, a speed sensor, a distance sensor or the like.

The calculation unit 30th can be provided with a store housed in it. In addition to the possibility that the calculation unit 30th for the vision system 10 as in 1 is designed as a separate unit shown, it could optionally also be in the image display unit 40 , in the receiving unit 20th or be integrated into a vehicle ECU.

The recording units 20th take pictures of the vehicle environment and possibly part of the vehicle geometry and deliver this image data to the computation unit 30th . The calculation unit 30th combines this image data with further inputs via the inputs if necessary 25th , optionally carries out an image analysis or the like and delivers on the image display unit 40 data to be reproduced to the image reproduction unit 40 , on which these image data are displayed and can be viewed by the driver sitting in a vehicle compartment of the vehicle.

2 shows schematically possible viewing angles of recording units 20th for a representation corresponding to a right and a left mirror on a vehicle 100 . The recording units are in 2 left or right on the vehicle 100 , here a commercial vehicle, attached at the height of the cab. The cone of vision 21st run to the rear and side of the vehicle 100 based on the forward direction of travel V , as in 2 in the top view of the vehicle 100 is indicated. The cones of vision cover accordingly 21st left or right of the vehicle 100 an area that runs from front to back (in relation to the forward direction of travel V ) runs and thereby widens in the lateral direction, and in addition to an area lying laterally next to the vehicle, also capture part of the vehicle geometry 101 .

3 to 24 show various representations of the vehicle and the vehicle surroundings on an image display unit 40 of the invention for different driving situations. The representation is selected so that it essentially corresponds to the view in a side mirror in a vehicle, that is to say that in addition to a view from the front to the rear of the image display unit 40 also a vehicle reference by mapping the vehicle geometry 101 is shown.

In 3 showed a situation in which the visibility around the vehicle is good and there are no disruptive influences. As in 3 is recognizable, the driver sees on the image display unit 40 part of the vehicle geometry 101 , a floor area around the vehicle 50 , a sky area 51 next to the vehicle as well as the horizon 52 . Since visibility is good, the driver can see the various areas, i.e. the vehicle geometry 101 , the floor area 50 and the sky realm 51 easily differentiate from each other and so, even if other road users or the like get into the picture, simply orientate themselves and, for example, distances to the vehicle 100 assess.

In contrast, the representation in 4th the view is restricted, which is indicated schematically by dotted lines. This means that the horizon 52 is not or only very poorly recognizable for the driver, as is, for example, a transition between the vehicle 100 with the vehicle geometry 101 and the sky realm 51 . This means that the driver has difficulty correctly assessing the situation around the vehicle, for example with regard to distances to the vehicle or the like.

It is accordingly provided that in the calculation unit 30th if so from the calculation unit 30th by image analysis from the recording unit 20th image data provided is recognized, a dissolve 60 is made. Alternatively, this cross-fading can also be triggered by the driver by making a corresponding entry in the vision system 10 , for example by pressing a button, by voice input or the like. When the vision system 10 recognized or assigned to it, a dissolve 60 identify the vision system 10 a transition object 70 , for example by analyzing the image data or by presetting and storing the corresponding data in the vision system 10 , and takes a dissolve 60 in front. The transition 60 follows the contour of an identified transition object 70 .

This situation is in 5 shown in the in accordance with the picture 4th that is on the playback unit 40 is shown, a dissolve 60 that the contour of the vehicle geometry 100 is made. The transition 60 is in the form shown in 5 a line that runs completely around the contour and that largely on the boundary between the vehicle geometry 100 and floor area 50 or sky area 51 follows. Alternatively, for example, the dissolve 60 follow the contour of the vehicle geometry only in part, for example only at the boundary between the vehicle geometry 100 and sky area 51 .

An alternative solution for a dissolve 60 is in 6th shown. Here the dissolve is flat and it is called a dissolve 60 an area that corresponds to the entire vehicle area, as far as this on the image display unit 40 the image to be displayed is to be provided.

7th shows a further embodiment in which the dissolve 60 is in two parts and next to one like in 5 The contour line shown is also attached to this, to the vehicle geometry 101 adjacent two-dimensional dissolve 60 having.

In 8th Finally, an embodiment is shown in which on the playback unit 40 a vehicle geometry in the image to be displayed 100 a commercial vehicle with a trailer is shown. The transition 60 takes place in the in 8th illustrated embodiment flat, that is, over the geometry 101 of the commercial vehicle and the trailer. The position of the utility vehicle and / or the trailer can be determined from image data analysis of the recorded image by the recording unit 20th to be determined. Alternatively, it is also possible, by means of inputs of properties and sensors for tracking the trailer, for example, to use this geometry from data stored in a memory of the vision system 10 are stored.

The properties of the transition 60 can be called dynamic as required. For example, the brightness can be adapted to environmental parameters that are recorded using additional sensors and via the inputs 25th into the calculation unit 30th entered, and the blend color, Brightness, contrast and the like can be selected depending on it. Alternatively, a cross-fading property can also be determined by image data analysis, for example by evaluating the image data in border areas for the cross-fading and determining the brightness, contrast, color, saturation or the like as a function thereof.

The cross-fading can furthermore be transparent, semitransparent or non-transparent, with transparent or semitransparent cross-fading being preferred, since the driver can then still see objects underneath.

9 shows another possible representation on the image display unit 40 . A road user is reflected here 53 in vehicle geometry 101 with a reflection 53 ' .

To the confusion caused by such reflections 53 ' can arise, in turn, can be avoided by the driver, in a similar way as in connection with 3 to 8th described a dissolve 60 be made as it is in 10 and 11 is shown. In 10 the fade 60 transparent, in 11 not transparent. In either case, the reflection will be 53 ' thereby at least mitigated ( 10 ) or canceled ( 11 ), so that the driver can easily see when the actual road users are 53 acts and when it is only their reflection 53 ' is.

In the figures described so far, the fade object is 70 always the vehicle geometry 101 .

Recognizing and determining the properties of the transition 60 as well as triggering a dissolve 60 can be done in several ways as related to 3 to 8th are described.

12 shows a further possible vehicle surroundings situation that is shown on the image display unit 40 is shown. For example a sun is through here 54 There is a bright spot in the recorded image that could disturb or dazzle the driver. Correspondingly, as previously described, a dissolve can also be performed here 60 can be made, essentially the outline of the transition object 70 , this is the sun 54 is, follows. There is a sun 54 has no clear, delimitable and perceptible contour, it goes without saying that the dissolve 60 essentially follows the clearly lighter area and this is to be understood as a contour. As in 13 can be shown, the transition 60 the transition object 70 cover completely. Alternatively, as it is in 14th is shown, the fade 60 are made in such a way that they match the transition object in shape and contour 70 follows, but does not fill it out completely. In 14th the fading takes place 60 thus only partially about the potentially disturbing dissolve object 70 so that its edge area is still visible.

In 15th a further embodiment is shown in which a further driving situation is shown on an image display unit 40 is shown. Here is a flashing light or position light on the vehicle 55 the potentially disruptive object that could dazzle the driver and thus the dissolve object 70 . As in 16 can be shown by means of a dissolve 60 over the transition object 70 which is essentially the contour of the transition object 70 follows and fills this in the present exemplary embodiment, the disruptive influence of the indicator or position light 55 be reduced or decreased on the vehicle.

While the in 12 to 14th Embodiments shown, the detection of the potentially disruptive object that the transition object 70 is preferably carried out by image recognition or image analysis of the recorded image data, since the position of the dissolve object 70 can not be clearly determined in advance on the image display unit or in the image to be displayed, the in 15th and 16 embodiment shown in addition to triggering the dissolve 60 image recognition also triggers the dissolve by input from the driver, or by presetting in the system, for example as soon as the flashing light 55 is switched on.

17th and 18th show representations on the image display unit 40 when the vision system 10 is used as a mirror replacement system for a main and a wide-angle mirror of a commercial vehicle. Fades 60 are each related to the vehicle geometry 101 performed. At the in 17th The illustration shown is the image of the main mirror 80 on the image display unit 40 above the image of the wide-angle mirror 81 provided and arranged. Alternatively, as in 18th shown, the picture of the main and the picture of the wide-angle mirror 80 , 81 can also be arranged by means of the calculation unit 30th that these merge seamlessly into one another. One in 18th indicated border line indicated by dashed lines 82 between the two images need not necessarily be provided. It goes without saying that these types of display, that is, when the vision system 10 a mirror replacement system is all possible, described dissolves 60 in addition to the in 17th and 18th The cross-fades shown are possible with regard to the vehicle geometry.

19th shows a situation in which the driver is on the display unit 40 The image shown may be caused by the lights of another road user 53 is blinded. The lights 56 can thus the transition object 70 be like it in 19th is shown. Alternatively or additionally, as it is in 20th shown is a dissolve 60 that of the vehicle geometry 101 of one's own vehicle, in order to give the driver a better impression of the distance and the surrounding situation around his vehicle. As in 20th the fade is shown 60 in this case not completely along the contour of the vehicle geometry 101 , but only over a section and slightly spaced from it, but follows this.

In 21st is finally shown as a partial dissolve 60 over the lights 56 of the other road user is made. This can be triggered, for example, by image analysis, i.e. detection of a bright spot, or also by input from the driver by marking the light points on a touch display, for example, and the calculation unit then marking the fade object 70 determined and with a fade 60 provides. The position of the transition object 70 can be the calculation unit 30th then by tracking the transition object 70 in the image data received by the acquisition unit 20th be delivered, for example make.

Of course, it is also possible at the same time, as required or desired by the driver, to enter the data into the vision system with a corresponding input device 10 enters, multiple dissolves 60 at the same time. Such a situation is in 22nd shown. There is on the image display unit 40 a situation shown in, for example, thick fog or other poor visibility conditions. The driver receives a first cross-fade for easier orientation 60 with his own vehicle 100 as the first transition object 70 , here in the form of a frame along the contour of the vehicle and a flat highlight. When recognizing and identifying another road user 53 This can be a second dissolve object in the vehicle environment 70 The one here for emphasis and easier recognition for the driver with a two-dimensional second fade 60 is provided.

23 to 25th finally show a situation in which, in addition to fading over the vehicle geometry 101 such as in connection with 6th , 7th , 8th and 10 is described, an additional virtual dissolve is made, which in the cases of 23 to 25th the vehicle geometry 101 expanded on the image to be displayed. Alternatively, this virtual cross-fading, which does not take place in the recorded image area but complements it, is the cross-fading 60 that is the contour of the transition object 70 follows. Corresponding data relating to the vehicle geometry can be found in the vision system 10 be stored in advance in a corresponding memory and accessed. This has the advantage that it is sufficient to use the receiving unit 20th or the recording units 20th to capture a relatively low vehicle reference that the dissolve object 70 is, and next to the fade 60 expand the vehicle reference to the driver so that he can more easily recognize the vehicle reference. There is also an additional, virtual display 90 performed. It is also possible, as for example in 25th shown, the cross-fade is generated virtually as a whole, i.e. a fade-in 90 is the outline of the transition object 70 follows, but not im from the imaging unit 20th recorded area, but completely adjacent to it.

List of reference symbols

10

Vision system

20th

Recording unit

21st

Cone of vision

25th

entrance

30th

Calculation unit

40

Image display unit

50

Floor area

51

Sky area

52

horizon

53

Road users

53 '

reflection

54

Sun

55

Flashing light

56

chandelier

60

Dissolve

70

Transition object

80

Image of the main mirror

81

Image of the wide angle mirror

90

Fade in

100

vehicle

101

Vehicle geometry

V

Forward direction

Claims (15)

Vision system (10) for a vehicle (100), in particular a utility vehicle a recording unit (20) for recording a viewing area, a calculation unit (30) which is adapted to generate image data to be displayed from the recorded image data and to deliver it to an image display unit (40), the image data to be displayed including the field of view recorded by the recording unit (20), wherein the image display unit (40) is adapted to the display of the image data to be displayed that can be viewed by the driver of the vehicle (100), wherein the calculation unit (30) is adapted to modify an image area of the image data to be displayed in such a way that a dissolve object (70) present in the image to be displayed is at least partially provided with a dissolve (60) which follows a contour of the dissolve object (70) so that the dissolve object (70) potentially irritating the driver of the vehicle is eliminated from the image to be displayed. Vision system (10) Claim 1 wherein the image data to be displayed correspond at least partially to the view of a side mirror, a main mirror and / or a wide-angle mirror of a vehicle (100). Vision system (10) Claim 2 , the system being a mirror replacement system. The vision system (10) according to any one of the preceding claims, wherein the calculation unit (30) is adapted to analyze the recorded image data and, when a reflection, a light source and / or an image of a road user is recognized, a dissolve (60) over the corresponding image area. Vision system (10) according to one of the preceding claims, wherein the calculation unit (30) is adapted to analyze the recorded image data and to carry out a dissolve over the corresponding dissolve object (70) when a bright image area with a dissolve object (70) is recognized. Vision system (10) according to one of the preceding claims, wherein the recording unit (20) is adapted to record at least part of the vehicle geometry (101) of the vehicle (100) with the recording unit (20) and wherein the fading object (70) is the vehicle geometry ( 101) is. Vision system (10) Claim 6 , wherein the transition (60) is a dividing line between the vehicle geometry (101) and the vehicle environment (50, 51). Vision system (10) Claim 6 wherein the dissolve (60) is an area that is completely or partially superimposed on the vehicle geometry (101). The vision system (10) according to any one of the preceding claims, wherein the recording unit (20) is adapted to capture a legally prescribed field of vision in the field of vision and wherein the fading takes place in an image region that is outside the representation of the legally prescribed field of vision. The vision system (10) according to any one of the preceding claims, wherein the transition (60) is transparent or non-transparent. The vision system (10) according to any one of the preceding claims, wherein the dissolve (60) is such that the original contour of the dissolve object (70) remains visible. Vision system (10) according to one of the preceding claims, wherein the fading (60) leads to a change in the contrast of the fading object (70) to the surroundings or a change in brightness of the fading object (70). Vision system (10) according to one of the preceding claims, wherein the fading (60) takes place dynamically, preferably as a function of vehicle parameters, environmental parameters or the geometry of the vehicle. Vision system (10) according to one of the preceding claims, wherein the calculation unit (30) carries out a further insertion (90) in the image to be displayed in addition to the dissolving of the dissolving object (70). Vision system (10) according to one of the preceding claims, wherein the recording unit (20) contains a camera directed backwards and / or forwards and / or to the side in relation to the vehicle forward direction of travel.

Images