DE102021201065A1 - Method for displaying an environment model of an environment of a motor vehicle, and environment detection system - Google Patents

Abstract

The invention relates to a method for displaying an environment model (3) of an environment (4) of a motor vehicle (1) using an environment detection system (2) of the motor vehicle (1), in which using at least one detection device (5) of the environment detection system (2) the environment (4) of the motor vehicle (1) is detected and the detected environment (4) is displayed graphically on a display device (6) of the environment detection system (2) as the environment model (3), with the environment model (3) showing a multi-lane roadway (8 ) on which the motor vehicle (1) is located and which has at least two lanes (9, 10) that can be traveled in the same direction, is displayed, with swarm data (12) being received from an electronic computing device (11) external to the motor vehicle by means of a swarm data receiving device (7) of the Environment detection system (2) are received, based on the swarm data (12) the multi-lane nature of the roadway (8) is detected and displayed. The invention also relates to a computer program product and an environment detection system (2)

Description

The invention relates to a method for displaying an environment model of an environment of a motor vehicle using an environment detection system of the motor vehicle, in which the environment of the motor vehicle is detected by means of at least one detection device of the environment detection system and the detected environment is displayed graphically on a display device of the environment detection system, with the environment model containing a Multiple lanes of a roadway on which the motor vehicle is located and which has at least two lanes that can be driven on in the same direction is displayed. The invention also relates to a computer program product and an environment detection system.

Displaying an environment model is already known and is currently only enabled in the prior art when the motor vehicle is on a multi-lane freeway. In this case, the environment detection system receives the information from a navigation device that the motorway has multiple lanes, which in turn subsequently activates the environment detection model. It is also known from the prior art that, for example, with the help of a camera and a radar sensor device, a direction of travel, in particular whether there is left-hand or right-hand traffic, the detection of whether oncoming cars can be determined, but this is very time-consuming in particular, and in particular depending on how many objects meet one's motor vehicle or whether one's motor vehicle is being overtaken or overtaken. This means that multiple lanes can only be recognized very late on the basis of this data.

the DE 10 2019 202 576 A1 discloses a driver information system in an ego vehicle, with environmental data being recorded from an environment of the ego vehicle. A driver information display is generated and output, the driver information display including a graphic representation of the environment of the ego vehicle. An operating state of a driver assistance system of the ego vehicle is detected and an automation level is determined based on the detected operating state of the driver assistance system. The representation of the environment is formed depending on the specific level of automation. The driver information system in an ego vehicle includes a detection unit that is set up to detect surroundings data in a surroundings of the ego vehicle, and a control unit that is set up to generate and output a driver information display. The driver information display includes a graphic representation of the environment of the ego vehicle. The detection unit is also set up to detect an operating state of a driver assistance system of the ego vehicle, the control unit also being set up to determine an automation level based on the detected operating state of the driver assistance system and to form the representation of the environment depending on the determined automation level .

the DE 10 2015 005 696 A1 relates to a method for operating a motor vehicle, coordinates of an environmental feature located in a vehicle environment being received by a receiving device via a radio link and a driver of the motor vehicle being informed about the environmental feature and/or being warned of the environmental feature. The driver should be informed of a position of the environmental feature. A display device in the motor vehicle provides a display of the vehicle surroundings from a perspective of the motor vehicle, and a control device converts the received coordinates into relative coordinates that correspond to the perspective. In order to inform and/or warn the driver, the display device superimposes a marking of a position of the surrounding feature and/or a highlighting of the surrounding feature in the display of the vehicle surroundings on the basis of the relative coordinates.

the DE 10 2017 203 883 A1 relates to a method for detecting the surroundings, in which a first motor vehicle detects its vehicle surroundings using at least one sensor, the first motor vehicle transmitting sensor data from the sensor relating to its vehicle surroundings to a server device external to the vehicle. At least one second motor vehicle with at least one sensor transmits sensor data from the sensor relating to its vehicle environment to the server device external to the vehicle. The server device external to the vehicle merges the transmitted sensor data from the motor vehicles and based on this an environment model of the vehicle environment of the first motor vehicle is generated. The environment model generated is transmitted to the motor vehicle by the vehicle-external server device.

The object of the present invention is to create a method and an environment detection system in which the environment model can be reliably provided in different situations.

This object is achieved by a method, a computer program product and an environment detection system according to the independent patent claims. Advantageous design tion forms are specified in the dependent claims.

One aspect of the invention relates to a method for displaying an environment model of an environment of a motor vehicle by means of an environment detection system of the motor vehicle, in which the environment of the motor vehicle is detected by means of at least one detection device of the environment detection system and the detected environment is displayed graphically on a display device of the environment detection system, wherein in Environment model multiple lanes of a roadway on which the motor vehicle is located and which has at least two lanes that can be driven on in the same direction is displayed.

Provision is made for swarm data to be received from an electronic computing device external to the motor vehicle by means of a swarm data receiving device of the environment detection system, with the multi-lane nature of the roadway being recognized and displayed on the basis of the swarm data.

It is thus possible that in different situations, for example also on country roads, the multiple lanes are recognized and the environment model can thus be displayed on the display device for a user of the motor vehicle.

In particular, the proposed invention thus overcomes the problem that, for example, it is technically possible to activate the environment model on multi-lane country roads, but corresponding information that it is a multi-lane country road is not available, for example to a navigation device. Furthermore, the time required to provide the environment model can be shortened since, on the basis of the detection devices, it is no longer necessary to detect multilaneness on the basis of oncoming vehicles or on the basis of overtaking maneuvers. The environment model is thus used on the basis of the detected multiple lanes based on the swarm data.

In the present case, swarm data is to be understood in particular as data from other motor vehicles recorded in the past, which have carried out a corresponding environment detection on the roadway section and these are made available centrally on a backend server, for example. For example, other motor vehicles may have determined the multiple lanes in the past on the basis of overtaking maneuvers or oncoming vehicles, and a corresponding evaluation can be carried out outside the vehicle or inside the vehicle. This swarm data is then in turn transmitted to the motor vehicle, for example by the backend server, and is now used to determine the number of lanes, with the environment model being displayed on the display device when the number of lanes has been detected.

According to an advantageous embodiment, the multiple lanes are detected independently of lane information from a navigation device of the motor vehicle. In particular, in the case of country roads, for example, the navigation device does not have any information regarding the multi-lane nature of this country road. According to the invention, it is now provided in this embodiment that the multiple lanes are recognized on the basis of the swarm data independently of the navigation device. Thus, for example, the multiple lanes can also be recognized on country roads and the environment model can be displayed on the display device.

Furthermore, it has proven to be advantageous if the environment model is displayed while the motor vehicle is driving on a roadway designed as a multi-lane country road. In particular, in addition to being displayed on freeways, the environment model can also be displayed when driving on multi-lane country roads. The environment model can thus be made available to a user in a highly flexible and situation-dependent manner.

It is also advantageous if the recognition of the multiple lanes is carried out by means of an electronic computing device inside the vehicle or by means of the electronic computing device external to the vehicle. The vehicle-external electronic computing device can also be referred to as a backend server. For example, the swarm data can be transmitted from the other motor vehicles in the past to the electronic computing device external to the motor vehicle. In this case, the evaluation of the multiple lanes can then in turn be carried out externally to the motor vehicle. Thus, only the information about the multiple lanes can be transmitted to the electronic computing device or the surroundings detection system of the motor vehicle. Alternatively, the swarm data can be transmitted to the motor vehicle as raw data, for example. An evaluation of the multiple lanes then in turn takes place inside the motor vehicle.

In a further advantageous embodiment, the environment is detected by means of a detection device designed as a camera and/or as a lidar sensor device and/or as a radar sensor device and/or as an ultrasonic sensor device. Preference is given to all acquisitions the environment. In particular, the detection devices presented are already established in motor vehicle construction and, in particular, already installed in the motor vehicle. It is thus possible to use technology that is already installed in the motor vehicle, so that the surroundings can be comprehensively recorded. In particular, the multiple lanes can thus be reliably detected and the environment model can be reliably displayed on the display device.

It is also advantageous if the display of the environment model is suppressed when there is no multi-lane presence. In particular, the environment model is not displayed, for example, on a one-lane country road or within a city. In this way, misunderstandings and information overload for a user of the motor vehicle can be prevented.

In a further advantageous embodiment, a multi-lane roadway is displayed in the environment model. In particular, for example, the motor vehicle can be displayed in the lane in which the motor vehicle is located. The lanes running in the same direction are then displayed parallel to this. In particular, the motor vehicle is displayed graphically.

Furthermore, it has proven to be advantageous if further information relating to the motor vehicle and/or further information relating to the surroundings and/or further information relating to another motor vehicle in the vicinity is additionally displayed in the environment model. For example, further motor vehicles can also be displayed on the multi-lane road, and in particular on the corresponding lane in which these motor vehicles are located. Furthermore, for example, resource fill levels or an engine temperature can be displayed as the information relating to the motor vehicle. Furthermore, a time or an ambient temperature can be displayed as information relating to the environment. It goes without saying that more information than that mentioned can be displayed. This only serves to describe the idea according to the invention.

A further aspect of the invention relates to a computer program product with program code means which cause an electronic computing device to carry out a method according to the preceding aspect when program code means are processed on the electronic computing device. The invention also relates to a computer-readable storage medium with the computer program product.

As already mentioned, the invention is in particular a computer-implemented method which can be processed on the electronic computing device.

Yet another aspect of the invention relates to an environment detection system for displaying an environment model of an area surrounding a motor vehicle, having at least one detection device, a display device and a swarm data receiving device, the environment detection system being designed to carry out a method according to the preceding aspect. In particular, the method is carried out using the environment detection system.

Yet another aspect of the invention relates to a motor vehicle with a surroundings detection system according to the preceding aspect.

Advantageous configurations of the method are to be regarded as advantageous configurations of the surroundings detection system and of the motor vehicle. For this purpose, the surroundings detection system and the motor vehicle have specific features which enable the method to be carried out or an advantageous embodiment thereof.

The invention also includes developments of the surroundings detection system according to the invention and of the motor vehicle, which have features as have already been described in connection with the developments of the method according to the invention. For this reason, the corresponding developments of the surroundings detection system according to the invention and the motor vehicle according to the invention are not described again here.

The invention also includes the combinations of features of the described embodiments.

• 1 eine schematische Draufsicht auf eine Ausführungsform eines Kraftfahrzeugs mit einer Ausführungsform eines Umfelderfassungssystems;
• 2 eine schematische Draufsicht auf eine Ausführungsform eines Umfeldmodells; und
• 3 ein schematisches Ablaufdiagramm einer Ausführungsform des Verfahrens.

Exemplary embodiments of the invention are described below. For this shows:

• 1 a schematic plan view of an embodiment of a motor vehicle with an embodiment of an environment detection system;
• 2 a schematic plan view of an embodiment of an environment model; and
• 3 a schematic flowchart of an embodiment of the method.

The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described Components each represent individual features of the invention to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than that shown. Furthermore, the exemplary embodiments described can also be supplemented by further features of the invention already described.

Elements with the same function are each provided with the same reference symbols in the figures.

1 shows a schematic plan view of an embodiment of a motor vehicle 1 with an embodiment of an environment detection system 2. The environment detection system 2 is for displaying an environment model 3 ( 2 ) an environment 4 of the motor vehicle 1 is formed. For this purpose, the surroundings detection system 2 has at least one detection device 5, one display device 6 ( 2 ) and a swarm data receiving device 7.

The motor vehicle 1 is in the present case on a multi-lane roadway 8. In the present case, the multi-lane roadway 8 has in particular a first trafficable lane 9 and a second trafficable lane 10, the trafficable lanes 9, 10 being in the same direction of travel.

In the method for displaying the environment model 3 of the environment 4 of the motor vehicle 1 using the environment detection system 2, the environment 4 of the motor vehicle 1 is detected using at least the detection device 5 of the environment detection system 2 and the detected environment 4 is displayed graphically on the display device 6 of the environment detection system 2, wherein in the environment model 3, a multi-lane nature of the roadway 8 on which the motor vehicle 1 is located and which has lanes 9, 10 that can be driven on at least in the same direction is displayed.

Swarm data 12 is received from an electronic computing device 11 external to the motor vehicle, which can also be referred to as a backend server, for example, by means of the swarm data receiving device 7 of the environment detection system 2, with the multi-lane nature of the roadway 8 being recognized and displayed on the basis of the swarm data 12.

In particular, it is provided that the multiple lanes are recognized independently of lane information from a navigation device of motor vehicle 1 . The present example shows in particular that the motor vehicle 1 is located on a country road 13 . In particular, the environment model 3 is now also displayed according to the present invention when the motor vehicle 1 is traveling on the roadway 8 designed as a multi-lane country road 13 . Furthermore, it can be provided that the recognition of the multiple lanes is carried out by means of an electronic computing device 14 inside the vehicle or by means of the electronic computing device 11 external to the vehicle. The detection device 5 can be embodied, for example, as a camera and/or as a lidar sensor device and/or as a radar sensor device and/or as an ultrasonic sensor device. The motor vehicle 1 preferably has both a camera and a lidar sensor device as well as a radar sensor device and an ultrasonic sensor device for detecting the surroundings 4 . In particular, it can be provided that a display of the environment model 3 is suppressed if there is no multi-lane structure.

2 shows a schematic plan view of the display device 6, and in particular of the displayed environment model 3. In the present case, the motor vehicle 1 is displayed in particular in a central perspective. The multi-lane roadway 8 is also displayed. In the present case, the multi-lane roadway 8 has, in particular, three lanes. In particular, at least the multi-lane roadway 8 is displayed in the environment model 3 . Further information relating to motor vehicle 1 can also be displayed in environment model 3 . In the present case, this can be displayed, for example, by information 15 which, for example, represents a resource temperature or resource levels. Further information 16 relating to the environment 4 can also be displayed. This can be a time or an ambient temperature, for example. Furthermore, route information can also be displayed. Furthermore, information about a further motor vehicle 18 or a multiplicity of further motor vehicles 18 in the area 4 can be displayed as further information 17 .

3 shows a schematic flowchart according to an embodiment of the method. In a block 19, the information is inserted as to whether the roadway 8 has at least two trafficable lanes in the same direction. Furthermore, the multiple lanes can also be implemented on the basis of the swarm data 12 . This can be implemented in particular as an OR combination 20 . This result of the OR combination 20 and the road type country road 13 are inserted in an AND combination 21 . If both pieces of information are correct, there is a release 22 for displaying the environment model 3.

Reference List

1

motor vehicle

2

environment detection system

3

environment model

4

vicinity

5

detection device

6

display device

7

swarm data receiving facility

8th

roadway

9

passable track

10

passable track

11

vehicle-external electronic computing device

12

swarm data

13

country road

14

vehicle-internal electronic computing device

15

information

16

information

17

information

18

another motor vehicle

19

block

20

OR combination

21

and combination

22

release

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was 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.

Patent Literature Cited

• DE 102019202576 A1 [0003]
• DE 102015005696 A1 [0004]
• DE 102017203883 A1 [0005]

Claims (10)

Method for displaying an environment model (3) of an environment (4) of a motor vehicle (1) by means of an environment detection system (2) of the motor vehicle (1), in which by means of at least one detection device (5) of the environment detection system (2) the environment (4) of the Motor vehicle (1) is detected and the detected environment (4) is displayed graphically on a display device (6) of the environment detection system (2) as the environment model (3), with the environment model (3) having multiple lanes of a roadway (8) on which where the motor vehicle (1) is located and which has at least two lanes (9, 10) that can be traveled in the same direction, characterized in that swarm data (12) from an electronic computing device (11) external to the motor vehicle by means of a swarm data receiving device (7) of the surroundings detection system (2) are received, the multi-lane nature of the roadway (8) being recognized and displayed on the basis of the swarm data (12). procedure after claim 1 , characterized in that independently of a lane information of a navigation device (14) of the motor vehicle (1) the multiple lanes is detected. procedure after claim 1 or 2 , characterized in that the environment model (3) is displayed while the motor vehicle (1) is traveling on a roadway (8) designed as a multi-lane country road (13). Method according to one of the preceding claims, characterized in that the recognition of the multiple lanes is carried out by means of an electronic computing device (23) inside the motor vehicle or by means of the electronic computing device (11) external to the motor vehicle. Method according to one of the preceding claims, characterized in that the surroundings (4) are detected by means of a detection device (5) designed as a camera and/or as a lidar sensor device and/or as a radar sensor device and/or as an ultrasonic sensor device. Method according to one of the preceding claims, characterized in that a display of the environment model (3) is suppressed if there is no multi-lane nature. Method according to one of the preceding claims, characterized in that at least the multi-lane roadway (8) is displayed in the surroundings model (3). procedure after claim 7 , characterized in that in the environment model (3) additional information (15) relating to the motor vehicle (1) and/or further information (16) relating to the environment (4) and/or further information (17) relating to another motor vehicle (18) is displayed in the environment (4) concerning. Computer program product with program code means which cause an electronic computing device (23) to do so when the program code means are processed on the electronic computing device (23), a method according to one of Claims 1 until 8th to perform. Environment detection system (2) for displaying an environment model (3) of an environment (4) of a motor vehicle (1), with at least one detection device (5), a display device (6) and a swarm data receiving device (7), the environment detection system (2) for carrying out a method according to one of Claims 1 until 8th is trained.

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