DE102018206062A1 - Method for controlling a display system - Google Patents

Abstract

The invention relates to a method for controlling a display unit for displaying an environment of a vehicle, in particular an industrial truck, comprising the following steps: detecting a danger zone on a preceding section of the vehicle, wherein at the danger zone a road user (70) striking the route section crosses controlling the display unit based on the recognized hazard area to translate a first display (60) of the surroundings of the vehicle into a second display (66) of the surroundings of the vehicle, wherein by means of the second display (66) one by means of the displayed first display (60) displayed first area of the environment transversely to a direction of movement of the vehicle larger second area of the environment of the vehicle to indicate the expected, across the route section meeting road users (70) early on.

Description

The invention relates to a method for controlling a display unit for displaying an environment of a vehicle, in particular an industrial truck, as well as such a display system with the display unit and such a vehicle, in particular industrial truck, according to the preamble of the independent claims. The subject of the present invention is also a control device and a computer program.

State of the art

Are known multi-camera systems for passenger cars to produce 360 ° top views of the vehicle and panoramic views of the environment. For this purpose, four cameras are preferably used today, whose images are combined to form an image (stitching) or displayed separately on a divided or multiple displays. This system is particularly advantageous in hoists in which a field of vision of the driver / operator is blocked by the cargo and / or masts and / or fork carriage, etc. Switching between a front view and a consideration of the environment is automatically possible depending on the control lever switch or by hand. For driving on areas with cross-traffic a representation of a horizontal wide-angle view is possible, which must also be activated by hand. Since the drivers or operators often refrain from this changeover, avoidable accidents occur especially with crossing road users.

The DE 10 2010 035 232 A1 discloses a system for displaying vehicle return camera images in various modes. Here, a camera control module provides, based on a request of a driver, instructions for a driver display device for displaying backward cross-traffic rear camera images with a relatively larger area behind and to the right and left of the vehicle.

Disclosure of the invention

The present invention is a method for controlling a display unit for displaying an environment of a vehicle, in particular an industrial truck, according to independent claim 1.

The subject of the present invention is also a control device according to claim 10 for carrying out the method.

Furthermore, the subject matter of the present invention is a computer program which is set up to carry out all the steps of a previously described method as well as a machine-readable storage medium with a computer program stored thereon.

The present invention is finally according to claim 13, a display system with the display unit for displaying an environment of a vehicle, in particular an industrial truck, and according to claim 14, a vehicle with the display system.

The vehicle may be a passenger car or a commercial vehicle. It is conceivable that the vehicle is a mobile work machine. The vehicle may be a vehicle for agricultural, construction or logistic purposes. Preferably, the vehicle is an industrial truck such as a forklift.

The forward section of the vehicle may be a section of road ahead of a direction of movement, in particular directly ahead. It is conceivable that the route section lying ahead is an area of a road ahead of the vehicle. By way of example, the route section lying ahead comprises a region of the roadway extending in the direction of movement of the vehicle directly in front of the vehicle with a defined spatial extent in the direction of movement of the vehicle. The defined spatial extent may, for example, be specified as 5 m, 10 m, 25 m, 50 m or 100 m or may be predefinable to a value in a range between 0 m and 250 m. The route section ahead can be determined as being based on a current or current direction of movement or spatial orientation of the vehicle. It is also conceivable that a preceding section of the route is determined based on route planning or logistics planning for the vehicle.

An environment of a vehicle can be understood as a spatial environment of the vehicle. In this case, the term environment may also include only a part of an environment that surrounds the vehicle on all sides. For example, the environment of the vehicle may include a forward stretch of the vehicle.

The road user may be another vehicle, in particular another truck, or a pedestrian. In the context of the present invention, a road user meeting transversely on the route section can be understood to mean a traffic participant meeting transversely or obliquely to a movement direction of the vehicle onto the route section. It is conceivable that the road user crosses or crosses the route section or turns into the route section or intends to cross or turn into the route section.

In the context of the present invention, a danger zone is to be understood as a spatial area in which a hazard to the vehicle and / or the road user can occur. A hazard here means an imminent property damage or personal injury to the vehicle or the road user or a person leading the vehicle or the road user. An increased risk or an increased probability of an accident or a collision between the vehicle and the road user can exist in the hazardous area. In the hazardous area, traffic routes, routes or footpaths can merge into one another or intersect. The danger area can be, for example, a road intersection, a junction between a footpath and a road or a roadway, a crossing facility or a pedestrian crossing, an intersection, an opening or end area of a shelf aisle, an area before or after a gate or gate to be a transit. Furthermore, a hazardous area can be present in the logistics area both in halls (internal logistics, warehouse logistics) and / or outdoor areas (outdoor logistics, yard logistics) and when switching between these areas. Here, the visibility of areas with potentially crossing road users for the driver is often not given, as they are installed for example by means of machines, equipment or shelves and / or adjusted by means of goods, containers or vehicles. These areas or these locations are provided for an impact of the road user across the route section or at these points or in these areas often meets a road user across the route section, that is, in other words, it is a transverse to the route section expected to meet the road user.

The display system comprises a display unit and a control device for controlling the display unit. The control device is designed to receive image information from a detection unit. For this purpose, the control device can have a wireless or wired electronic connection with the detection unit. The control device is also designed to process the received image information, for example to combine or link a plurality of image information to form an image information. For this purpose, the control device may have an additional computing unit, for example a graphics processor. Furthermore, the control device is designed to process the received image information and / or to transmit it unprocessed to the display unit. For this purpose, the control device may have a wireless or wired electronic connection to the display unit.

The display unit is designed to display the image information transmitted by the control device. For this purpose, the display unit may have a screen, a display area of, for example, an infotainment or a display or a monitor. The display unit may be a display unit already present on the vehicle or subsequently installed in the vehicle or arranged on the vehicle. Furthermore, the display unit is designed to convert a first display of the surroundings of the vehicle into a second display of the surroundings of the vehicle and vice versa. The display unit is controlled based on the detected hazard area. In other words, in other words, the display unit is controlled based on an identification of the hazardous area, or the display unit is controlled when the hazardous area has been identified. Thus, the display unit is controlled when image information has been provided or detected over a recognized hazard area.

According to the invention, the second area indicated by means of the second display is larger in relation to the first area of the surroundings, indicated by the first display, transversely to a direction of movement of the vehicle. Preferably, the second area is greater than the first area of the surroundings perpendicular or substantially perpendicular to a direction of movement and parallel to a background of the vehicle. Here, the second region may have a larger horizontal image angle than the first region, wherein the horizontal image angle is defined in a plane parallel to a background of the vehicle. The first region can also correspond to a plan view or a bird's-eye view of the surroundings of the vehicle with a defined extent transverse to a direction of movement of the vehicle. Here, the second displayed area of the environment transversely to the direction of movement of the vehicle is greater than the first displayed area, if by means of the second display, a region of the surroundings which is larger along a horizontal, in particular perpendicular to the direction of movement of the vehicle, than by means of the first display ,

The transfer of the first display in the second display is preferably carried out before driving or passing or crossing the hazardous area. It is conceivable that a time of the transfer of the first display in the second display or the control of the display unit is predetermined and / or predetermined. For example, that can Transfer takes place immediately after recognizing the hazardous area. It is also conceivable that the switching takes place depending on a movement speed of the vehicle. For example, switching at higher speeds may occur earlier. It is also conceivable that the switching takes place in a defined depending on the speed of movement spatial distance of the vehicle to the hazardous area. For example, the switching can take place at a spatial distance of 1 m, 2 m, 5 m, 10 m or 25 m. It is also conceivable that the switching over at too high a movement speed, for example, greater than 15 km / h, in particular greater than 25 km / h, omitted.

The transferring of the first display into the second display may involve switching from a first displayed image information of a first detection unit, in particular a camera, to a second displayed image information of a second detection unit, in particular a camera. Furthermore, the transfer of the first display into the second display may include controlling an objective or a lens unit of a camera or zooming in, in particular zooming out, by means of the objective or lens unit. By means of these embodiments, additional environmental information, in particular image information of the environment, can be generated by means of the detection unit.

Preferably, the method provides a step of controlling the display unit after passing a detected hazard area to return the second display of the environment of the vehicle to the first display of the environment. The passing of the recognized danger zone can be detected analogously to the detection of the danger zone, for example by means of a comparison of a position of the vehicle with a map of the surroundings of the vehicle, the map of the environment having a spatial position of the danger zone. Alternatively, by means of a detection unit oriented counter to a direction of movement of the vehicle, a feature of the environment of the vehicle facing away in the direction of movement can be detected, in order to recognize the passage of danger or danger zone on the basis of the recognized feature. As a result of this refinement, the driver can again be shown a particularly intuitive, for example, undistorted display on the surroundings of the vehicle after passing through the danger zone, and additional information can be provided on display areas of the display unit that are available again after the display has been transferred.

It is also conceivable that the inventive method can be adapted or configured to the environment of the vehicle. It is conceivable that a time or a spatial distance to the hazardous area for the control of the display unit can be specified. It is also conceivable that a size of the displayed area of the environment can be specified. Here, for example, different specifications are conceivable for outdoor and indoor areas. By adapting to the environment or to local conditions, the acceptance of the method by the driver of the vehicle can be increased.

Advantageously, the method comprises a step of receiving image information, wherein the image information represents the surroundings of the vehicle detected by means of a detection unit in order to display the detected environment of the vehicle by means of the display system. It is particularly advantageous if the method has a step of detecting the surroundings of the vehicle by means of a detection unit. The image information of the environment may include image information generated by an imaging technique such as video, lidar, radar, or ultrasound. It is conceivable that image information is received by a plurality of detection units and processed for display. By this configuration, the detected image information of the display unit can be provided.

In the context of the present invention, a detection unit can be understood as a unit that is designed to detect the surroundings of the vehicle. The detection unit may comprise one or more sensor units. In this case, one or more control or computing units can be assigned to the sensor units. The detection unit may comprise one or more camera, lidar, radar or ultrasound units. Preferably, the detection unit on four camera units, each with a video camera. Here, a fisheye lens can be arranged on each video camera in order to capture the largest possible angular range of the environment. The detection unit may be a detection unit already present on the vehicle. Preferably, the detection unit is arranged on the vehicle. Particularly preferably, the detection unit is arranged on a contour of the vehicle, for example on a roof or roof spar, on a counterweight or on an attachment of the vehicle, for example on an upper end of a lifting mast. It is also conceivable that the detection unit, in particular an additional detection unit, is arranged on a front end region of the attachment facing away from the vehicle. For example, the detection unit may be arranged on a front end region of a fork prong of a fork-lift truck facing away from the vehicle.

By means of the method according to the invention, it is now possible to automatically display a larger area of the surroundings to a driver of the vehicle when approaching the danger area. As a result, the driver can become aware of road users meeting the route section at an early stage and intervene in the vehicle control in good time to prevent a collision with the road user by controlling a braking or steering unit of the vehicle. The advantage of the invention is therefore an increase in safety in the operation of vehicles, especially in warehouses and logistics centers, where often poorly visible intersections and junctions are available.

It is advantageous if the first area displayed by means of the first display is a partial area of the second area of the environment displayed by means of the second display. In other words, the first displayed area is partially or completely contained in the second displayed area. Preferably, by means of the first and the second display, a region of the surroundings of the vehicle which is selected symmetrically relative to an imaginary axis of symmetry perpendicular to the ground and pointing through the vehicle is displayed. For example, the first range may include a horizontal field angle range of -45 ° to + 45 ° and the second range a horizontal field angle range of -95 ° to +95 °, where 0 ° corresponds to a direction of movement of the vehicle. That is, by means of the second display, the first area indicated by means of the first display is expanded to the second area symmetrically relative to the axis of symmetry. Alternatively, by means of the second display, the first area indicated by means of the first display can be extended non-uniformly to the second area. For example, the first range may include a horizontal field angle range of -45 ° to + 45 ° and the second range a horizontal field angle range of -45 ° to + 95 °. As a result, a loss of orientation of the driver when transferring the first display into the second display of the surroundings of the vehicle can be prevented.

It is also advantageous if the first and the second display of the environment have the same or different perspectives on the environment. It is conceivable that the first display comprises a bird's eye view or a top view of the vehicle and an environment directly adjacent to the vehicle. It is also conceivable that the first display comprises a perspective in the direction of movement on the environment ahead of the vehicle. The perspective in the direction of movement for the first display may include a first area having a first horizontal angle of view. It is also conceivable that the second display also detects a perspective in the direction of movement of the vehicle on the surroundings ahead of the vehicle. In this case, the perspective in the direction of movement for the second display has a second area with a second horizontal angle of view, which is greater than the first horizontal angle of the first area displayed. By providing the same perspective or similar perspectives for the first and the second display, the additional information displayed by means of the second display is particularly simple and intuitive to detect for the driver of the vehicle. By providing different perspectives for the first and the second display, the driver is particularly clearly pointed to the danger zone lying ahead.

• - unterschiedliche Perspektiven auf die Umgebung und/oder
• - unterschiedliche erste Teilbereiche der Umgebung anzeigen und der mittels der zweiten Anzeige angezeigte zweite Bereich der Bereich quer zu der Bewegungsrichtung größer ist als jeder der ersten Teilbereiche der Umgebung. Beispielsweise kann eine erste Teilanzeige eine erste Perspektive in Form einer Draufsicht bzw. einer Vogelperspektive auf die Umgebung des Fahrzeugs aufweisen. Hierbei kann eine zweite Teilanzeige eine zweite Perspektive in Form einer Perspektive in Richtung einer Bewegungsrichtung des Fahrzeugs zum Beispiel von einem Arbeitsgerät des Fahrzeugs herab aufweisen. Die ersten Teilbereiche können zum Beispiel ein Teilbereich unmittelbar um das Fahrzeug, das heißt in einem Abstand von kleiner als 5, 10, 15 oder 20 m um das Fahrzeug, und ein dem Fahrzeug vorausliegender Teilbereich der Umgebung sein. Die Teilanzeigen können horizontal nebeneinander oder vertikal übereinander auf einer Anzeigeeinheit angezeigt werden. Denkbar ist, dass die Teilanzeigen unterschiedlich groß sind, das heißt unterschiedlich große Flächen auf der Anzeigeeinheit zur Anzeige benötigt werden. Denkbar ist weiter, dass die Teilanzeigen auf derselben oder unterschiedlichen Anzeigeeinheiten angezeigt werden. Durch diese Ausgestaltung kann dem Fahrer ein besonders guter Überblick über seine Umgebung bereitgestellt werden, wenn kein Gefährdungsbereich erkannt wird.

It is particularly advantageous if the first display comprises at least two partial displays, the partial displays

• - different perspectives on the environment and / or
• - Show different first portions of the environment and displayed by means of the second display second area of the area transverse to the direction of movement is greater than each of the first subregions of the environment. For example, a first partial display may have a first perspective in the form of a top view or a bird's-eye view of the surroundings of the vehicle. In this case, a second partial display may have a second perspective in the form of a perspective in the direction of a movement direction of the vehicle, for example, from an implement of the vehicle. The first subregions can be, for example, a subarea directly around the vehicle, that is to say at a distance of less than 5, 10, 15 or 20 m around the vehicle, and a subarea of the surroundings ahead of the vehicle. The partial displays may be displayed horizontally side by side or vertically one above the other on a display unit. It is conceivable that the partial displays are of different sizes, that is, areas of different sizes are required on the display unit for display. It is also conceivable that the partial displays are displayed on the same or different display units. This refinement can provide the driver with a particularly good overview of his environment if no danger zone is detected.

Furthermore, it is advantageous if the hazardous area is detected by means of an adjustment of a position of the vehicle with a map of the surroundings of the vehicle, the map of the surroundings having the danger zone.

The map represents at least part of the environment of the vehicle. The map may represent the environment of the vehicle in indoor and / or outdoor areas. The map can be a two-dimensional or three-dimensional map. The map may be a metric or semantic map, that is a map with metric or geometric and semantic information.

The map includes an indication of a hazardous area. It is conceivable that the map has a spatial position of the danger zone in absolute or relative coordinates. It is also conceivable that the card has semantic information about the danger zone. It is also conceivable that the card has image data of the hazardous area and information about the hazardous area associated with the image data.

The map can be created for example by means of camera and / or lidar and / or radar and / or GNSS sensors. It is conceivable that the map is updated regularly or continuously. As a result, changing routes and storage areas can be taken into account, especially on logistics areas. Here, the map can be updated, for example, when recording or parking a transport container by means of the vehicle, since a total of parked transport containers potential routes or tramlines with hazardous areas such as, intersections caused.

It is conceivable that the hazard areas in the map manually, that is registered by a manager of the card. It is also conceivable that the hazardous areas are determined on the basis of information about current and already covered travel paths or routes of other vehicles in the area covered by the map. In this case, it is conceivable for the hazard areas to be evaluated for evaluating the travel paths or driving distance of the further vehicles with the speed, braking and / or acceleration profiles and / or driving interruptions.

As a result, potential frequently occurring or occurred clashes or intersections of routes of the other vehicles can be determined.

It is also conceivable that a transition detected by means of one of the vehicles is stored from an inner area to an outer area or from an outer area to an inner area in the map. For example, the indoor area may be a warehouse and the outdoor area may be an outdoor area in front of the warehouse. Immediately before or after the transition between an inner area and an outer area, a road user often encounters a driving route of the vehicle leaving the inner area or the outer area.

The card may be stored on a memory unit of the controller. It is also conceivable for the card to be stored on a storage unit arranged externally or outside the vehicle, for example on a server or a cloud. In this case, the control device has a communication unit for communicating with the externally arranged memory unit in order to transmit at least one position information of the vehicle and to receive information about a hazard area determined on the basis of the transmitted position information.

With this configuration, the danger area can be reliably detected by using information about a position of the vehicle.

• - einer Erfassungseinheit zur Erfassung der Umgebung des Fahrzeugs und/oder
• - einer Kommunikationseinheit zur Kommunikation mit einer Infrastruktureinrichtung in der Umgebung des Fahrzeugs ermittelt wird.

Hierbei kann mittels der Erfassungseinheit eine Umgebungsinformation erstellt werden, die eine Information der Umgebung repräsentiert. Denkbar ist, dass mittels einer als Kamera ausgebildeten Erfassungseinheit eine Bildinformation der Umgebung erzeugt wird. Denkbar ist, dass die Steuereinrichtung eine Kommunikationseinheit zur Kommunikation mit einer extern angeordneten Rechen- bzw. Speichereinheit, z. B. einem Server oder einer Cloud, aufweist, um die Umgebungsinformation bzw. die Bildinformation zu übertragen und eine basierend auf der übertragenen Umgebungsinformation bzw. Bildinformation ermittelte Positionsinformation des Fahrzeugs zu empfangen. Denkbar ist auch, dass die Steuereinrichtung basierend auf der Umgebungsinformation eine Position des Fahrzeugs ermittelt. Die extern angeordnete Speichereinheit bzw. die Steuereinrichtung umfasst hierbei eine Lokalisierungseinheit, das heißt, mit anderen Worten, die Speichereinheit bzw. die Steuereinrichtung ist ausgebildet, anhand der Umgebungsinformation bzw. Bildinformation eine Position des Fahrzeugs zu ermitteln.In this case, it is particularly advantageous if the method has a step of determining the position of the vehicle based on environmental information that is being used

• a detection unit for detecting the surroundings of the vehicle and / or
• - A communication unit for communication with an infrastructure device in the vicinity of the vehicle is determined.

In this case, by means of the detection unit, an environment information can be created, which represents an information of the environment. It is conceivable that an image information of the environment is generated by means of a detection unit designed as a camera. It is conceivable that the control device has a communication unit for communication with an externally arranged computing or storage unit, for. As a server or a cloud, to transmit the environment information or the image information and to receive a based on the transmitted environment information or image information determined position information of the vehicle. It is also conceivable that the control device determines a position of the vehicle based on the environmental information. The externally arranged storage unit or the control device in this case comprises a localization unit, that is, in other words, the storage unit or the control unit is designed to determine a position of the vehicle on the basis of the environmental information or image information.

Alternatively or additionally, one of the control device associated Communication unit be provided to communicate with the infrastructure device in the vicinity of the vehicle. The communication can be one-way or two-way communication. The infrastructure device may be an electronic tag, for example an RFID tag or RFID chip or a Blue Tooth transmitter or a Blue Tooth transmitter and receiver. The communication unit can be designed for near field communication. For example. the communication unit may be an RFID reader or blue tooth receiver. It is conceivable that the infrastructure device transmits the environmental information on the basis of an excitation by means of the communication unit or permanently or periodically. It is also conceivable that the communication unit receives the transmitted environment information. It is also conceivable that the communication unit determines a position of the vehicle on the basis of the received environment information. For this purpose, the communication unit may, for example, use the known method of triangulation or trilateration in order to determine a position of the vehicle based on at least three received environmental information. With this configuration, the position of the vehicle can be determined precisely and robustly also in areas, in particular interior areas, without GNSS reception.

In addition, it is advantageous if the hazardous area is detected or determined on the basis of at least one feature of the environment, in particular the detected environment. In other words, in the step of determining the hazardous area, advantageously, a step of determining a feature of the environment in the environmental sensor signal or the image information provided by the detection unit can be provided. In the context of the present invention, a feature can be understood as meaning an element in the image information or the environmental sensor signal that provides an indication of a hazardous area. The hazard area is preferably detected on the basis of a structural, spatial or local feature, in particular of a structural or spatial feature of an infrastructure facility. The feature may be, for example, a (warehouse or hall) gate, a passageway, a beginning or end of a rack aisle or a storage lane, a pedestrian crossing, a traffic sign or a signboard. For determining one or more features, algorithms known in the art for image processing or feature extraction may be used. The determination of the feature can take place by means of a control device or a detection unit assigned to the detection unit or the control device. The control device or the determination unit can have, for example, a computing unit in the form of a graphics card processor. It is conceivable that the hazardous area is detected by means of a comparison of the detected feature with stored in a map of the environment of the vehicle features. For example, the card is a semantic card. In the semantic map image information with the detected features are already stored. Here, the stored image information with the detected characteristics associated with a label or a note to the hazardous area. As a result of this configuration, the environment information or image information provided by the detection unit can be used not only to display the orientation but also to determine the position of the vehicle.

• - einen Schritt des Aussendens eines Signals vertikal nach oben mittels der Sendeeinheit und
• - einen Schritt des Überprüfens, ob zumindest ein Teil des ausgesendeten Signals als reflektiertes Signal mittels der Empfangseinheit empfangen wird, vorsieht, um anhand des Empfangens des reflektierten Signals ein Vorliegen eines oberhalb des Fahrzeug angeordneten Bereichs einer Infrastruktureinrichtung zu ermitteln.

In addition, it is advantageous if the display unit is assigned a transmitting unit and a receiving unit, and the method

• a step of transmitting a signal vertically upward by means of the transmitting unit and
• a step of checking whether at least a part of the emitted signal is received as a reflected signal by means of the receiving unit, provides for ascertaining, based on the reception of the reflected signal, the presence of an area of an infrastructure arranged above the vehicle.

The emitted signal may, for example, be a light signal, a laser signal, a radar signal or an ultrasound signal, which is transmitted by means of a corresponding transmission unit. The signal can be emitted substantially perpendicular to a background of the vehicle. It is conceivable that the signal is transmitted repeatedly or periodically at predefined and / or predefinable time intervals. The emitted signal can be reflected at the region of the infrastructure device, for example a hall roof, which is arranged above the vehicle. By means of a corresponding receiving unit, the reflected signal can be received. When a reflected signal is received, it is assumed that the vehicle is in a covered indoor area. If we do not receive a reflected signal it is assumed that the vehicle is located in an uncovered outdoor area. When driving out of logistics halls, hazardous areas with potentially crossing traffic are to be expected. In addition, a road user meeting on the section moves there sometimes with high speeds. In addition, the road user is often not involved in an operation in the logistics hall road users. This refinement makes it possible to detect a transition of the vehicle from a roofed interior area into an open-topped outside area and vice versa, in order to achieve a spatial proximity to detect the danger zone present for the transition.

Furthermore, it is conceivable that the method provides for a step of controlling a warning device based on the identified danger zone in order to warn an operator of the vehicle of an expected traffic participant crossing the route section and / or the expected road user crossing the route section. For example, the warning device may give a visual, audible or haptic warning. As a result, the operator of the vehicle or the road user can be made aware of the danger area in good time.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

Further advantages and preferred features and combinations of features emerge in particular from the previously described and from the claims.

• 1 eine schematische Darstellung eines Flurförderzeugs;
• 2 das Flurförderzeug gemäß 1;
• 3A,B eine schematische Darstellung einer ersten und einer zweiten Anzeige; und
• 4 ein Ablaufdiagramm eines Verfahrens zur Steuerung des Anzeigesystems.

In the following, the invention will be explained in more detail with reference to the drawing. Show this

• 1 a schematic representation of a truck;
• 2 the truck according to 1 ;
• 3A, B a schematic representation of a first and a second display; and
• 4 a flowchart of a method for controlling the display system.

In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, wherein a repeated description of the elements is omitted.

1 shows a simplified representation of an industrial truck 10 , The truck 10 has a display system 20 with a control device 22 and one as a display 24 trained display unit 24 on. Next points the truck 10 as a multi-camera system 30 trained detection system 30 with four as cameras 32 . 34 . 36 . 38 trained registration units 32 . 34 . 36 . 38 on.

The control device 22 is by means of a first wired connection 26 electronically with the cameras 32 . 34 . 36 . 38 and by means of a wired connection 28 electronically with the display unit 24 connected.

The cameras 32 . 34 . 36 . 38 permanently capture an environment of the truck 10 and transmit the captured image information as environmental information via the connection 26 to the controller 22 , Here, the cameras capture 32 . 34 . 36 . 38 at least partially different areas of the environment.

The control device 22 processes those from the cameras 32 . 34 . 36 . 38 received image information to a representation of the environment of the truck 10 in a bird's eye view or a 360 degree top view.

Next processes the controller 22 the image information of a camera arranged at a front region of the vehicle and directed substantially in the direction of travel 32 to a substantially undistorted representation of the truck 10 ahead section.

The controller transmits the edited image information by means of the connection 28 to the display unit 24 ,

The display unit or the display 24 shows by means of a first display the representation of the environment of the truck 10 in or from the bird's eye view and the substantially undistorted representation of the forward section of the truck. The first display of the display 24 is divided into two parts to the environment of the truck 10 in the bird's eye view and the representation of the route section ahead by means of the partial displays simultaneously.

Furthermore, the control device determines 22 the position of the truck 10 based on the received image information. For this purpose, the image information from the control device to an outside of the truck 10 arranged arithmetic unit 40 transfer. The arithmetic unit 40 determined on the basis of a comparison of the transmitted image information and one of the arithmetic unit 40 accessible environment map with image information a position of the forklift 10 , By means of an adjustment of the determined position of the truck 10 with a map of the environment of the truck 10 become hazardous areas in the environment of the truck 10 determined. Information about one or more determined hazard areas are provided by the computing unit 40 to the controller 22 transfer.

Based on the detected hazard area controls the controller 22 the display 24 to get a first indication of the environment of the truck 10 in a second display of the environment of the truck 10 to be converted, wherein by means of the second display a relative to a displayed by means of the first display first region of the environment transverse to a direction of movement of the truck 10 larger second area of the environment of the truck 10 is displayed in order to indicate the expected, across the route section meeting road users early.

2 does that as a forklift 10 trained industrial truck 10 according to 1 dar. The forklift 10 moves towards a danger area in the form of a junction. The cameras 32 . 34 . 36 . 38 are with the greatest possible distance to a base of the forklift 10 arranged on a contour of the forklift 10. The camera 32 is on the mast 42 of the forklift 10 arranged. The cameras 34 . 38 are each on a lateral roof spar 44 . 48 , the camera 36 on a rear roof rail 46 arranged.

The cameras 32 . 34 . 36 . 38 each have a fisheye lens. By means of fisheye lenses are the cameras 32 . 34 . 36 . 38 formed, each a horizontal detection area 52 . 54 . 56 . 58 to capture with a horizontal angle of view greater than 180 degrees. As a result, two horizontal detection areas each overlap 52 . 54 . 56 . 58 partly in an overlapping coverage area 53 . 55 . 57 . 59 , The coverage areas 52 . 54 . 58 . 58 are in 2 merely indicated and indicate the detectable horizontal angle range. The actual spatial extent of the coverage areas 52 . 54 . 56 . 58 is many times bigger than it is in 2 is shown.

3 schematically represents a first display 62 in 3A and a second ad 66 in 3B the display unit 24 of the display system 20 according to 1 represents.

3A shows a 360 degree top view with a first partial display 60 and a substantially undistorted representation of the forklift 10 leading section in a second, horizontal next to the first partial display 62 arranged partial display 64 on the forklift 10 out 2 ,

3B shows one by means of the front camera 32 captured image information of the environment of the vehicle. In this case, the display of the environment is distorted to a perpendicular to the direction of movement of the forklift 10 display larger area of the environment. As a result, a pedestrian crossing the route section or running in the direction of the hazardous area can be used 70 be displayed in time.

4 shows a flowchart of a method for controlling a display system. The method is indicated in its entirety by the reference numeral 100 Mistake.

The method comprises a step 110 the provision of the display system.

In step 120 the environment of the vehicle is detected by means of the detection system. step 120 is repeated permanently.

In step 130 Image information representing the detected environment is transmitted to the controller.

In step 130 the transmitted image information is processed.

In step 140 the transmitted image information is transmitted to a localization unit.

In step 150 a spatial position of the vehicle is determined by means of the localization unit based on the transmitted image information.

In step 160 the determined spatial position of the vehicle is transmitted to the control device.

In step 170 is determined by means of the control device based on the transmitted spatial position of the vehicle, if there is a danger zone on the route section lying ahead. For this purpose, the determined position is compared with a stored on a memory unit of the control device card with hazardous areas by means of the control device. At the danger area, a road user meeting across the route section is to be expected.

If there is no hazardous area on the section ahead, it will be in step 180 controlled by the control device, the display unit to display a first display of the environment of the vehicle.

If there is a danger zone on the next section of the route, it will be in step 190 controlled by the control device, the display unit to display a second display of the environment of the vehicle. In this case, a second area of the surroundings of the vehicle, which is larger than a first area of the environment displayed by means of the first display, is displayed by means of the second display transversely to a direction of movement of the vehicle.

Subsequently, the procedure in step 120 continued.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• DE 102010035232 A1 [0003]

Claims (14)

Method (100) for controlling a display unit (24) for displaying an environment of a vehicle (10), in particular an industrial truck (10), comprising the following steps: - Recognizing (170) a hazard area on a preceding stretch of the vehicle (10), wherein in the hazardous area a road user (70) meeting across the track section is expected; - controlling (190) the display unit (24) based on the detected hazard area to transfer a first display (60) of the environment of the vehicle (10) in a second display (66) of the environment of the vehicle (10), wherein by means of the second Display (66) relative to a by means of the first display (60) displayed first area of the environment across a direction of movement of the vehicle (10) larger second area of the environment of the vehicle (10) is displayed to the expected, across the track section to be notified to suitable road users (70) in good time. Method (100) according to Claim 1 characterized in that the first area indicated by the first display (60) is a portion of the second area of the environment indicated by the second display (66). Method (100) according to Claim 1 or 2 , characterized in that the first and the second display (60, 66) of the environment have the same or different perspectives on the environment. Method (100) according to one of the preceding claims, characterized in that the first display (60) comprises at least two partial displays (62, 64), wherein the partial displays (62, 64) - different perspectives on the environment and / or - different first Indicate portions of the environment and indicated by the second display (66) second area of the area transverse to the direction of movement is greater than each of the first subregions of the environment. Method (100) according to one of the preceding claims, characterized by a step of receiving (130) image information, wherein the image information represents the surroundings of the vehicle (10) detected by a detection unit (30) in order to detect the detected environment of the vehicle (10). by means of the display unit (24). Method (100) according to one of the preceding claims, characterized in that the danger zone is detected by means of a matching of a position of the vehicle (10) with a map of the surroundings of the vehicle (10), the map of the surroundings having the danger zone. Method (100) according to Claim 6 Characterized by a step of determining (150) the position of the vehicle (10) based on an environment information using - a detection unit (30) for detecting the surroundings of the vehicle (10) and / or - a communication unit for communication with a Infrastructure device (40) in the vicinity of the vehicle (10) is determined. Method (100) according to one of the preceding claims, characterized in that the hazardous area is detected by means of at least one feature of the environment. Method (100) according to any one of the preceding claims, characterized in that the display unit (24) is associated with a transmitting unit and a receiving unit, and the method (100) - a step of transmitting a signal vertically upward by means of the transmitting unit and - a step checking whether at least a part of the transmitted signal is received as a reflected signal by means of the receiving unit, in order to determine the presence of a region of an infrastructure device (40) arranged above the vehicle (10) on the basis of the reception of the reflected signal. Control device (22) which is set up to detect a danger zone on a preceding section of the vehicle (10), wherein in the danger zone a road user (70) meeting across the route section is to be expected, and - control the display unit (24) based on the detected hazard area to transfer a first display (60) of the environment of the vehicle (10) in a second display (66) of the environment of the vehicle (10), wherein by means of the second display ( 66) is displayed in relation to a first area of the surroundings transversely to a movement direction of the vehicle (10) which is larger than the second area of the surroundings of the vehicle (10) displayed by means of the first display (60), around the expected road user meeting across the route section (70) indicate early. Computer program adapted to perform all the steps of a method (100) according to one of Claims 1 to 9 perform. Machine-readable storage medium with a computer program stored thereon according to claim A display system (20) for displaying an environment of a vehicle (10), in particular an industrial truck (10), comprising - a display unit (24) which is designed, a first display (60) of the environment and a second display (66) of the environment of the vehicle (10), wherein a second area indicated by means of the second display (66) is greater than a first area of the environment indicated by the first display (60) transversely to a movement direction of the vehicle (10), and 22) Claim 10 , Vehicle (10), in particular industrial truck (10), with a display system (20) according to Claim 13 and a detection unit (30) configured to detect the environment of the vehicle (10).

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