DE102023002181B3 - Adaptive filter chain for displaying a model of the environment in a vehicle - Google Patents

Abstract

The invention relates to a system for displaying information about objects in the surroundings of a vehicle, wherein a computing unit (5) uses a driver observation camera (3) to determine driver viewing directions with reference to the surroundings and checks whether an object in the surroundings is being tracked, and in the positive case, a deviation between the course of the viewing directions directed at the tracked object is determined with a position course according to the data of an environment sensor unit (1) in a projection image and, in order to minimize the deviation, a filter parameter for displaying the tracked object is applied to the Sensor data adapts the filter to be applied, and controls the display unit (7) for filtered display of the time-dependent position of the tracked object.

Description

The invention relates to a system for displaying information about objects in the surroundings of a vehicle, a vehicle with such a system, and a method for displaying information about objects in the surroundings of a vehicle.

It is known in the prior art to generate and render an environment model obtained from sensor data for the purpose of understanding sensor data about objects in the environment as an image and to display it on a display device.

The DE 10 2021 201 065 A1 In this context, 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 as the environment model, wherein in the environment model a multi-lane structure of a road on which the motor vehicle is located and which has at least two lanes that can be driven in the same direction is displayed, with swarm data being received from an electronic computing device external to the motor vehicle by means of a swarm data receiving device of the environment detection system, the multi-lane nature being based on the swarm data the road is recognized and displayed.

The DE 10 2018 112 345 A1 further relates to a method for generating high dynamic range images with an HDR camera system, the method comprising recording a plurality of camera exposures with a camera of the HDR camera system, generating a first HDR image from a first subset of the plurality camera exposures, each camera exposure of the first subset having a different exposure value, and generating a second HDR image from a second subset of the plurality of camera exposures, the second subset having at least one exposure from the first subset and at least one additional exposure taken more recently than the exposures of the first subset, each exposure of the second subset having a different exposure value.

A sensor unit in the vehicle typically has the purpose of obtaining data for a driver assistance system. This takes place as part of environmental perception, which has the primary task of generating data for driver assistance systems such as driving functions or parking functions of the vehicle. Accordingly, the sensor data is primarily suitable for such driver assistance systems, but is not necessarily optimal for visualizing an environment model with moving and/or static objects in the environment around the vehicle, which is determined using this data from the sensor unit. Such an environment model can be generated, for example, from the data from the sensor unit directly or using the result of a static or dynamic sensor data fusion. This procedure is also called “navigation”. Typically, ADAS (short for “advanced driver assistance system”) sensor data and navigation data are displayed to the driver on a central screen.

The visualization of the environment model serves the particular purpose of making the behavior of such a driver assistance system comprehensible for the driver, while the visualization itself is primarily based on the data in the perception channel of the vehicle, which combines a large number of sensors of the vehicle individually or in data fusion can use. However, due to the above-mentioned partial lack of suitability of the data via the environment model for visualization, the visualized data can have a high temporal jitter or a spatial offset, each with the result of a spatial instability of a displayed object relative to the environment - for the viewing driver Such behavior can appear in the display through wobbling objects and can be disruptive. The quality of object detection can depend heavily on the object class (especially in data-driven approaches) and the respective environmental conditions. It is therefore advisable to use a filter chain to clean up the behavior of the objects with regard to their position in their representation (e.g. box filter over several frames, or Kalman filter).

Removing the interference or noise and artifacts in the visualization using filter loops tends to be time-consuming. This approach also means that, regardless of the sensor quality and the environmental conditions, the filter filters all objects equally - and this in turn can lead to too strong or too little filtering of the objects to be displayed with regard to their position. Such a filter chain with sub-optimal parameters can even cause objects to appear sluggish in the visualization. This effect occurs in particular when temporal filters with fixed window widths are applied to the data. As a result, the data sometimes has a temporal stability, but has the same effect ßen for visualization sluggish. Accordingly, a conflict of objectives arises between artifact cleanup and realistic display on a display unit.

The object of the invention is to improve the filtering of information to be displayed about objects in their position in an environment model.

The invention results from the features of the independent claims. Advantageous further developments and refinements are the subject of the dependent claims.

A first aspect of the invention relates to a system for displaying information about objects in the surroundings of a vehicle, comprising a sensor unit for determining sensor data about the objects, a driver observation camera, a computing unit and a display unit, the computing unit being designed to use the data the driver observation camera to determine a current viewing direction of the driver, to relate the respective viewing direction to a viewed target in the environment, and to check a course of the viewed targets to determine whether i) the viewing directions track an object in the environment during a predetermined period of time, and whether ii) the tracked object corresponds to an object detected with the sensor unit and to be displayed on the display unit during the predetermined period of time, and if i) and ii) are present, a deviation between the course of the viewing directions directed at the tracked object with an object using the sensor unit Based on the sensor data, to determine the position profile of the respective object in a common projection image suitable for determining the deviation and to adapt at least one filter parameter of a filter to be applied to the sensor data to display the tracked object in such a way that the application of the filter on the The position history of the respective object to be displayed in the display unit is changed so that the deviation is reduced, and the display unit is then controlled in such a way that the time-dependent position of the displayed tracked object on the display unit is determined by the adapted filter parameter.

The object of the invention is achieved in particular in that the driver's eye movements are observed and used in order to combine and harmonize the information thereby available with that from the environment perception channel of the vehicle. In other words, the data obtained from the sensor unit for displaying dynamic and/or static objects in relation to the vehicle's surroundings is supported by relevant information from the driver's eye movements and the viewing directions of the driver that can be derived from them.

In particular, this support is provided in that one or more parameters of one or more filters, which in particular determine a dynamic bandwidth of the one or more filters, serve as an optimization variable in order to optimize a position profile of an object tracked by gaze for the display; This is done in particular in such a way that this position progression of an object being tracked by gaze follows the gaze trajectory in relation to the surroundings of the vehicle and thus ideally the object itself. The fact that this subsequent behavior results in this way can be attributed to the value of the at least one filter parameter, which is optimized accordingly.

In principle, it is irrelevant whether a filter parameter of one or more filters is adjusted, whether one or more filters are used, and whether many filter parameters of a filter or filter parameters of several filters are adjusted. The only decisive factor is the fact that the behavior of an applied filter chain is adjusted as explained above and below. A Kalman filter in particular can be used as a filter. Examples of different filter parameters are a filter window and the filter function.

The driver observation camera immediately records eye movements. From the eye movements, the direction of gaze of each eye can be determined, which also means the focus is known. In order to be able to assign the driver's viewing directions to the surroundings, a correspondingly compatible data format with the information from the sensor unit is necessary. This is achieved by means of the projection image, in which in particular the information from the sensor unit about the environment is mapped onto this preferably two-dimensional projection image, and the viewing directions are assigned to corresponding coordinates in this projection image. The projection image creates a common basis for comparing the information from the sensor unit about the environment and the viewing directions into the environment.

A so-called “range image” is preferably used as the projection image (this is essentially the result of a projection of a 3D environment onto a 2D plane). Direct geometric comparisons can therefore be made as to which paths the driver's line of sight covers in the environment, or which object they follow in relation to the rest of the environment, and which information tions of the sensor unit regarding these paths or objects are present.

In particular, the computing unit determines, based on the driver's viewing directions, whether the driver is following an object with his gaze over a predetermined period of time, i.e. H. over the specified period of time it focuses and its line of sight follows the object. The computing unit thus ensures that the driver constantly observes and focuses on a moving object over a longer period of time. The check takes place in particular by determining an area around a fixed window on the projection image, such as a “range image”. If the area is constantly constant, it can be assumed that the same object-related position is focused. From this, a spline of a moving object on the 2D plane of the projection image such as a “range image” can be derived. A respective spline is then used as a reference spline to adjust the at least one filter parameter.

If these requirements are met, relevant information based on the driver's eye movements is available, which can be used for further action. It is therefore still being checked whether the object followed by the driver's gaze was also detected with sufficient information from the sensor unit, and this object should be displayed on a display unit of the vehicle, in particular a central screen in the interior of the vehicle, in such a way that the According to the display unit, the driver could make a spatial image of the environment using the environmental model displayed on the display unit.

If these conditions are met, the procedure described above continues, according to which a geometric deviation of the path of the tracked object is compared in the projection image according to the data from the driver observation camera and the position history according to the sensor unit. The trajectory of an object moving relative to the environment in 3D space can be recorded by the sensor unit and adjusted using the filter. That updated filter chain is now preferably projected into the projection image and compared with the reference spline. The resulting deviation can be defined, for example, as the orthogonal L2 distance.

The aim of the subsequent optimization is, in particular, to minimize that deviation. The at least one filter parameter is adjusted so that the position profile according to the sensor unit adapts to the tracked trajectory according to the driver's gaze behavior. This results in an improved filter parameter value and the position history of the object can be displayed more reliably and more realistically on the display unit. If the corresponding minimum or the termination criterion is reached, the optimization is ended and the underlying filter set is used to filter the ADAS perception data for a corresponding period of time and make it available to the visualization.

The object, which is acted upon by the filter with the filter parameter to be changed for display on the display in its course, is in particular a dynamic object, i.e. H. an object that moves relative to the rest of the environment, such as another road user. Other road users in particular have a decisive influence on the behavior of a driver assistance system, especially if it acts reactively, i.e. H. reacts to the surrounding traffic. It is precisely such reactions that are of interest to the driver of the vehicle in order to understand them, for which the environment model with the particular moving objects in the area surrounding the vehicle is displayed on the display unit.

An optimization loop can either be initialized at specified time intervals or linked to the availability of the reference spline; the latter is particularly advantageous in rural environments. A link to a perception quality measure is also conceivable. Continuous repetition of the optimization is typically necessary because the quality of the sensor data can fluctuate greatly and may depend on the degree of contamination of the sensors, the respective lighting situation or weather conditions.

Advantageous effects of the invention are that the objects in the environment are displayed more naturally on the display unit through the adaptive adjustment of the assistance visualization, regardless of light and weather conditions. If moving objects are displayed in the area surrounding the vehicle, they can also be displayed in an improved manner regardless of the static scenery. The system and method described can also adapt a large number of filter parameters in the optimization and is independent of the specific use of sensor types in the sensor unit and whether they are merged with one another. Individual sensors of the sensor unit can be, for example: camera, radar, lidar.

According to an advantageous embodiment, the computing unit is designed to project data from the sensor unit into a two-dimensional projection image to determine the deviation, and the To assign viewing directions to the coordinates of the projection image, so that the course of the viewed targets of the viewing directions in the projection image and the position progression of a respective object in the projection image are related to the same standardized positions in the environment and thus a respective direct geometric difference can be determined to determine the deviation.

The geometric difference is preferably calculated as an L2 distance, particularly preferably as an integral valid for a respective point in time of the distances between the spline of the focused viewpoints on the tracked object and the path of the object relative to the environment based on the same reference projection image according to the sensor data.

According to a further advantageous embodiment, the filter comprises at least one of the following: Kalman filter, box filter, low-pass filter, moving average filter.

According to a further advantageous embodiment, the computing unit is designed to classify a respective object that is detected by the sensor unit and, depending on the result of the classification, to determine and apply specific filter parameters in a class-dependent manner to display the respective object on the display unit.

Different classes into which objects that move in particular relative to the environment can be divided are, for example: cyclists, cars, trucks, pedestrians.

According to a further advantageous embodiment, the computing unit is designed to determine the predetermined period of time depending on the classification of the respective object and/or depending on the distance of the respective object from the vehicle.

According to a further advantageous embodiment, the system further has a communication module, wherein the computing unit is designed to send the at least one adapted filter parameter to a central computer or to another road user, in particular another road user in the same class as the vehicle, by means of the communication module to transmit.

The classification of your own vehicle can be done in the same way as the classification of other road users. In particular, the respective filter parameters determined through optimization can only be passed on to other passenger cars if your own vehicle is a passenger car.

According to a further advantageous embodiment, the computing unit is designed to check whether the viewing directions track an object in the environment during the predetermined period of time, and to evaluate whether the targets of the viewing directions are within a flat area projected into the surroundings of the vehicle at least during the predetermined period of time lie around a respective object.

According to a further advantageous embodiment, the computing unit is designed to determine the size of the flat area depending on the distance of the respective object from the vehicle.

According to a further advantageous embodiment, the computing unit is designed to check whether the tracked object corresponds to an object detected with the sensor unit and to be displayed on the display unit during the predetermined period of time, and to carry out an image-analytical similarity comparison, in particular a determination of a “structural similarity index measure”. , to execute.

Another aspect of the invention relates to a vehicle with a system as described above and below. Advantages and preferred developments of the proposed vehicle result from an analogous and meaningful transmission of the statements made above in connection with the proposed system.

• - Ermitteln von Sensordaten über die Objekte durch eine Sensoreinheit des Fahrzeugs, und jeweils durch eine Recheneinheit:
• - Ermitteln mittels der Daten einer Fahrerbeobachtungskamera des Fahrzeugs einer jeweils aktuellen Blickrichtung des Fahrers;
• - Beziehen der jeweiligen Blickrichtung auf ein betrachtetes Ziel in der Umgebung, und Prüfen eines Verlaufs der betrachteten Ziele daraufhin, ob i) die Blickrichtungen während eines vorgegebenen Zeitraums ein Objekt der Umgebung verfolgen, und ob ii) das verfolgte Objekt einem mit der Sensoreinheit erfassten und an der Anzeigeeinheit darzustellenden Objekt während des vorgegebenen Zeitraums entspricht, und wenn i) und ii) vorliegen:
• - Ermitteln einer Abweichung zwischen dem Verlauf der auf das verfolgte Objekt gerichteten Blickrichtungen mit einem mittels der Sensoreinheit auf Basis der Sensordaten ermittelten Positions-Verlauf des jeweiligen Objekts in einem sich für die Ermittlung der Abweichung eignenden gemeinsamen Projektionsbild;
• - Anpassen zumindest eines Filterparameters eines zur Anzeige des verfolgten Objekts auf die Sensordaten anzuwendenden Filters so, dass der durch die Anwendung des Filters auf der Anzeigeeinheit anzuzeigende Positions-Verlauf des jeweiligen Objekts so geändert wird, dass die Abweichung verringert wird; und anschließendes
• - Ansteuern der Anzeigeeinheit so, dass die zeitabhängige Position des angezeigten verfolgten Objekts auf der Anzeigeeinheit durch den angepassten Filterparameter bestimmt wird.

A further aspect of the invention relates to a method for displaying information about objects in the surroundings of a vehicle, comprising the steps:

• - Determination of sensor data about the objects by a sensor unit of the vehicle, and in each case by a computing unit:
• - Determining the driver's current viewing direction using the data from a driver observation camera of the vehicle;
• - Relating the respective viewing direction to a viewed target in the environment, and checking a course of the viewed targets to determine whether i) the viewing directions track an object in the environment during a predetermined period of time, and whether ii) the tracked object corresponds to one detected with the sensor unit and corresponds to the object to be displayed on the display unit during the specified period of time, and if i) and ii) are present:
• - Determining a deviation between the course of the viewing directions directed at the tracked object with a position profile of the respective object determined by the sensor unit on the basis of the sensor data in a common projection image suitable for determining the deviation;
• - Adjusting at least one filter parameter of a filter to be applied to the sensor data to display the tracked object so that the position history of the respective object to be displayed on the display unit by applying the filter is changed so that the deviation is reduced; and subsequent
• - Controlling the display unit in such a way that the time-dependent position of the displayed tracked object on the display unit is determined by the adapted filter parameter.

Advantages and preferred developments of the proposed method result from an analogous and meaningful transfer of the statements made above in connection with the proposed system.

Further advantages, features and details emerge from the following description, in which at least one exemplary embodiment is described in detail - if necessary with reference to the drawing. Identical, similar and/or functionally identical parts are provided with the same reference numerals.

• 1: Ein System in einem Fahrzeug zum Anzeigen von Informationen über Objekte in der Umgebung des Fahrzeugs gemäß einem Ausführungsbeispiel der Erfindung.
• 2: Ein Verfahren zum Anzeigen von Informationen über Objekte in der Umgebung eines Fahrzeugs gemäß einem Ausführungsbeispiel der Erfindung.

Show it:

• 1 : A system in a vehicle for displaying information about objects in the vehicle's surroundings according to an embodiment of the invention.
• 2 : A method for displaying information about objects in the surroundings of a vehicle according to an embodiment of the invention.

The representations in the figures are schematic and not to scale.

1 shows a section of a vehicle with a system for displaying information about objects in the area surrounding the vehicle. As part of the system, the vehicle has a sensor unit 1 for acquiring sensor data about the surroundings of the vehicle. This sensor data therefore also records corresponding information about moving objects such as other road users who are in the detectable surroundings of the vehicle. The sensor data is primarily used to provide a driver assistance system or an automatic driving control system of the vehicle with current information about the environment and the road users in it, so that it can carry out appropriate reactions. In order to make the reactions more understandable for the driver of the vehicle, the data about the road users is displayed on a display unit 7 of the vehicle in such a way that real movements of the real road users are depicted on the display unit 7 by movements of the representations of these road users. Since the sensor data is designed with particular suitability for use in the driver assistance system or the automatic driving control system of the vehicle, but not necessarily for suitability for display on a display unit 7, one or more filters are used to combine this sensor data with the information about the further To adapt road users and their position progression over time, so that a realistic and smooth position progression of these movements of other road users on the display unit 7 is achieved. This at least one filter has at least one filter parameter, and the application of the filter as well as the control of the display unit 7 is carried out by a computing unit 5 of the system, in particular but not necessarily arranged in the vehicle. Since a predetermined filter parameter cannot be optimal for all situations, the driver's behavior is advantageously used, where this contains relevant information, in order to be able to improve the display of a position history of another road user in the vicinity of the vehicle. For this purpose, the time course of the driver's viewing directions into the environment is recorded using a driver observation camera 3, and the viewing directions are mapped onto a projection image of the current environment, in which the information recorded by the sensor unit 1 is also mapped. The position profile, which is determined by the computing unit 5 by scanning the viewing directions over the surroundings, and the position profile of another road user determined by the sensor unit 1, also shown in the projection image, are compared by the computing unit 5 when by the computing unit 5 It has already been determined that a focused point of view is maintained on another road user over a predetermined period of time, which is in the 1 is outlined as a black filled circle within a rectangular defined area around the other road user. The rectangular defined area is defined by means of the sensor data from the sensor unit 1 as the area which moves along with the other road user in a body-fixed manner, and within which the focus of the driver's viewing directions over a predetermined must be within a certain period of time so that the computing unit 5 can recognize that the driver is actually tracking the object for the specified period of time. If this is the case, there is usable information to be able to exploit the driver's tracking of other road users with his gaze in order to optimize the filter. The filter parameter is optimized in such a way that the deviation of the movement data of the other road user calculated using the sensor data of the sensor unit 1 corresponds as far as possible to that which is calculated by tracking with the viewing directions of the driver of the other road user. Accordingly, the filter parameter is adjusted and the filter parameter obtained in this way is used to display the movement path of the other road user on the display unit 7. Further details are in the procedure 2 specified.

2 shows a corresponding method for displaying information about objects in the surroundings of a vehicle, which is in a system such as in the 1 described, can take place. In a first step of the method, sensor data S1 about the objects is determined by a sensor unit 1 of the vehicle for observing the surroundings; cameras, radar, lidar, ultrasonic distance sensors and other typical sensors can be used here. The computing unit 5 determines S2 a current viewing direction of the driver using the data from a driver observation camera 3 of the vehicle and relates S3 the respective viewing direction to an observed target in the environment by providing a projection image in the form of a so-called “range image” and detecting the The driver's line of sight is based on the previously derived “range image”. Furthermore, a course of the viewed targets is checked to see whether i) the viewing directions track an object in the environment during a predetermined period of time, and whether ii) the tracked object corresponds to an object detected with the sensor unit 1 and to be displayed on the display unit 7 during the predetermined period of time corresponds. Test ii) is carried out by determining a correspondence between the focused object by the driver and the object derived from the sensor data in 3D space using “structural similarity index measurement”, abbreviated “SSIM”, which is compared with a predetermined limit value. Congruence is checked using defined error metrics. For this purpose, the driver focus is determined repeatedly in order to derive a reference spline of the object based on the data from the driver observation camera 3 over several frames. The reference spline is derived from the focused “range images”. Finally, the determination S4 follows a deviation between the reference spline based on the course of the viewing directions directed at the tracked object, with a position course of the respective object determined by the sensor unit 1 on the basis of the sensor data with respective references to the projection image; Finally, the adjustment S5 of the at least one filter parameter for displaying the road user in front of him, which the driver looks at with his eyes, follows with the filter to be applied to the sensor data in such a way that the position profile of the respective object to be displayed on the display unit 7 through the application of the filter is as follows road user 1 is changed so that the deviation is reduced. The display unit 7 is then controlled S6 in such a way that the time-dependent position of the displayed tracked object on the display unit 7 is actually determined and displayed by the adapted filter parameter.

Although the invention has been illustrated and explained in detail by preferred embodiments, the invention is not limited by the examples disclosed and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a large number of possible variations exist. It is also to be understood that exemplary embodiments are truly examples only and should not be construed in any way as limiting the scope, application, or configuration of the invention. Rather, the preceding description and the description of the figures enable the person skilled in the art to concretely implement the exemplary embodiments, whereby the person skilled in the art can make a variety of changes with knowledge of the disclosed inventive concept, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Reference symbol list

1

Sensor unit

3

Driver observation camera

5

Computing unit

7

Display unit

S1

Determine

S2

Determine

S3

Relate

S4

Determine

S5

Adjust

S6

Control

Claims (11)

System for displaying information about objects in the surroundings of a vehicle, comprising a sensor unit (1) for determining sensor data about the objects, a driver observation camera (3), a computing unit (5) and a display unit (7), wherein the computing unit (5 ) is designed to use the data from the driver observation camera (3) to determine the driver's current viewing direction, to relate the respective viewing direction to a viewed target in the environment, and to check a course of the viewed targets to determine whether i) the viewing directions track an object in the environment during a predetermined period of time, and whether ii) the tracked object corresponds to an object detected by the sensor unit (1) and to be displayed on the display unit (7) during the predetermined period of time, and if i) and ii) are present, an Deviation between the course of the viewing directions directed at the tracked object with a position course of the respective object determined by the sensor unit (1) on the basis of the sensor data in a common projection image suitable for determining the deviation and at least one filter parameter for display to adapt the filter to be applied to the sensor data of the tracked object in such a way that the position profile of the respective object to be displayed on the display unit (7) by applying the filter is changed in such a way that the deviation is reduced, and then to control the display unit (7) in this way that the time-dependent position of the displayed tracked object on the display unit (7) is determined by the adapted filter parameter. System after Claim 1 , wherein the computing unit (5) is designed to project sensor data from the sensor unit (1) into a two-dimensional projection image to determine the deviation, and to assign the viewing directions to the coordinates of the projection image, so that the course of the viewed targets of the viewing directions in the projection image and the position -The course of a respective object in the projection image is related to the same standardized positions in the environment and thus a respective direct geometric difference can be determined to determine the deviation. System according to one of the preceding claims, wherein the filter comprises at least one of the following: Kalman filter, box filter, low-pass filter, moving average filter. System according to one of the preceding claims, wherein the computing unit (5) is designed to classify a respective object which is detected by the sensor unit (1) and, depending on the result of the classification, to display the respective object on the display unit (7 ) to determine and apply special filter parameters depending on the class. System after Claim 4 , wherein the computing unit (5) is designed to determine the predetermined period of time depending on the classification of the respective object and / or depending on the distance of the respective object to the vehicle. System according to one of the preceding claims, further comprising a communication module, wherein the computing unit (5) is designed to communicate by means of the communication module to a central computer or to another road user, in particular another road user in the same class as the vehicle with the system, to transmit the at least one adapted filter parameter. System according to one of the preceding claims, wherein the computing unit (5) is designed to check whether the viewing directions track an object in the environment during the predetermined period of time, and to evaluate whether the goals of the viewing directions are at least during the predetermined period of time within one in the Surroundings of the vehicle projected flat area around a respective object. System after Claim 7 , wherein the computing unit (5) is designed to determine the size of the flat area depending on the distance of the respective object to the vehicle. System according to one of the preceding claims, wherein the computing unit (5) is designed to check whether the tracked object corresponds to an object detected with the sensor unit (1) and to be displayed on the display unit (7) during the predetermined period of time, and for this purpose, an image analytical To carry out a similarity comparison, in particular a determination of a “structural similarity index measure”. Vehicle with a system according to one of the preceding claims. Method for displaying information about objects in the surroundings of a vehicle, comprising the steps: - determining (S1) sensor data about the objects by a sensor unit (1) of the vehicle; and each by a computing unit (5): - Determining (S2) a current viewing direction of the driver using the data from a driver observation camera (3) of the vehicle; - Relating (S3) the respective viewing direction to a viewed target in the environment, and checking a course of the viewed targets to determine whether i) the viewing directions track an object in the environment during a predetermined period of time, and whether ii) the tracked object corresponds to the Sensor unit (1) detected and on the display unit (7) corresponds to the object to be displayed during the specified period of time, and if i) and ii) are present: - Determining (S4) a deviation between the course of the viewing directions directed at the tracked object with a means of Sensor unit (1) determines the position profile of the respective object on the basis of the sensor data in a common projection image suitable for determining the deviation; - Adjusting (S5) at least one filter parameter of a filter to be applied to the sensor data to display the tracked object so that the position profile of the respective object to be displayed on the display unit (7) by applying the filter is changed in such a way that the deviation is reduced ; and then - controlling (S6) the display unit (7) so that the time-dependent position of the displayed tracked object on the display unit (7) is determined by the adapted filter parameter.

Images