Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
  • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T15/00—3D [Three Dimensional] image rendering
  • G06T15/10—Geometric effects
  • G06T15/20—Perspective computation
  • G06T15/205—Image-based rendering
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N7/00—Television systems
  • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
  • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
  • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T2207/00—Indexing scheme for image analysis or image enhancement
  • G06T2207/30—Subject of image; Context of image processing
  • G06T2207/30248—Vehicle exterior or interior
  • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

• the invention relates to a method for representing a vehicle environment on a man-machine interface in a driver assistance system.
• the invention further relates to a corresponding computer program product and a corresponding
• Driver assistance systems are additional devices in a vehicle intended to assist the driver in maneuvering the vehicle. Typically include
• Parking assistant a navigation system or a blind spot monitoring, which monitors the environment of the vehicle using a sensor.
• sensors can be used to monitor the environment of the vehicle using a sensor.
• optical sensors include that provide or prepare individually or in combination with the other data concerning the vehicle environment.
• EP 2 058 762 A2 discloses a method which makes it possible to represent distances of objects to a vehicle directly in the Bird's-Eye-View. First, one detects
• Image capture unit Objects that are in the vicinity of the vehicle. If an object is detected that is expected to be at a certain height above ground with the
• DE 10 2010 010 912 A1 relates to a driver assistance device with optical representation of detected objects.
• the driving assistance device comprises a
• Sensor device for detecting objects in the vicinity of the vehicle and a display device.
• ground coordinates of the object as 2D or 3D position data can be grasped, which are used by the display device for positioning a symbol symbolizing the object in the plan view in the perspective view.
• An icon for the captured object is shown in perspective
• the driver assistance system comprises an evaluation unit, which is evaluated by evaluating
• the determined distance data is displayed as an object contour on an optical display with respect to a schematic plan view of the own vehicle.
• Today's multi-camera systems used in automobiles compute a common view from images of multiple cameras installed in the vehicle.
• a virtual camera can be used to display different views through the several cameras installed in the vehicle. This allows the driver to see the entire closer vehicle environment with a single glance at the head-up display. Thus, the driver can overlook dead angles when using such a system.
• Image processing and / or other sensor technologies such as laser, radar,
• the height of the object can be determined, this is also taken into account for the change of the projection plane, so that a further improvement of the view can be made possible.
• Projection level are displayed. This deprives the presentation of its artificial character and leads to a more natural representation of its immediate environment for the driver.
• FIG. 5 shows an adapted projection plane whose vertical area is located near the foot point of a detected raised object
• Figure 6 is a further adapted its vertical range from the base of the raised
• Object extends out and is adapted in its height to the height of the detected raised object.
• FIG. 1 shows a synopsis of four photos taken by cameras installed in the vehicle.
• a common view can be generated from the 1 -4 camera images 12, 14, 16 and 18 recorded by the cameras installed in the vehicle.
• Through a virtual camera can be represented by different views, which allows the driver to see through a single look at a head-up display, for example, the entire closer vehicle environment. This allows the driver, among other things, to overlook blind spots.
• a bird's eye view 20 is shown by way of example, in which a vehicle 30 is viewed from above.
• the individual images can be projected onto a curved trough so that the representation, in particular as regards the transfer of a further region, can be markedly improved.
• FIG. 4 shows a projection plane which has a horizontal area extending in front of a vehicle and a vertical area extending in the vertical direction with respect to the vehicle.
• the vehicle 30 is located on a roadway 40, which represents the horizontal region 36 of a projection plane 46.
• FIG. 4 shows that at least one raised object 34, shown here as a person, is located in the horizontal region 36 of the projection plane 46.
• FIG. 4 shows that the Projection level 46, starting from the vehicle 30, with its vertical portion 38 behind the at least one detected raised object 34 is located. Therefore, the detected, at least one raised object 34 in the projection plane 46, in particular in the vertical area 38, is represented unnaturally as a distorted shadow.
• the vertical region 38 coincides with the projection plane 46 indicated by dashed lines.
• the projection plane 46 is fixed and offers no flexibility. From the beam path shown in FIG.
• the raised object 34 here represented as a person, passes through the beam passing through the head, as does the beam passing the foot of the raised object 34, indicated by a strong shear bottom arrow from the base of the raised object 34 to the vertical curved portion 38 of the projection plane very strong, especially distorted as shear, will be presented.
• the projection plane 46 represents a bowl-like configured plane onto which video views of the vehicle environment are projected.
• the transition between the horizontal region 36 and the vertical region 38 of the bowl-like plane 32 is chosen so that it is at the transition between flat areas, such as the lane 40 on which the vehicle 30 is located, and raised objects, such as buildings or persons 34 agree. In this way, the raised objects 34 in the surroundings of the vehicle, in particular on the projection plane 46, are more likely to correspond to reality and lose their sometimes seemingly artificial impression.
• FIG. 5 shows an adapted projection plane which extends in front of the vehicle.
• a raised object 34 in the form of a person is detected in the surroundings of the vehicle 30.
• a determination of a foot point 48 of the raised detected object 34 is made, from which the detected, at least one raised object 34, starting from the roadway 40, ie the horizontal portion 36 of the projection plane 46 rises in this.
• an adaptation of the projection plane 46 takes place such that the vertical region 38 of the projection plane 46 is raised in front of the foot point 48 of the raised object 34, if appropriate within a transitional region 50, that the at least one detected raised object 34 in the Projection level 46, in particular in its vertical portion 38 is located.
• the transition region 50 serves to allow a continuous transition of the projection plane, in particular a continuous transition between the horizontal region 36 and the vertical region 39 of the projection plane 46.
• the vertical area 38 is the actual height 42 of the raised object 34, in this case the
• the illustration according to FIG. 6 shows a further adaptation of the projection plane, in particular taking into account the size of the at least one detected raised object.
• an estimated height 44 is entered in this illustration, which corresponds essentially to the height 42, in the present case the body size of the human person representing the at least one raised object.
• the height 42 is different if the raised object 34 is not a person, but another object. From the driver of the vehicle 30 is the
• At least one raised object 34 is now perceived as lying in the projection plane, in particular in the vertical region 38 of the projection plane 46 and can
• a head-up display For example, be displayed in a head-up display as a natural object.
• the projection plane 46 initially has a bowl-shaped appearance.
• the projectile plane 46 configured in the shape of a bowl is dented, ie the height and width as well as a foot point of an object 34 are estimated. Since now an object 34 is located, the
• Projection level 46 can be changed.
• the projection plane 46 is compared to the representation according to FIG. 4 with a fixed implementation, earlier, ie. in the plane of the raised object 34, raised. This elevation of the projection plane 46 takes place in the width of the raised object 34.
• the height 42 of the raised object 34 ensures, in addition to the width of the raised object 34, a change in the projection plane 46.
• the combination of the image sequence of the camera images 12, 14, 16, 18, for example in a bird's eye view is not made by a real camera. Rather, the captured camera images 12, 14, 16, and 18 are subjected to image transformation so that it appears that the transformed image is captured by a real camera located above the vehicle 30.
• the term "virtual camera” in the present context is understood to mean one which would provide a transformed image of the camera images 12, 14, 16 and 18 taken by real cameras.

Landscapes

• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Theoretical Computer Science (AREA)
• General Physics & Mathematics (AREA)
• Geometry (AREA)
• Computer Graphics (AREA)
• Computing Systems (AREA)
• Mechanical Engineering (AREA)
• Multimedia (AREA)
• Signal Processing (AREA)
• Traffic Control Systems (AREA)
• Image Processing (AREA)
• Closed-Circuit Television Systems (AREA)

Applications Claiming Priority (2)

Publications (1)

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ID=47008547

Family Applications (1)

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Cited By (1)

Families Citing this family (21)

Citations (1)

Family Cites Families (23)

• 2011
  • 2011-10-14 DE DE102011084554A patent/DE102011084554A1/de not_active Withdrawn
• 2012
  • 2012-09-24 EP EP12770047.4A patent/EP2766877A1/de not_active Ceased
  • 2012-09-24 WO PCT/EP2012/068794 patent/WO2013053589A1/de active Application Filing
  • 2012-09-24 US US14/350,521 patent/US20140375812A1/en not_active Abandoned
  • 2012-09-24 JP JP2014534994A patent/JP5748920B2/ja not_active Expired - Fee Related

Patent Citations (1)

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