DE102023202306B3 - Method for generating an environmental view of a vehicle, image recording device and vehicle - Google Patents

Abstract

Method for generating an environmental view of a vehicle (1), wherein the vehicle (1) has a plurality of cameras (3) each capturing a partial area of a vehicle environment, wherein image data is continuously generated and at least partially stored by the cameras (3), wherein after a destination (15) for the vehicle (1) has been determined from currently generated and stored image data, a top view (11) of the vehicle (1) and the destination (15) is generated by projecting the image data onto a projection base (16), wherein the top view (11) is generated from a virtual camera (17) which is virtually arranged at an arrangement height (hv) vertically above an arrangement position (P) lying on the projection base (16), wherein the arrangement position (P) of the virtual camera (17) is stationary when the vehicle (1) is moving in relation to the vehicle environment shown and/or wherein the arrangement position (P) of the virtual camera (17) is stationary at least before the vehicle approaches the destination (15). (1) is located next to a vehicle position of the vehicle (1).

Description

The invention relates to a method for generating a view of the surroundings of a vehicle, wherein the vehicle has a plurality of cameras each capturing a partial area of a vehicle's surroundings, wherein image data is continuously generated by the cameras and at least partially stored, wherein after a destination for the vehicle has been determined, a top view of the vehicle and the destination is generated from currently generated and stored image data by projecting the image data onto a projection surface. The invention further relates to an image recording device and a vehicle.

To make maneuvering a vehicle easier, views of the environment recorded using vehicle cameras can be converted into a top view of the vehicle and the immediate surroundings. In particular, vehicle cameras that are arranged on different sides of the vehicle or that capture the environment on different sides of the vehicle can be used for this purpose. An artificial top view of the vehicle can be created from these images by projecting the image data onto a projection surface.

For example, in EN 10 2021 207 558 A1 a camera system is described which is designed to create a top view of a vehicle combination. Cameras arranged on the vehicle combination are used to generate images which are used to create the top view, also known as a top view.

In such a top view, the vehicle or a vehicle graphic showing the vehicle from above is usually shown in the middle, with the vehicle surroundings captured by the vehicle cameras being shown around the vehicle by projecting the camera images onto the projection surface. When the vehicle moves, the top view can be shown updated, in particular approximately in real time. The vehicle or the vehicle graphic is usually stationary in relation to the top view, with the surroundings around the vehicle changing depending on the actual vehicle movement.

In EN 10 2016 226 299 A1 a method for representing the surroundings of a vehicle is described. The method includes capturing the surroundings of a vehicle in camera images using at least one camera arranged on the vehicle, determining a position of an object in the surroundings of the vehicle relative to the vehicle, and generating a view of the surroundings of the vehicle from the perspective of a virtual camera based on the captured camera images, wherein the vehicle is represented in the view of the surroundings of the vehicle by a vehicle model. When the vehicle approaches an object in the surroundings, a virtual camera is moved along a trajectory running alongside a virtual representation of the vehicle.

EN 10 2021 205 154 A1 discloses a method for generating a bird's eye view image using a plurality of cameras mounted on a vehicle. A hole area in a current bird's eye view image is filled with camera image data from a previous bird's eye view image.

The top view allows the vehicle's surroundings and the orientation of the vehicle in the vehicle's surroundings to be clearly displayed. A driver of the vehicle can quickly and intuitively perceive surrounding objects and the orientation of the vehicle relative to the surrounding objects. This can make maneuvering the vehicle much easier, especially when maneuvering the vehicle in a confined vehicle environment. However, by centering the top view on the vehicle, targeted driving to a destination or target position can be perceived as disadvantageous, especially if many changes of direction are made during maneuvering, since the destination in the display moves around the vehicle or the vehicle graphic.

The invention is based on the object of specifying an improved method for generating an environmental view of a vehicle, which in particular facilitates the approach to a destination.

To achieve this object, in a method of the type mentioned at the outset, the invention provides that the top view is generated from a virtual camera which is virtually arranged at an arrangement height vertically above an arrangement position lying on the projection base surface, wherein the arrangement position of the virtual camera is stationary when the vehicle moves in relation to the vehicle environment shown and/or wherein the arrangement position of the virtual camera is adjacent to a vehicle position of the vehicle at least before the vehicle approaches the destination.

The vehicle can be, for example, a passenger car, a truck, a motorcycle, a construction machine or a rail-bound vehicle. Other embodiments of the vehicle are also conceivable. The vehicle comprises several cameras, each of which captures a partial area of the vehicle's surroundings. In particular, the vehicle's cameras can capture the entire vehicle environment around the vehicle (so-called 360° surround view). The cameras can be designed, for example, as a front camera, as a rear camera or as side cameras, which can be arranged, for example, on the side mirrors of a vehicle. It is possible that the cameras, or at least some of the cameras, are designed as fisheye cameras, each of which has a large detection angle, for example of 180° or more, and can therefore each capture a large partial area of the vehicle's surroundings.

The cameras continuously generate image data, with a sub-area of the vehicle's surroundings being depicted in each image data. The image data can be captured in particular as an image data stream, for example as a video, or as a series of individual images with a predetermined or variable frame rate. At least part of the image data is stored in a storage device in the vehicle. The stored image data thus shows the vehicle's surroundings from a previous time, which may also differ geographically from the current position of the vehicle if the vehicle is moving while the image is being captured. The stored image data thus depicts the vehicle's surroundings starting from a previous vehicle position or at an earlier point in time.

If a destination has been set for the vehicle, a top view of the vehicle and the destination is generated from the current image data generated by the cameras in the vehicle's current position and from the stored image data. It is possible for the destination to be selected by a user of the vehicle, for example in a previous top view of the vehicle generated only on the basis of the current image data. Other options for selecting the destination are also possible, for example a selection via a navigation device in the vehicle, a map of the surroundings and/or a display generated from the image data from the cameras that is different from a top view. The top view is shown to a driver or user of the vehicle, in particular via a display device in the vehicle. The top view can in particular be generated continuously as a function of currently generated image data and/or further stored image data added over time.

The top view of the vehicle and the destination from the stored image data and the current image data is generated by projecting the image data onto a projection surface. The top view shows a view of the vehicle and the vehicle surroundings from a virtual camera. The virtual camera is arranged at a virtual arrangement height vertically above an arrangement position on the projection surface. The virtual camera is therefore located above the arrangement position without any lateral offset from the arrangement position, with the arrangement height describing the distance of the virtual camera from the arrangement position.

The arrangement position can remain stationary in relation to the vehicle surroundings shown, particularly when the vehicle is moving. This means that the view generated is static in relation to immobile or unmoving objects in the vehicle's movement and therefore does not change even when the vehicle is moving. This has the advantage that the relative position between the vehicle and the destination to be reached can be easily recognized in the view. In particular, if the vehicle changes its orientation during its movement, for example by turning the steering wheel during a maneuvering maneuver, the orientation of the view does not change.

Additionally or alternatively, the arrangement position can be selected in particular such that it is located next to a vehicle position of the vehicle at least before the vehicle approaches the destination. The arrangement position of the virtual camera can therefore not be provided vertically above the vehicle, but either vertically above a position different from the vehicle position, i.e. at a position that is not within the vehicle outline when viewed from above.

By using the stored image data, historical image data is available, which enables a top-down view of the destination even when the vehicle moves further away from the destination, for example when driving past the destination, even if the destination can no longer be directly captured by the cameras from the current vehicle position. In this way, the top-down view can be generated from a stationary and/or a virtual camera that is not centered vertically above the vehicle.

For example, the destination may be a parking space that the vehicle passes and which is then selected as a destination to park the vehicle in the parking space to park. In this case, the top view can advantageously be generated based on the current image data and the stored image data, so that the parking space and the vehicle can be displayed in a top view from a virtual camera which is arranged, for example, vertically above an arrangement position in the parking space or at another arrangement position next to the vehicle or next to the area covered by the vehicle in the top view.

In addition or alternatively, it is possible for the virtual camera to remain stationary while the vehicle is moving to the destination. The stationary virtual camera can be arranged vertically above an arrangement position in the parking space or at an arrangement position between the current vehicle position and the parking space. However, it is also possible for the stationary virtual camera to initially be arranged vertically above the vehicle, but not to move when the vehicle moves and to remain in the original position.

The two alternatives for the arrangement of the virtual camera according to the invention present the driver with a view of the current scene that corresponds to the view of a drone hovering above the arrangement position. By dispensing with centralizing the vehicle in the view, driving to the destination, for example during a parking maneuver, is made considerably easier, since both the vehicle position and the destination as well as their relative arrangement to one another can be recognized easily and intuitively in the view.

By using the stored image data, it is possible to expand the representation of the vehicle's surroundings in the top view to include areas that the vehicle previously drove through or that were depicted in the previously recorded and at least partially stored image data. A user of the vehicle can therefore advantageously view a larger part of the vehicle's surroundings and in particular a larger part of the area around a desired destination in the top view. This advantageously makes it much easier for the vehicle to approach the destination.

In a preferred embodiment of the invention, it can be provided that the arrangement position of the virtual camera is at the target location or between the target location and a current vehicle position of the vehicle. If the target location is a target point within the vehicle environment, the arrangement position can be identical to the target location, i.e. that the arrangement position is directly at the target point. It is also possible for the target location to be a target area, for example a parking space, in which case the arrangement position is at the target location if it is within the parking space or within the target area. The arrangement position can, for example, be arranged centrally above the target area.

A position that lies between the target location and the current vehicle position can in particular lie on a straight line that runs from a point on the circumference of the vehicle in the top view to the target point or a point on a circumference of the target area. The point on the circumference of the vehicle or the point on the circumference of a target area can be chosen arbitrarily, which results in different arrangement options for the virtual camera in the area that lies between the vehicle and the target location in the top view.

By positioning the arrangement position of the virtual camera at the target location or between the target location and the current vehicle position, the vehicle is no longer placed in the center of the view, but rather either the target location or a position between the vehicle and the target location. This has the advantage that the target location can be better recognized and, in particular, the relative arrangement between the current vehicle position and the target location can be better understood by a user.

According to the invention, it can be provided that an arrangement position on the projection surface, which is located at a position next to a vehicle position of the vehicle at least before the vehicle approaches the destination, is moved depending on a vehicle movement. In this case, for example, if the vehicle moves further away from the destination, the arrangement position can be moved to a position closer to the vehicle. For example, the arrangement position can always remain centered between the vehicle position and the destination when the vehicle is moving. For this purpose, the arrangement position can, for example, move behind the vehicle depending on the vehicle movement or, if the vehicle moves towards the destination, move back towards the destination.

It is possible that, in addition or as an alternative, the camera's arrangement height is changed depending on the movement of the vehicle, so that the complete view of the scene, including the vehicle and the destination, can continue to be shown on a display device of the vehicle. For this purpose, the arrangement height can be changed when the vehicle moves away from the destination. the vehicle and decrease as the vehicle moves closer to the target.

According to the invention, an arrangement position which is at the current vehicle position is initially used until a trigger criterion is met, whereby after the trigger criterion is met, the arrangement position remains stationary and/or is moved next to the vehicle position of the vehicle. The vehicle can therefore initially always be shown centrally in the top view, even during vehicle movement, until a trigger criterion is met or a trigger condition occurs. After the trigger criterion is met, the arrangement position of the camera, as described above, is fixed and/or moved to a position next to the vehicle. This makes it possible for a classic top view of the vehicle, in which the vehicle is in the middle of the view, to be displayed until a trigger condition described by the trigger criterion occurs. Then, after the trigger criterion is met, the arrangement position of the camera can be moved so that driving to the destination can be made easier.

According to the invention, it can be provided that a selection of a destination by a user of the vehicle or an automatic selection of a destination using an at least partially automated driving function of the vehicle is used as the triggering criterion. It is particularly possible for the user to select the destination in the top view shown, in which the arrangement position is at the current vehicle position, with the arrangement position being moved accordingly after the selection. Alternatively, the triggering criterion can also be met by an automatic selection of the destination by an at least partially automated driving function, for example by a parking assistant, an assistant for fully automated driving or similar.

In a preferred embodiment of the invention, it can be provided that the top view is continuously updated and/or supplemented at least during a movement of the vehicle using currently generated image data from the cameras, in particular by adding projections of the currently generated image data onto the projection surface to the existing top view depending on the current vehicle position. This can advantageously expand the top view shown depending on additional, currently generated image data when the vehicle is moving and/or changes in the surroundings of the vehicle can be shown in the top view by updating the projected image data. In particular when the vehicle is moving, the part of the vehicle surroundings that can be seen by the cameras from the current vehicle position can also be added to the top view, so that the part of the vehicle surroundings shown in the top view expands depending on the current vehicle movement. Analogously, older image data can also be replaced by new, currently recorded image data in order to adapt the representation of the surroundings to the current state of the vehicle surroundings.

The current image data can be added by projecting the current image data onto the projection surface and then, for example using image stitching, adding it to the image data previously recorded and projected onto the projection surface. Adding the currently generated image data can be simplified by using an optimized affine transformation of the projected image data.

The appending of currently generated image data to stored image data can be carried out using at least one method for adjusting the image data. For example, transitions between the individual images described by the image data can be generated by means of weighted or unweighted alpha blending, which leads to improved display quality.

According to the invention, it can be provided that the stored image data are each stored with associated location information, wherein the location information is determined by means of a location determination device, in particular by means of a navigation device or by means of an odometry device, and/or by means of an evaluation of the image data from the cameras. In this way, the spatial combination of the stored image data with the currently generated image data is simplified, since the respective stored image data contains location information, for example the position of the vehicle when the respective image data was recorded or a relative movement of the vehicle specified at an arbitrary reference point that had already taken place at the time the image data was recorded.

The location information can be generated, for example, by means of a location determination device such as a navigation device of the vehicle, for example a GPS device. In addition or alternatively, the determination of the absolute or relative vehicle position can also be carried out via odometry and/or via an evaluation of the content of the image data, for example through semantic segmentation, an evaluation of the optical flow or similar, whereby the respective vehicle position can then be saved as location information of associated image data.

In order to limit the amount of stored image data, it can be provided according to the invention that image data are stored which were generated within a predetermined distance from the vehicle and/or within a predetermined distance from the destination, and/or that image data are stored which were generated within a previous time interval.

In particular, it can be provided that only image data within a predetermined distance from the current vehicle position and/or only image data within a predetermined distance from the destination are stored. This can be achieved, for example, by deleting image data whose location information describes a distance that is greater than the predetermined distance from the vehicle or the predetermined distance from the destination from a storage device.

In addition or as an alternative to a spatial reference, a temporal reference of the image data can also be considered, so that only image data that was recorded within a previous period of time, for example within the last thirty seconds, is saved. This makes it possible that when a trigger criterion is met, such as selecting a desired destination, enough previously recorded image data is saved to implement the shifting of the recording position of the virtual camera, as described above.

According to the invention, it can be provided that the image data are stored in a ring buffer. The ring buffer or ring memory can be implemented in a storage device of the vehicle. The storage device can, for example, be part of a control device set up to carry out the method.

In a preferred embodiment of the invention, it can be provided that the image data is projected onto a flat projection surface and/or that the image data is projected onto the three-dimensional projection surface, in particular depending on environmental data generated from the image data and/or from environmental sensors of the vehicle. The projection surface can be a flat surface onto which the currently recorded and stored image data are projected.

It is also possible that the projection surface is a projection surface derived from a curved or bent plane.

The projection surface can also be a plane that is generated as a top view of a so-called bowl view. A three-dimensional projection surface can be adapted to the actual vehicle environment, whereby the projection surface for generating the top view is adapted, for example, to the height of environmental objects detected in the vehicle's surroundings in order to achieve the most realistic appearance of the top view after the image data has been projected onto the projection surface. For example, the environmental data from the vehicle's environmental sensors can be used for this purpose.

The environmental sensors can be, for example, radar sensors, lidar sensors and/or ultrasonic sensors. In addition or as an alternative to this, a three-dimensional projection surface can also be adapted depending on an evaluation of the content of the image data from the cameras, whereby the evaluation can be carried out using methods such as semantic segmentation or similar.

According to the invention, at least one marking can be superimposed on the top view, with a marking position of the marking in the top view being determined depending on the vehicle position and/or the destination and the marking being displayed in particular as being stationary relative to the destination. The marking can in particular provide information that further simplifies reaching the destination. These can, for example, be markings that indicate the positioning of the vehicle when approaching the destination and/or that indicate distances to be maintained from surrounding objects in the vicinity of the vehicle and/or the destination.

For an image recording device according to the invention for a vehicle, it is provided that it comprises several cameras and a control device, wherein the control device is set up to carry out a method according to the invention.

It is provided for a vehicle according to the invention to have an image recording device according to the invention.

All advantages and embodiments described above in relation to the method according to the invention apply accordingly to the image recording device according to the invention and to the vehicle according to the invention and vice versa.

• 1 ein Ausführungsbeispiel eines erfindungsgemäßen Fahrzeugs umfassend ein Ausführungsbeispiel einer erfindungsgemäßen Bildaufnahmeeinrichtung,
• 2 eine Darstellung einer mit dem Ausführungsbeispiel des erfindungsgemäßen Verfahrens erzeugten Aufsicht,
• 3 eine Aufsicht auf ein Fahrzeug und einen Zielort und
• 4 ein Flussdiagramm eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens.

Further advantages and details of the invention emerge from the exemplary embodiments described below and from the drawings. These are schematic representations and show:

• 1 an embodiment of a vehicle according to the invention comprising an embodiment of an image recording device according to the invention,
• 2 a representation of a plan view produced with the embodiment of the method according to the invention,
• 3 supervision of a vehicle and a destination and
• 4 a flow chart of an embodiment of a method according to the invention.

In 1 an embodiment of a vehicle 1 is shown. The vehicle 1 comprises an embodiment of an image recording device 2, which comprises several cameras 3 and a control device 4. In the present embodiment, the image recording device 2 comprises four cameras 3, in which a first camera 5 is designed or arranged as a front camera of the vehicle 1, a second camera 6 as a rear view camera of the vehicle 1, and a third camera 7 and a fourth camera 8 are each designed or arranged as a side camera of the vehicle 1. A partial area of a vehicle environment of the vehicle 1 can be recorded by means of the cameras 3. The cameras 3 continuously generate image data and transmit them to the control device 4. For this purpose, the cameras 3 are connected to the control device 4 via a communication connection, for example a bus system of the vehicle 1 or similar.

The vehicle 1 further comprises a display device 24, via which graphic information can be displayed for a driver or a user of the vehicle 1. The display device 24 can, for example, be a display or the like arranged in an interior of the vehicle 1.

A portion of the image data captured by the cameras 3 and transmitted to the control device 4 is stored. This can be done, for example, in a storage device 9 of the control device 4. It is possible for the image data to be additionally stored with location information, the location information being determined using a location determination device 10 of the vehicle 1.

The location determination device 10 of the vehicle 1 can be, for example, a navigation device or an odometry device. In addition or as an alternative to this, the location determination can also be carried out by evaluating the image data generated by the cameras 3. For this purpose, the control device 4 can, for example, evaluate the image data using semantic segmentation and/or with regard to an optical flow. The location determination device 10 can also be used to determine a vehicle movement of the vehicle 1 in addition or as an alternative to at least one motion sensor (not shown) of the vehicle 1.

The image data transmitted from the cameras 3 to the control device 4 can be stored completely or at least partially. In particular, the image data that can be stored is that which is generated within a predetermined distance from the vehicle 1 and/or within a predetermined distance from a destination to be reached. Additionally or alternatively, only image data that was generated within a previous time interval, for example within the last 10, 20 or 30 seconds, can be stored. For this purpose, the storage device 9 can be designed as a ring buffer or a ring memory, for example, or can include such a ring buffer.

The control device 4 is designed to carry out a method for generating an environmental view of the vehicle 1. To this end, the control device 4 generates a top view of the vehicle 1 and a destination to be approached by the vehicle 1 based on image data currently generated by the cameras 3 and based on at least part of the image data stored in the storage device 9. Such a top view 11 is shown schematically in 2 The top view 11 generated as an environmental view of the vehicle 1 can be shown, for example, on the display device 24 of the vehicle 1.

The top view 11 shows, for example, in addition to the vehicle 1 or a vehicle graphic assigned to the vehicle 1, two other vehicles 12, 13 and a curb 14 in the vehicle environment of the vehicle 1. Between the other vehicles 12, 13 is the destination 15, which in this case is a parallel parking space between the other vehicles 12, 13. The control device 4 generates the top view 11 by projecting the image data generated by the cameras 3 and the stored image data onto a projection base surface 16, which in this case is schematically shown as a flat surface corresponding to the drawing plane.

The supervision 11 is shown schematically in 3 is shown, generated from a virtual camera 17, which is virtually arranged at a height h _v vertically above a plane on the pro jection base area 16. In order to make it easier to approach the destination 15, the arrangement position P of the virtual camera 17 when generating the top view 11 is stationary and/or arranged at a position next to a vehicle position 18 marked schematically here, even when the vehicle 1 is moving.

In 2 P ₁ designates a first arrangement position P ₁ , which is located at the target location 15. Since the target location 15 in this case is a target area designed as a parking space, the arrangement position P ₁ is considered to be located at the target location 15 if it is within the target area defined by the target location 15 or corresponding to the geometry of the parking space. The arrangement position P ₁ can in particular be located in the middle of the target area. Alternatively, it is also possible for the target location 15 to be a single point on the projection base area 16, in which case the arrangement position P ₁ is located at the target location 15 if it is in the same position as the target location 15.

Also shown are four further arrangement positions P ₂ , P ₃ , P ₄ , P ₅ , which can be used alternatively. The arrangement positions P ₂ and P ₃ lie between the target location 15 and the current vehicle position 18. Arrangement positions P lying between the current vehicle position 18 and the target location 15 can in particular lie on straight lines 19, 20 which lie between a point on a circumference 21 of the vehicle outline in the top view 11 and a point on a circumference 22 of the target location 15 designed as the target area.

In the case of a destination 15 designed as a destination point, the straight lines 19, 20 extend accordingly between a point on the circumference of the vehicle outline 21 and the destination 15 designed as a destination point. 2 The straight lines 19, 20 shown are purely exemplary; other straight lines between the vehicle position 18 and the destination 15 can also be used, so that other arrangement positions P, such as those indicated by the arrangement position P ₃ , can be used. It is also possible to use an arrangement position P ₄ which is located next to the vehicle position 18, ie outside the outline of the vehicle 1 when projected onto the projection base surface 16.

In addition to or as an alternative to an arrangement position P located next to the vehicle position 18, it can be provided that the arrangement position P is stationary when the vehicle 1 moves. A stationary arrangement position can also be located at the vehicle position 18, for example, as in 2 shown as an example for the arrangement position P ₅ .

Using the stored image data makes it possible to generate the overview of image data that were previously recorded during a vehicle movement of the vehicle 1. The previous vehicle movement of the vehicle 1 is characterized by a movement trajectory 23, for example. The vehicle 1 thus drove past the destination 15, which is designed as a parking space, during its previous movement, with the cameras 3 of the vehicle 1 recording images of the destination 15 and of other objects in the vehicle's surroundings, for example the other vehicles 12, 13 and the curb 14.

The use of the stored image data also makes it possible to use the history of the vehicle environment, i.e. the previous image data of the vehicle environment, so that a top view can advantageously be generated, which originates from a virtual camera 17 that is stationary and/or arranged at a recording position P remote from the vehicle 1. A driver of the vehicle 1 can thus advantageously recognize a larger part of the vehicle environment 1 in the top view 11.

The arrangement position P on the projection surface 16 can in particular remain stationary during further movement of the vehicle 1, so that the view 1 remains static after the arrangement position P of the virtual camera 17 has been determined in relation to the vehicle surroundings. This enables the driver of the vehicle 1 to better recognize the movement of the vehicle 1 in relation to static surrounding objects, for example the other vehicles 11, 12 or the destination 15. Alternatively, it is possible for the arrangement position P on the projection surface 16 to move depending on a vehicle movement 1 and/or depending on a movement of the destination 15. For example, the arrangement position P can be moved in such a way that when the vehicle 1 moves, it is always located centrally between the vehicle 1 and the destination 15.

It is possible that an arrangement position is initially used to generate a top view, which is located at the current vehicle position 18 and which moves with the vehicle when it moves, i.e. is stationary in relation to the vehicle 1, until a trigger criterion is met. After the trigger criterion is met, the arrangement position P of the virtual camera 17 used to generate the top view 11 can be next to the vehicle 1, in particular to the target location 15 or to a position between the target location 15 and the current vehicle position 18.

Additionally or alternatively, the arrangement position P of the virtual camera 17 can remain stationary relative to the vehicle surroundings when the trigger criterion is met. This enables switching between a conventional top view representation of the vehicle surroundings, in which the vehicle 1 is always shown centered even when the vehicle 1 is moving, to the top view 11 in which the arrangement position P is shifted depending on the target location 15 and/or stationary relative to the displayed, stationary vehicle surroundings.

The trigger criterion can be a selection of the destination 15 by a user of the vehicle 1. The user can select the destination 15, for example, using a representation of the vehicle surroundings on the display device 24, whereby the trigger criterion is fulfilled. It is also possible for the trigger criterion to be fulfilled by selecting a special display mode or the like for the view 11. Alternatively, it is possible for an automatic selection of the destination 15 by an at least partially automated driving function of the vehicle 1 to fulfill the trigger criterion.

The at least partially automated driving function can be, for example, a driver assistance function for carrying out an autonomous movement of the vehicle 1 and/or a driver assistance function for carrying out a parking process of the vehicle 1. The at least partially automated driving function can be implemented, for example, by the control device 4 or by another control device of the vehicle 1.

The top view 11 can preferably be continuously updated and/or expanded at least while the vehicle 1 is moving using currently generated image data from the cameras 3. In particular, projections of the currently generated image data onto the projection surface 16 can be added to the existing top view 11 depending on the current vehicle position 18 and/or existing areas of the top view 11 can be replaced by currently recorded image data. In this way, when the vehicle is moving, the area of the vehicle's surroundings shown in the top view 11 can be enlarged. It is possible that when further image data is added, the virtual recording height h _v of the virtual camera 17 is increased so that an enlarged top view 11 can also be fully displayed on the display device 24 of the vehicle 1.

The addition of the additional image data can be carried out in particular by taking into account the location information which is stored with the image data in the storage device 9 of the control device 4. In this way, it is possible to combine the image data or their projections on the projection surface 16, for example by means of image stitching.

It is conceivable that at least one marking 25 is superimposed on the top view 11, wherein a marking position of the marking 25 in the top view 11 is determined depending on the vehicle position 18 and/or the destination 15. The marking 25 can in particular be displayed in a fixed position relative to the destination 15. The marking 25 can, for example, be a marking which shows a driver of the vehicle 1 instructions on how to reach the destination 15, for example a trajectory to be traveled, an intermediate position to be approached or the like. In addition or as an alternative to this, markings 25 can also be displayed which show a safety distance to be maintained from surrounding objects, for example from one of the other vehicles 11, 12 or the like.

The projection base 16 can be a flat projection base on which the current image data and the stored image data are projected. In order to improve the positioning of the images, an optimized affine transformation of the projected image data can be used. It is also possible for the projection base 16 to have a three-dimensional shape. For example, the projection base can be the inner surface of a hollow, rotationally symmetrical body, which makes it possible, for example, to project onto a projection base 16 shaped like the inner surface of a bowl. This makes it possible to create a so-called “bowl view,” which in turn can be used to create the top view 11 of the vehicle 1 and the destination 15 when the virtual camera 17 is positioned accordingly.

It is also possible for the projection surface 16 to be deformed three-dimensionally depending on the environmental data generated from the image data and/or environmental sensors of the vehicle 1. This results in a three-dimensional projection surface 16 on which the height of environmental objects, for example the other vehicles 11, 12 or the curb 14, can be taken into account. For this purpose, the projection surface 16 can be 2 shown example in the z-direction, which is perpendicular to the drawing plane. In this way, a more realistic projection of the image data onto the Projection base area 16 or a more realistic representation of the vehicle surroundings in the top view 11. Other projection base areas 16 that are not designed as flat can also be deformed accordingly.

The environmental data used to deform the projection surface 16 originate, for example, from environmental sensors (not shown) of the vehicle 1. These environmental sensors can be, for example, ultrasonic sensors, radar sensors and/or lidar sensors. In addition or alternatively, the environmental information can also be obtained from the image data of the cameras 3, in particular from an evaluation of the image content, for example by means of semantic segmentation or the like.

In 4 a flow chart of an embodiment of a method for generating an environmental view is shown. In a first step S ₁ , as described above, an arrangement position P for the virtual camera 17 can be determined, in particular one that is stationary relative to the stationary vehicle environment and/or located next to the vehicle position 18, so that the vehicle 1 and the destination 15 are shown in the top view starting from the virtual camera 17. Step S ₁ can be carried out, for example, if, as described above, a trigger criterion is met.

Subsequently, in a step S ₂ , a top view 11 is generated on the basis of currently generated image data from the cameras 3 and image data stored in the storage device 9. If the arrangement position P is moved to a position next to the vehicle 1, for example to the destination 15 or between the vehicle position 18 and the destination 15, when another top view of the vehicle 1, in which the arrangement position P is vertically above the vehicle position 18, has already been shown beforehand, such a different top view can also be added in order to obtain the top view 11. The image data taken from the storage device 9, which is designed as a ring buffer, for example, can be added to the top view, as described above, or merged with current image data and combined to form a new top view. The combination of the stored image data with the currently generated image data can take place in particular depending on the location information assigned to the image data and also stored.

In this context, it is possible that the merging of the stored image data with the current image data is further improved by applying an optimized affine transformation to image data already projected onto the projection surface 16. Furthermore, as described above, the environmental data generated by the vehicle 1 can be taken into account to create the projection surface 16.

Subsequently, in a step S ₃ , the transitions between the image data can be improved, in particular by inserting transitions between the individual images projected onto the projection surface 16. Methods such as weighted alpha blending or unweighted alpha blending can be used for this purpose. With weighted alpha branding, in particular areas of the projection surface 16 that are at ground level can be weighted more highly than areas that are assigned a height above ground level. The top view 11 created in this way can then be presented to a driver of the vehicle 1 on the display device 24.

Subsequently, in a step S ₄ , which can be carried out repeatedly during a movement of the vehicle 1, the image data used to form the top view 11 can be updated, in particular by adding new image data currently generated by the cameras 3 corresponding to the current vehicle position 18 to the top view 11. This allows the displayed area of the top view 11 to be enlarged and/or image data from previous recording times to be replaced by updated image data, so that changes in the vehicle's surroundings can also be depicted in the top view 11. During a vehicle movement, it is possible for the arrangement position P to be moved as described above or for it to remain stationary.

Claims (12)

Method for generating an environmental view of a vehicle (1), wherein the vehicle (1) has a plurality of cameras (3) each capturing a partial area of a vehicle's environment, wherein image data is continuously generated by the cameras (3) and at least partially stored, wherein after a destination (15) for the vehicle (1) has been determined from currently generated and stored image data, a top view (11) of the vehicle (1) and the destination (15) is generated by projecting the image data onto a projection base (16), wherein the top view (11) is generated from a virtual camera (17) which is virtually arranged at an arrangement height (h _v ) vertically above an arrangement position (P) lying on the projection base (16), wherein the arrangement position (P) of the virtual Camera (17) is stationary when the vehicle (1) moves in relation to the vehicle environment shown and/or wherein the arrangement position (P) of the virtual camera (17) is located next to a vehicle position of the vehicle (1) at least before the vehicle (1) approaches the destination (15), wherein initially an arrangement position (P) which is at the current vehicle position (18) is used until a trigger criterion is met, wherein after the trigger criterion is met, the arrangement position (P) remains stationary and/or is moved next to the vehicle position (18) of the vehicle (1). Procedure according to Claim 1 , characterized in that the arrangement position (P) of the virtual camera (17) is at the destination (15) or between the destination (15) and a current vehicle position (18) of the vehicle (1). Procedure according to Claim 1 or 2 , characterized in that an arrangement position (P) on the projection base surface (16) located at a position next to a vehicle position of the vehicle (1) at least before the vehicle (1) approaches the destination (15) is moved as a function of a vehicle movement. Method according to one of the preceding claims, characterized in that a selection of a destination (15) by a user of the vehicle (1) or an automatic selection of a destination (15) by an at least partially automated driving function of the vehicle (1) is used as the triggering criterion. Method according to one of the preceding claims, characterized in that the top view (11) is continuously updated and/or supplemented by currently generated image data from the cameras (3) at least during a movement of the vehicle (1), in particular by adding projections of the currently generated image data onto the projection base (16) to the already existing top view (11) depending on the current vehicle position (18). Method according to one of the preceding claims, characterized in that the stored image data are each stored with associated location information, wherein the location information is determined by means of a location determination device (10) of the vehicle (1), in particular by means of a navigation device and/or by means of an odometry device, and/or by means of an evaluation of the image data of the cameras (3). Procedure according to Claim 6 , characterized in that image data are stored which were generated within a predetermined distance from the vehicle (1) and/or within a predetermined distance from the destination (15), and/or that image data are stored which were generated within a past time interval. Procedure according to Claim 6 or 7 , characterized in that the image data are stored in a ring buffer. Method according to one of the preceding claims, characterized in that the projection of the image data takes place on a flat projection surface (16) and/or that the projection of the image data takes place on the three-dimensional projection surface (16), in particular as a function of environmental data generated from the image data and/or from environmental sensors of the vehicle (1). Method according to one of the preceding claims, characterized in that at least one marking (25) is additionally superimposed on the top view (11), wherein a marking position of the marking (25) in the top view is determined as a function of the vehicle position (18) and/or the destination (15) and the marking (25) is displayed in particular as being fixed in position relative to the destination (15). Image recording device for a vehicle (1) comprising a plurality of cameras (3) and a control device (4), wherein the control device (4) is configured to carry out a method according to one of the preceding claims. Vehicle comprising an image recording device (2) according to Claim 11 .

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