DE102018002955A1 - PROCESS AND CONTROL ARRANGEMENT FOR ENVIRONMENTAL PERCEPTION - Google Patents

Abstract

A method (500) and control arrangement (210) in a vehicle (100) for sensing a vehicle environment object (150). The method (500) comprises the steps of: obtaining (501) information related to the vehicle environment object (150) from at least one sensor (110, 120, 130, 140, 330); Digitizing (503) the obtained (501) information; and outputting (506) a digitized (503) representation (200) of the vehicle environment object (150).

Description

TECHNICAL AREA

This document relates to a method and a control arrangement in a vehicle. In particular, a method and a control arrangement for the perception of a vehicle environment object are described.

GENERAL PRIOR ART

There are several problems associated with proper perception of the environment while driving a vehicle.

A first problem of a driver is that he / she may be baffled by the multitude of impressions from the environment and in particular the inexperienced driver may have problems distinguishing relevant information in the immediate vicinity of the vehicle from irrelevant or at least non-compelling information. Often, irrelevant objects in the vicinity of the vehicle, such as a parked other vehicle, may interfere with a very relevant object, such as a child running toward the road behind the parked other vehicle.

This problem becomes even greater when the conventional rear view mirror of the vehicle is replaced by a pair of cameras (located outside the vehicle, facing backwards) and a corresponding display (located in the cabin of the vehicle). This arrangement can sometimes be referred to as a digital rearview mirror. An advantage is that the air resistance can be reduced because the camera is much smaller than a rearview mirror. However, to be able to display all the information captured by the cameras, large monitors must be used to help the driver find out what information in the image is important to the driving task. Larger monitors are negative for the driver's direct view and significantly affect traffic safety.

The driver's problems of properly perceiving the environment increase in poor visibility conditions such as darkness, fog, blizzard, rain, haze, hail, smoke, blinding sunlight / reflections, dust storm, etc.

In winter, frost / snow (or dirt all year round) on the rearview mirrors or the windshield of the vehicle may further restrict the driver's perception.

Another problem arises in off-site driving, e.g. when an autonomous vehicle needs manual assistance from a remote driver to solve a tricky situation. The transmission of continuous camera sequences captured by cameras in the vehicle requires considerable bandwidth and processing capacity and increases the risk of deceleration, which can be devastating to the outcome of off-site driving.

The document DE102012010156 describes a system for displaying environment information to the driver of the vehicle. Information from a plurality of sensors is used to generate a virtual image of an environment behind the vehicle, which is then displayed on a display in the vehicle.

However, the solution contained therein appears to focus on providing the driver with more environmental information rather than less, exposing the driver to even more cognitive burdens due to the greater amount of information displayed than other prior art prior art trips.

The document US2010117812 also describes the use of information from a plurality of sensors in the vehicle and the creation of a virtual image presented to the driver of the vehicle. There does not appear to be any difference between environment objects that are important to the driver of the vehicle and environment objects that are irrelevant.

It would therefore be desirable to improve the perception of relevant / important driver environmental information.

BRIEF SUMMARY OF THE INVENTION

It is therefore an object of this invention to solve at least some of the above problems and to improve the perception of a vehicle environment.

According to a first aspect of the invention, this object is achieved by a method in a vehicle. The method aims to perceive a vehicle environment object. The method includes obtaining information related to the vehicle environment object from at least one sensor. Furthermore, the method further comprises digitizing the obtained information. In addition, the method further includes outputting a digitized representation of the vehicle environment object.

According to a second aspect of the invention, this object is achieved by a control arrangement in a vehicle for the perception of a vehicle environment object. The control arrangement is configured to obtain information regarding the vehicle environment object from at least one sensor. Furthermore, the controller is additionally configured to digitize the obtained information. Further, the controller is further configured to generate a command to output a digitized representation of the vehicle environment object via an output unit.

According to a third aspect of the invention, this object is achieved by a system for sensing a vehicle environment object. The system comprises a control arrangement according to the second aspect. Furthermore, the system further comprises at least one sensor for detecting the vehicle environment object. In addition, the system further includes an output device for outputting a digitized representation of the vehicle environment object.

Due to the aspects described, the use of environmental sensors to perceive the environment of the vehicle, filtering out irrelevant / disturbing information, digitizing the relevant information and displaying it to the driver of the vehicle, possibly highlighting very relevant information, becomes the focus of the driver directed to the most relevant object (s) in the vehicle environment. This eliminates or at least reduces the driver's cognitive load due to a variety of environmental influences and the mental classification of environment objects into relevant / irrelevant objects. Furthermore, the driver's environmental perception is improved. By using sensors of various types, such as radar, laser, ultrasound, infrared camera, etc., the driver can perceive objects that are human-like, e.g. in darkness or poor visibility, are imperceptible.

Another advantage is that small monitors, such as reversing monitors, can be used in comparison to the digital rearview mirrors currently in use, resulting in a better driver's direct view and easier integration of the dispensers into the vehicle.

Yet another advantage of the disclosed embodiments is that information needed during off-site driving, such as when an autonomous vehicle requires manual assistance in solving a difficult situation, is significantly reduced, resulting in lower bandwidth requirements and shorter transmission times between Vehicle and a remote driver leads.

Thus, increased traffic safety is achieved by the improved perception of the vehicle environment.

Other advantages and additional novel features will become apparent from the following detailed description.

list of figures

• 1A ein Fahrzeug gemäß einer Ausführungsform der Erfindung darstellt;
• 1B eine Draufsicht eines Fahrzeugs gemäß einer Ausführungsform der Erfindung darstellt;
• 2 ein Beispiel eines Fahrzeuginnenraums gemäß einer Ausführungsform darstellt;
• 3A ein Beispiel eines Verkehrsszenarios und eine Ausführungsform der Erfindung darstellt;
• 3B ein Beispiel eines Fahrzeuginnenraums gemäß einer Ausführungsform darstellt;
• 4 ein Beispiel eines Verkehrsszenarios und einer Ausführungsform der Erfindung darstellt;
• 5 ein Ablaufdiagramm einer Ausführungsform des Verfahrens darstellt;
• 6 eine Darstellung ist, die ein System gemäß einer Ausführungsform zeigt.

Embodiments of the invention will now be described in detail with reference to the accompanying drawings, in which:

• 1A represents a vehicle according to an embodiment of the invention;
• 1B a top view of a vehicle according to an embodiment of the invention;
• 2 an example of a vehicle interior according to an embodiment;
• 3A an example of a traffic scenario and an embodiment of the invention;
• 3B an example of a vehicle interior according to an embodiment;
• 4 an example of a traffic scenario and an embodiment of the invention;
• 5 Fig. 3 is a flowchart of one embodiment of the method;
• 6 Fig. 10 is a diagram showing a system according to an embodiment.

DETAILED DESCRIPTION

Embodiments of the invention described herein are defined as a method and a control arrangement that may be practiced in the embodiments described below. However, these embodiments can be illustrated and implemented in many different forms and are not to be limited to the examples presented here; rather, these illustrative embodiments are provided so that this disclosure will be thorough and complete.

Still other objects and features will become apparent from the following detailed description when taken in conjunction with the accompanying drawings. It should be understood, however, that the drawings are presented for purposes of illustration only and not as a definition of the limits of the embodiments disclosed herein, to which reference should be made in the appended claims. In addition, the drawings are not necessarily drawn to scale and are, if not otherwise stated, merely to conceptualize the structures and procedures described herein.

1A represents a scenario with a vehicle 100 dar. The vehicle 100 drives on a road in the direction of travel 105 ,

The vehicle 100 may comprise a means of transport in a broad sense, such as a truck, a car, a motorcycle, a trailer, a bus, a bicycle, a train, a tram, an airplane, a watercraft, a cable transport, a cable car, a lift, a A drone, a pedestrian, a spacecraft or other similar manned or unmanned means of transport, moving eg on wheels, rails, in the air, on the water or similar media.

The vehicle 100 can be configured to operate on a road, rail, off-road, in the water, in the air, in the room, etc.

The vehicle 100 may be driver-controlled or driverless (ie, autonomously controlled) in various embodiments.

The vehicle 100 In some versions, it can optionally be a forward facing sensor 110 include. In the illustrated embodiment, which is just an arbitrary example, the forward-looking sensor may become 110 eg at the front of the vehicle 100 behind the windshield of the vehicle 100 are located.

The mounting of the forward facing sensor 110 behind the windshield has some advantages over externally mounted camera systems. These advantages include the ability to use windscreen wipers for cleaning and to use the light of headlamps to illuminate objects in the field of view of the camera. It is also protected from dirt, snow, rain and sometimes also from damage, vandalism and / or theft. This sensor 110 can also be used for a variety of other tasks.

The sensor 110 can in the direction of travel 105 directed towards the front of the vehicle. The sensor 110 In various embodiments, for example, a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasound device, a runtime camera or a similar device may be included.

Furthermore, the vehicle 100 one or two side view sensors 120 include. The sideview sensors 120 can be on the left / right side of the vehicle 100 (in the direction of travel 105 considered) and be arranged to objects on the respective side of the vehicle 100 capture. The side view sensor 120 In various embodiments, for example, a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasound device, a runtime camera or a similar device may be included.

Instead of conventional rearview mirrors on the vehicle 100 can use side view sensors 120 in combination with one or more devices provided for displaying objects outside the driver's direct field of view. Such a presentation device may include, for example, a display, a projector, a windshield display, a transparent display as part of the windshield, smart glasses of the driver, etc., that output an image or stream of images from a corresponding sensor 110 . 120 be recorded. Typically, the sensor 120 on the left side of the vehicle 100 to be assigned to a presentation device on the left side of the cabin while the sensor is on the right side of the vehicle 100 a presentation device on the right side of the cabin can be assigned, although other combinations are possible.

However, such a presentation device, which is intended to display objects outside the direct field of view of a driver, may in some embodiments include a reflective element, such as e.g. represented by a (rear) mirror.

The sensors 110 . 120 can be rotated and / or deflected in different directions, and the devices provided for displaying objects outside the driver's direct field of vision can adjust the set sight of the associated sensor 110 . 120 represent.

Furthermore, the vehicle 100 in some embodiments, an additional sensor 140 contain. In the arbitrary example shown is the additional sensor 140 directed forward. In other embodiments, the additional sensor 140 but directed in a different direction or can be deflected.

The additional sensor 140 For example, in various embodiments, one may be sensor type sensor 110 include a different type of sensor, such as a camera, a stereo camera, an infrared camera, a video camera, a radar, a Lidargerät, an ultrasonic device, a runtime camera or similar device.

In some embodiments, the sensor 140 eg, include a motion detector and / or based on a pyroelectric sensor (PIR sensor) that responds to a person's skin temperature by emitting blackbody radiation at medium infrared wavelengths, as opposed to background objects at room temperature; or by emitting a continuous wave of microwave radiation and detecting movement by the principle of Doppler radar; or by emitting an ultrasonic wave and detecting and analyzing the reflections; or by a tomographic motion detection system based on the detection of radio wave interference, to name a few possible applications.

In some embodiments, the forward sensor may be 110 (which can also be used for a lane departure warning, etc.) or other sensors 110 . 120 . 140 at the vehicle 100 used to identify objects. This allows vehicles that are in front of the vehicle 100 be identified and overhauled.

Furthermore, in some embodiments, an object captured around the vehicle may be displayed in an overview, e.g. on a display in the cab or in one of the presentation devices.

A general concept of the various embodiments presented herein is that a direct visual image, such a direct reversing image is replaced by a reduced, improved and / or expanded virtual representation of the rear view.

At the end of 2016, the Vehicle Mirror Regulation (R46) was updated to allow camera surveillance systems to replace conventional mirrors. The most widely used camera-monitor system uses cab-mounted cameras connected to two monitors in the cabin and mimicking traditional mirrors.

As mentioned in the background section, in some cases, camera images may contain too much information to the driver to easily recognize what information is important to the safe performance of the driver's task.

Through the use of sensors 110 . 120 . 140 like cameras, radars, ultrasound, lidar, etc., it is possible to build a digitized virtual world. This world can be a virtual copy of the real world and displayed as such on the output device / monitor.

The following steps may be performed to realize an even better virtual representation of the world in some embodiments. In some embodiments, redundant data may be filtered out or reduced. Some examples of such redundant data may be, for example, colors, textures, irrelevant objects, light sources, weather effects, and so on. Furthermore, features that may be considered important to the driver may be highlighted. One example is the color coding of objects in the immediate vicinity of the vehicle 100 depending on concern, type, speed, direction, hidden objects, etc. Furthermore, output information may be extended by adding additional information, which in some embodiments is based on predictive models. For example, the most likely representation of the environment in the near future may be output.

After this data processing, digitization, the resulting virtual representation may be output on one or more output devices, with camera images completely omitted in some embodiments.

The term digitizing, digitizing and / or digitizing indicates that environmental data, such as images or a stream of images, is converted to a single binary code.

The core of the digitization process is the compromise between the sensor 110 . 120 . 140 and the output device such that the result obtained represents the original source with a predefined or configurable fidelity. One advantage of digitization is the speed with which this form of digitized information can be transmitted without degradation compared to analog information.

Analog signals are infinitely adjustable both in the number of possible values of the signal at a certain time and in the number of points in the signal in a certain period of time. However, digital signals are both discrete and generally a finite series of integers. Digitization can therefore be seen as an approximation or simplification of the signal it represents.

The digitization process can be performed in two parts: discretization and quantization. The discretization includes reading an analog signal and, at regular intervals (frequency), sampling the value of the analog signal at the point. Each such reading is called a sample and may be at this stage be considered as infinitely accurate. In the quantization step, the samples are rounded to a fixed set of numbers (eg integers). These two digitizing parts may occur simultaneously in some embodiments, although conceptually different.

An advantage of at least some of the embodiments disclosed herein is that relevant information is output to the driver, possibly in improved form, while filtering out redundant or redundant information. This eliminates or at least reduces the driver's cognitive load due to a variety of environmental influences and the mental classification of environment objects into relevant / irrelevant objects.

Another advantage is that smaller monitors, e.g. Rear view monitors can be used, resulting in a better direct view of the driver and easier integration of the output devices in the vehicle.

An advantage in some embodiments is that the vehicle's fragile, transparent windows 100 (Windshield and side windows of the cabin) can be replaced by an opaque steel plate, armor, ceramic or composite armor. In these embodiments, a corresponding dispenser may be disposed on the inside of the opaque, reinforced windshield / side windows that provide a digitized view of that of the sensors 110 . 120 . 140 perceived outside environment of the vehicle. This could be the driver in a collision or rollover accident convincingly protected from penetrating objects from the windows. The driver and all possible passengers are / are also protected from kidnappers, snipers, explosives, thrown stones, etc., which may be of benefit to public safety vehicles, commuter vehicles, military vehicles, etc.

Yet another advantage of the disclosed embodiments is that the information needed during off-site driving, such as when an autonomous vehicle requires manual assistance in solving a difficult situation, is significantly reduced, resulting in lower bandwidth requirements and shorter transmission times between the vehicle and a remote driver.

An advantage of the proposed solution according to some embodiments, in the existing sensors 110 . 120 . 140 in the vehicle 100 used for other purposes, is that through the use of existing sensors 110 . 120 . 140 at the vehicle 100 increased costs can be avoided by additional sensors. Road safety is thereby increased without additional costs.

1B represents a scenario with a vehicle 100 eg in illustrated vehicle 100 which, viewed from above, in the direction of travel 105 moves.

The vehicle 100 can be a forward-looking sensor 110 like a camera, a front-facing other sensor 140 like a radar, a backward right sensor 120a , a backward left sensor 120b and a backward sensor 130 include. The backward sensor 130 In various embodiments, for example, a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasound device, a runtime camera or similar device may comprise.

Due to the backward sensor 120b on the left side of the vehicle 100 can be a vehicle environment object 150 , in this particular case an overtaking vehicle, are recorded.

The vehicle environment object 150 however, it may be a container, a human, an animal, a light pole, a building, or, for example, any conceivable stationary / non-stationary object. Furthermore, a plurality of vehicle environment objects 150 be detected simultaneously or sequentially.

Information regarding the detected and possibly identified vehicle environment object 150 may then also be used, according to some embodiments, when the vehicle environment object 150 no longer within the detection range of the vehicle sensors 110 . 120 . 130 . 140 located.

In other embodiments, the vehicle environment object may be 150 the vehicle 100 approach from behind and the vehicle 100 overtake. The reversing sensor 130 can then be used for the detection and detection described above.

It should be noted that the vehicle 100 additional sensors, like the reversing camera 130 , which, in some embodiments, may be reversing for the same purpose as the forward-looking sensor 110 can be used.

2 shows an example of a vehicle interior of the vehicle 100 and shows how that previous scenario in 1A and or 1B from a driver of the vehicle 100 , if available, can be perceived.

The illustrated embodiment of the vehicle 100 includes a control arrangement 210 , a right side output device 220a , which is intended to be the vehicle environment object 150 out of the direct field of vision of a driver, located on the right side of the vehicle 100 is located, and a left-side output device 220a , which is intended to be the vehicle environment object 150 out of the direct field of vision of a driver on the left side of the vehicle 100 display. The control arrangement may comprise one or more control units.

The output devices 220a . 220b For example, a respective display, a windscreen display, acoustic or haptic representations, a projection, a hologram, in the windshield or the dashboard of the vehicle 100 integrated display, a portable device of the driver / owner, intelligent driver of the driver / owner, etc., or a combination thereof.

Each of these output devices 220a . 220b For example, in some embodiments, a respective sensor 120a . 120b be assigned to the corresponding side of the vehicle 100 located. The sensors 120a . 120b typically may include a respective (video) camera.

In other embodiments, the vehicle may 100 however, a plurality of sensors 120 on each side of the vehicle 100 include. The sensors 120 For example, in various embodiments, they may be of the same or different type, such as a camera, a stereo camera, an infrared camera, a video camera, a radar, a lidar, an ultrasound, a runtime camera, or similar device.

The output devices 220a . 220b can be a digitized representation 200 of the vehicle environment object 150 spend that from the sensors 110 . 120 . 130 . 140 is detected.

The control arrangement 210 can get information from the sensors 110 . 120 . 130 . 140 via a wired or wireless communication interface, eg via a communication bus of the vehicle 100 , receive. The communication bus may include, for example, a Controller Area Network Bus (CAN bus), a Media Oriented Systems Transport Bus (MOST bus), or the like. However, communication may alternatively be via a wireless connection using wireless communication technologies such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), Near Field Communication (NFC), Radio Frequency Identification (Z-wave, ZigBeet, IPv6 via Low Power Wireless Personal Area Networks (6LoWPAN), Wireless Highway Addressable Remote Transducer Protocol (HART protocol), Universal Serial Bus (USB) wireless, optical communication such as Infrared Data Association (IrDA ) or infrared transmission, or at least is inspired by it, to name but a few possible examples of wireless communication in some embodiments.

Furthermore, the control arrangement 210 for image recognition / computer-aided viewing and object recognition are configured when information from the sensors 110 . 120 . 130 . 140 receiving a camera, a stereo camera, an infrared camera and / or a video camera.

Computerized vision is a technical field that includes methods for acquiring, processing, analyzing and understanding images and, in general, high-dimensional real-world data to produce numerical or symbolic information. Furthermore, the control arrangement 210 the content of the sensors 110 . 120 . 130 . 140 information received and redundant, redundant and / or irrelevant information of the vehicle environment object 150 filter out. The control arrangement 210 can also be configured to digitize the information obtained, and thus the digitized representation output to the driver 200 simplified. An observation made by one, some or all sensors 110 . 120 . 130 . 140 is received, such as the vehicle environment object 150 , can be represented in many ways, such as a vector, or more abstractly, as a group of edges, areas of a particular shape, etc., or perhaps just as a color or tone, if important information about the vehicle environment object 150 should be issued.

3A shows an example of a scenario in which a vehicle 100 backwards to a loading platform 340 moves.

In this particular case, a vehicle environment object may become 150 , such as a pedestrian, out of range of the vehicle 100 located sensor 130 are located.

The vehicle 100 but it can be a transceiver 310 include for wireless communication with an off-board transceiver 320 is configured, in turn, with a vehicle-external sensor 330 connected or assigned to this. In the illustrated, non-limiting Example is the vehicle external sensor 330 and the off-board transceiver 320 on the loading platform 340 , In other embodiments, the vehicle-external sensor may 330 and the off-board transceiver 320 however, in another vehicle, on a building or structure, on the street side, in a light pole, on a human or other mammal on a walkway, etc.

The vehicle sensor 330 or, where appropriate, the sensors can be represented in various embodiments by a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasound device, a runtime camera or a similar device.

3B represents a vehicle interior of the vehicle 100 shows and shows how the previous scenario in 3A from a driver of the vehicle 100 , if available, can be perceived.

The driver can have a digitized representation 200 of the vehicle environment object 150 , such as one in front of a loading area 340 running pedestrian, look at. The pedestrian can be from one or more sensors 110 . 120 . 130 . 140 in the vehicle 100 and / or one or more external sensors 330 have been recorded.

In this case, the control arrangement 210 the vehicle environment object 150 as embracing a person behind the vehicle 100 runs while the vehicle 100 back to the loading area 340 drives, recognizes and categorizes what constitutes a potentially fatal situation if the driver does not notice him / her. A highlighted, digitized representation 200 of the human 150 may be output in some embodiments to attract the attention of the driver, eg in combination with an audit output and / or a haptic output.

4 shows an example of a scenario in which an autonomous vehicle 100 in a remote location, such as a remote mine, on a strange celestial object, underwater exploration mission, or anywhere.

The vehicle 100 includes one or more sensors 110 . 120 . 130 . 140 that is a vehicle environment object 150 with an object, such as another transport vehicle, in the direction of travel 105 can capture the vehicle; in the case shown it is, rather unexpectedly, a steam locomotive.

The control arrangement 210 of the vehicle 100 may be the information about the vehicle environment object 150 from the sensors 110 . 120 . 130 . 140 and can interpret the information and generate commands to initiate appropriate actions such as braking, signaling, and so on.

If the vehicle environment object 150 / foreign transport vehicle is the path of the vehicle 100 locked, can the autonomous vehicle 100 need the help of an operator to determine a suitable action to move away from the detected obstacle. The control arrangement 210 then can the presentation 200 of the vehicle environment object to be output 150 digitize and the information about the transceiver 310 of the vehicle 100 to the output device 220 of the human operator.

By transmitting only a digitized, schematic representation 200 of the vehicle environment object 150 less signaling resources are needed, while the information could be transmitted faster, which can be an important advantage. For example, if the vehicle 100 located on Mars, while the operator is on Earth, the duration of the radio signal (single path) varies between 4.3 minutes and 21 minutes, depending on the actual distance between the two planets; the time back and forth is thus between 8.6 and 42 minutes. Therefore, the less information has to be transmitted, the less time the vehicle must stand still and wait for instructions from the operator. The digitization and reduction of information is therefore important for increasing the transport efficiency of the remote vehicle 100 ,

5 represents an example of a procedure 500 according to an embodiment. The flowchart in 5 shows the procedure 500 for use in a vehicle 100 , The procedure 500 aims at the perception of a vehicle environment object 150 from.

The vehicle 100 may be any transport vehicle or similar conveyance that is manned or autonomous in various embodiments.

The vehicle 100 For example, in some embodiments, one or more sensors 110 . 120a . 120b . 130 . 140 simultaneously or chronologically.

To the vehicle environment object 150 To be able to perceive correctly, the procedure can 500 a series of steps 501 - 507 include. Some of these steps 501 However, -507 can be executed in several alternative ways. Some method steps may only be performed in some optional embodiments, such as the steps 502 . 504 - 505 and or 507 , Furthermore, the steps described 501 - 507 in a chronological order that is slightly different than the numbering suggests. The procedure 500 may include the following steps:

step 501 includes obtaining information regarding the vehicle environment object 150 of at least one sensor 110 . 120 . 130 . 140 . 330 ,

The sensor 110 . 120 . 130 . 140 . 330 can in the vehicle 100 includes or is outside the vehicle 100 are located. The sensors 110 . 120 . 130 . 140 . 330 may be the same or a different type and may include, for example, camera, radar, laser, etc.

The information obtained may relate to a plurality of environment information objects 150 which may be static or dynamic.

step 502 , which can be performed only in some embodiments, includes estimating the driver relevance of in 501 received information.

In some embodiments, only the driver-relevant environmental information may be digitized and output to the driver.

The determination of driver-relevant environmental information, in some embodiments, may include evaluating driver relevance.

Different estimated relevance of in 501 received information / the vehicle environment object 150 may be imaged with different colors in some embodiments. Thus, a vehicle environment object estimated to be irrelevant 150 be ignored; a vehicle environment object considered to be relevant 150 can be output in digitized form while a vehicle environment object considered very relevant 150 in some embodiments may be output with a highlight, such as color, flashing light, sound, etc.

step 503 includes the digitization of in 501 received information.

The digitization process can thus filter out vehicle environment objects 150 or sharing vehicle environment objects 150 (like colors, textures and other details). This reduces the amount of information to be processed and / or output, resulting in faster computational processing, transmission and output of the digitized information relative to the output of all information.

step 504 , which can be performed only in certain embodiments, includes estimating the motion, such as speed (speed and direction), of the vehicle environment object 150 ,

step 505 that can only be executed in certain embodiments in which step 504 has been performed, includes predicting a future position of the vehicle environment object 150 based on the in 504 estimated movement of the object 150 ,

This can create a future potential danger situation between the vehicle 100 and the surrounding objects 150 that affect the vehicle 100 move, or a future trajectory of the vehicle 100 be avoided by observing and the driver about the situation / the moving environment object 150 is informed.

step 506 includes issuing an in 503 digitized illustration 200 the in 501 received information.

In some embodiments, the in 503 digitized representation 200 of the vehicle environment object 150 505 predicted future position of the vehicle environment object 150 include.

In still some embodiments, the in 503 digitized representation 200 the environment information object 150 with the highest rated relevance with a highlight 350 issued to the driver. The highlighting 350 For example, the flashing of the in 503 digitized illustration 200 , the representation of in 503 digitized illustration 200 with a color, an auditory signal and / or a haptic signal, etc.

The issued in 503 digitized representation 200 may, according to some embodiments, predict the future location of the environment information object predicted 505 150 include.

In the 503 digitized representation 200 of the vehicle environment object 150 may be output in some embodiments only if the in 501 information obtained is deemed relevant to the driver.

step 507 , which can be performed only in some specific embodiments, includes switching between outputting 506 one in 503 digitized illustration 200 of the vehicle environment object 150 and a non-digitized representation of the vehicle environment object 150 ,

An advantage here is that the driver can choose the most appropriate method of environmental perception (digitized / non-digitized representation) depending on the situation.

6 shows an embodiment of a system 600 for the perception of a vehicle environment object 150 , The system 600 can at least some of the steps described above 501 - 507 according to the above described and in 5 illustrated method 500 carry out.

The system 600 includes at least one control arrangement 210 in the vehicle 100 for the perception of a vehicle environment object 150 , The control arrangement 210 is configured by at least one sensor 110 . 120 . 130 . 140 . 330 Information regarding the vehicle environment object 150 to obtain. Furthermore, the control arrangement 210 configured to digitize the obtained information. Furthermore, the control arrangement 210 configured to generate a command to via an output device 220a . 220b a digitized representation 200 of the vehicle environment object 150 issue.

The control arrangement 210 may be configured to provide driver relevance of the obtained information regarding the vehicle environment object 150 appreciate. Furthermore, the control arrangement 210 be configured to the digitized representation 200 of the vehicle environment object 150 to issue to the driver only if the information obtained is deemed relevant to the driver.

In some alternative embodiments, the control arrangement 210 be configured to evaluate the driver relevance of the received information, eg in a number of categories (relevant / not relevant, 1-10, AE, red / yellow / green, etc.). Furthermore, the control arrangement 210 further configured to generate a command to the digitized representation 200 the environment information object 150 with the highest rated relevance with a highlight 350 issue.

In addition, the control arrangement 210 to configure the movement, such as the speed (speed and direction), of the obtained environment information object 150 estimate. The control arrangement 210 may further be configured based on the estimated movement of the object 150 a future position of the obtained environment information object 150 predict.

The control arrangement 210 can also be configured to generate a command to a digitized representation 200 the predicted future position of the environment information object 150 issue.

In addition, the control arrangement 210 to be configured on the output unit 220a . 220b between outputting a digitized representation 200 the information obtained and a non-digitized representation switch.

The system 600 further comprises at least one sensor 110 . 120 . 130 . 140 . 330 for detecting a vehicle environment object 150 , The at least one sensor 110 . 120 . 130 . 140 . 330 can be in / on the vehicle 100 or outside the vehicle 100 , eg on a vehicle exterior structure, or in / on another vehicle.

The sensor 110 . 120 . 130 . 140 . 330 For example, a camera, a stereo camera, an infrared camera, a video camera, a radar device, a lidar device, an ultrasonic sensor, a runtime camera or a thermal imaging camera or the like may comprise. The sensors 110 . 120 . 130 . 130 . 140 . 330 may be of the same or different type in various embodiments. The sensor 110 . 120 . 130 . 140 . 330 which is necessary to carry out at least part of the process 500 used in some embodiments may have a different primary purpose than performing the method 500 have, ie already in the vehicle 100 and / or in a vehicle-external structure.

Furthermore, the system includes 600 an output device 220a . 220b for outputting a digitized representation 200 of the vehicle environment object 150 ,

In some embodiments, the system may 600 Furthermore, a wireless transceiver 310 configured to receive information from one or more off-board sensors.

The control arrangement 210 includes a receiving circuit 610 for receiving a signal from the sensors 110 . 120a . 120b . 130 . 140 . 330 ; and / or a wireless transceiver 310 in the vehicle 100 ,

Furthermore, the control arrangement comprises 210 a processor 620 that is configured to perform at least some method steps according to some embodiments 501 - 507 of the procedure 500 perform.

Such a processor 620 may include one or more instances of processing circuitry, ie, a central processing unit (CPU), a processing unit, a processing circuitry, an application specific integrated circuit (ASIC), a microprocessor, or other processing logic that can interpret and execute instructions. The term "processor" as used herein may thus represent a processing circuit comprising a plurality of processing circuits, such as one, some or all of those listed above.

In addition, the control arrangement 210 in some embodiments, a memory 625 include. The optional memory 625 may include a physical device for temporary or permanent storage of data or programs, ie, instruction sequences. According to some embodiments, the memory 625 comprise integrated circuits with silicon-based transistors. The memory 625 For example, a memory card, a flash memory, a USB memory, a hard disk, or other similar volatile or nonvolatile storage device may be used to store data, such as read-only memory (ROM), programmable read-only memory (PROM) ), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc.

Furthermore, the control arrangement 210 in some versions a signal generator 630 contain. The signal generator 630 can be configured to, for example, a signal to the output device 220a . 220b to send a display device, a warning system or a warning device.

The steps described above 501 - 507 in the control arrangement 210 of the vehicle 100 can be performed by one or more processors 620 within the control arrangement 210 together with a computer program product for performing at least some of the functions of the steps 501 - 507 will be realized. Thus, a computer program product can provide instructions for performing the steps 501 - 507 in the control arrangement 210 includes, the procedure 500 that at least some of the steps 501 - 507 for perception of the vehicle environment object 150 includes, execute, when the computer program in the one or more processors 620 the control arrangement 210 is loaded.

Furthermore, some embodiments of the invention may be a vehicle 100 include the control arrangement 210 for the perception of a vehicle environment object 150 according to at least some of the steps 501 - 507 includes.

For example, the above-mentioned computer program product may be provided in the form of a data carrier carrying a computer program code for at least some of the steps 501 - 507 according to some embodiments, when in the one or more processors 620 the control arrangement 210 is loaded. The data carrier may be, for example, a hard disk, a CD-ROM, a memory stick, an optical storage device, a magnetic storage device, or any other suitable medium, such as a floppy disk or a tape, which may non-transiently contain machine-readable data. The computer program product can also be provided as computer program code on a server and remotely, for example via an Internet or intranet connection, in the control arrangement 210 getting charged.

The terminology used in the description of the embodiments illustrated in the accompanying drawings is not intended to limit the described method 500 , the control arrangement 210 , the computer program, the system 600 and / or the vehicle 100 to understand. Various changes, substitutions and / or changes may be made without departing from the embodiments of the invention as defined by the appended claims.

As used herein, the term "and / or" includes any combination of one or more of the associated listed items. The term "or" as used herein is to be understood as a mathematical OR, ie, as a non-exclusive disjunction and not as a mathematical exclusive OR (XOR), unless expressly stated otherwise. In addition, the singular forms "a", "an" and "the" are to be understood as "at least one" and thus possibly include a plurality of functional units of the same type, unless expressly stated otherwise. It is further understood that the terms "comprising,""comprising,""having," or "comprising" specify the presence of specified features, acts, integers, steps, operations, elements, and / or components, but not the presence or addition exclude one or more other features, acts, integers, steps, operations, elements or components, and / or groups thereof. A single unit, such as a processor, may perform the functions of some in the claims Meet points. The mere fact that certain measures are mentioned in different dependent claims does not indicate that a combination of these measures can not be used to advantage. A computer program may be stored / distributed on a suitable medium, such as an optical storage medium or a solid state medium, supplied with or as part of other hardware, but may be in other forms, such as via the Internet or other wired or wireless communication system. be distributed.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102012010156 [0008]
• US 2010117812 [0010]

Claims (14)

A method (500) in a vehicle (100) for sensing a vehicle environment object (150), the method (500) comprising the steps of: Obtaining (501) information related to the vehicle environment object (150) from at least one sensor (110, 120, 130, 140, 330); Digitizing (503) the obtained (501) information; and Outputting (506) a digitized (503) representation (200) of the vehicle environment object (150). Method (500) Claim 1 further comprising: estimating (502) the driver relevance of the obtained (501) information; and wherein the digitized (503) representation (200) of the vehicle environment object (150) is output (506) only if the obtained (501) information is estimated to be relevant to the driver (502). The method (500) of any one of the preceding claims, wherein the driver relevance estimate (502) comprises evaluating the driver relevance; and wherein the digitized (503) representation (200) of the highest scoring relevance environmental information object (150) is output (506) to the driver with a highlight (350). The method (500) of any one of the preceding claims, wherein the method (500) further comprises: Estimating (504) a motion of the vehicle environment object (150); Predicting (505) a future location of the vehicle environment object (150) based on the estimated (504) motion of the object (150); and wherein the output (506) digitized (503) representation (200) comprises the predicted (505) future location of the vehicle environment object (150). The method (500) of any of the preceding claims, further comprising: Switching (507) between outputting (506) a digitized (503) representation (200) of the vehicle environment object (150) and a non-digitized representation of the vehicle environment object (150). A control arrangement (210) in a vehicle (100) for sensing a vehicle environment object (150), wherein the control arrangement (210) is configured to: obtaining at least one sensor (110, 120, 130, 140, 330) information related to the vehicle environment object (150); to digitize the information obtained; and generate a command to output a digitized representation (200) of the vehicle environment object (150) via an output device (220a, 220b). Control arrangement (210) according to Claim 6 , which is further configured to: estimate the driver relevance of the obtained information; and configured to output the digitized representation (200) of the vehicle environment object (150) only if the obtained information is deemed relevant to the driver. Control arrangement (210) according to one of Claims 6 or 7 , which is further configured to evaluate the driver relevance of the information obtained; and further configured to generate a command to output the digitized representation (200) of the highest-rated relevance environmental information object (150) with a highlight (350). Control arrangement (210) according to one of Claims 6 - 8th , which is further configured to estimate movement of the vehicle environment object (150); and further configured to predict a future position of the vehicle environment object (150) based on the estimated motion of the object (150); and further configured to generate a command to output the digitized representation (200) of the predicted future position of the environment information object (150). Control arrangement (210) according to one of Claims 6 - 9 10, further configured to switch between outputting a digitized representation (200) of the vehicle environment object (150) and a non-digitized representation of the vehicle environment object (150) on the output device (220a, 220b). A computer program that includes instructions that, when the program is executed by a computer, causes the computer to follow the steps of the method (500) for one of Claims 1 - 5 performs. A system (600) for sensing a vehicle environment object (150), the system (500) comprising: a controller (210) according to Claims 6 - 10 ; at least one sensor (110, 120, 130, 140, 330) for detecting the vehicle environment object (150); an output device (220a, 220b) for outputting a digitized representation (200) of the vehicle environment object (150). System (600) after Claim 12 , further comprising: a wireless transceiver (310) configured to receive information from an off-vehicle sensor (330). Vehicle (100), a system (600) according to one of Claims 12 or 13 full.

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