EP3794500A1 - Method and apparatus for operating a camera monitor system for a motor vehicle - Google Patents

Method and apparatus for operating a camera monitor system for a motor vehicle

Info

Publication number
EP3794500A1
EP3794500A1 EP19722607.9A EP19722607A EP3794500A1 EP 3794500 A1 EP3794500 A1 EP 3794500A1 EP 19722607 A EP19722607 A EP 19722607A EP 3794500 A1 EP3794500 A1 EP 3794500A1
Authority
EP
European Patent Office
Prior art keywords
image
camera
motor vehicle
monitor
changing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19722607.9A
Other languages
German (de)
French (fr)
Inventor
Andreas Weinlich
Thomas Smits
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive Technologies GmbH
Original Assignee
Continental Automotive GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Publication of EP3794500A1 publication Critical patent/EP3794500A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
    • 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
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0229—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for displays, e.g. cathodic tubes
    • 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
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/176—Camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/21—Optical features of instruments using cameras
    • 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
    • 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
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/202—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • 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
    • B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

Definitions

  • a method for operating a camera monitor system for a motor vehicle is disclosed. There is further provided a device which is adapted to carry out the method.
  • Motor vehicles may include a camera and a monitor that displays images of the camera to a user of the motor vehicle.
  • a camera and a monitor that displays images of the camera to a user of the motor vehicle.
  • mirror replacement systems are known in which the viewing areas of conventional exterior mirrors are imaged by means of the camera and the monitor.
  • the invention is characterized by a method for operating a camera monitor system for a motor vehicle and by a corresponding device that is designed to carry out the method.
  • the camera-monitor system has a camera.
  • the camera is in particular configured to record and provide an image of an environment of the motor vehicle.
  • the camera monitor system has a monitor for displaying images of the camera.
  • An image of the camera is provided.
  • An attention-relevant object is determined in the environment.
  • At least one representation property of the image is shown in Ab- changed from the determined object, so that a modified image is provided.
  • the at least one presentation property is temporarily changed.
  • the changed image is displayed on the monitor.
  • the camera-monitor system By means of the camera-monitor system, it is possible to represent the environment of the motor vehicle on the monitor of the camera-monitor system at least partially for a driver of the motor vehicle.
  • On conventional exterior mirrors can be omitted.
  • the camera is assigned to a longitudinal side of the motor vehicle and is set up to image at least the part of the environment which can be viewed conventionally by means of a conventional exterior mirror.
  • the attention-relevant object is in particular an object to which the attention of the user of the motor vehicle is to be directed and directed.
  • the attention-relevant object is a pedestrian, a use vehicle with blue light, an overtaking vehicle or another particular moving object, which is located in the A flow region of the motor vehicle.
  • the user's attention is directed to the monitor. For example, the brightness of the image is increased.
  • the presentation property is not changed for a longer period or permanently, but only temporarily.
  • the picture is displayed again with the unchanged presentation properties. This avoids that the user is disturbed. For example, it is avoidable so that the user is blinded by the monitor for a long time during a night drive. For example, for after-rides on a highway, for example, hardly anything is displayed on the monitor unless a light, such as another vehicle with a front-end, is approaching. Headlights.
  • the brightness of the monitor is readjusted so that the driver is not disturbed by too much movement and image noise in the monitor. Nevertheless, a warning effect is achieved by means of the temporary change of the display characteristic, for example an increase in the brightness of the monitor.
  • the user is also made aware of the object when using the mirror replacement system instead of a conventional exterior mirror.
  • the object is determined by means of an object recognition method in the provided image.
  • the image contents are evaluated software-based.
  • An object recognition makes it possible to identify the attention-relevant object in the provided image.
  • the object is determined alternatively or additionally by means of at least one further sensor of the motor vehicle.
  • a radar for example, a LIDAR, additional cameras or distance sensors are used to determine the attention-relevant object in the environment.
  • the object is determined alternatively or additionally by means of a vehicle-to-vehicle communication (car2car communication).
  • car2car communication vehicle-to-vehicle communication
  • the attentively relevant object and the motor vehicle can thus communicate directly with one another and, for example, exchange information about position, speed or planned routes with one another. This is done for example by means of a
  • changing the display characteristic comprises changing a brightness.
  • changing the presentation characteristic includes changing a color.
  • changing the display property comprises displaying an additional graphical element. Further changes of the presentation characteristic are possible, which are suitable to draw the attention of the user to the presented image.
  • a display area of the object in the image is determined on the monitor.
  • the display property is kept in the viewport and changed outside the viewport.
  • the attention-relevant object remains easily recognizable.
  • a threshold value for the attention relevance is determined.
  • a value of the attention relevance of the object is determined.
  • the representation property is changed if the determined value is greater than the threshold value.
  • the threshold value is determined as a function of the object.
  • the threshold value is determined as a function of the object.
  • Threshold determined, for example, depending on a user of the camera-monitor system.
  • the threshold value is determined as a function of a determined concentration ability of the user. For example, a fatigue of the user is determined. For example, it is determined whether the user is relatively distracted, for example by using other devices of the motor vehicle as in example of the radio.
  • the threshold is determined depending on whether the object is approaching fast or slow.
  • a time period for changing the presentation property is determined.
  • the period of time is determined as a function of the object and / or by a user of the camera monitor system.
  • the presentation property is changed for the determined period.
  • the changed image is displayed within the determined period.
  • the image is displayed with the unchanged rendering property outside the period, especially after the period.
  • FIG. 1 shows a schematic representation of a motor vehicle with a camera-monitor system according to awhosbei game
  • FIG. 2 shows a schematic representation of a flow chart of a method according to an exemplary embodiment
  • FIG. 3 shows a schematic representation of an image according to an exemplary embodiment
  • FIG. 4 shows a schematic representation of the image of FIG. 3 with changed presentation properties
  • FIG. 6 shows a schematic illustration of the image of FIG. 5 with altered presentation properties
  • Figure 7 is a schematic representation of an image according to an embodiment
  • FIG. 8 shows a schematic representation of the image of FIG. 7 with altered presentation properties.
  • FIG. 1 shows a schematic representation of a motor vehicle 101 according to an exemplary embodiment from above.
  • the motor vehicle 101 is, for example, a truck. According to further embodiments, the motor vehicle is a bus and / or a passenger car.
  • the motor vehicle 101 has a camera monitor system 100 as a mirror replacement system.
  • the camera monitor system 100 has a camera 102 on each longitudinal side 106.
  • the cameras 102 each serve to receive part of an environment 105 of the motor vehicle 101.
  • several cameras 106 are provided on each side, for example two cameras or more.
  • the camera 102 is provided only on one side 106 of the motor vehicle 101.
  • the camera 102 is assigned in particular to a longitudinal side of the motor vehicle 101.
  • the camera 102 serves, in particular, to record a part of the environment 105 which lies within the field of vision of conventional exterior mirrors.
  • the camera monitor system 100 has two monitors 104.
  • a section of the associated environment 105 is provided on the associated page 106 on the monitor 104, respectively.
  • the image of the associated camera 102 is displayed on the monitor 104.
  • the displayed images 400 on the monitors 104 are different from each other.
  • a device 110 is provided, with which the cameras 102 and the monitors 104 are signal-technically coupled.
  • the device 110 is configured to control both the cameras 102 and the monitors 104.
  • the device 110 is a control device or part of a control device of the motor vehicle 101.
  • the device 110 is set up for image processing.
  • FIG. 2 shows a flowchart of a method according to one exemplary embodiment.
  • recognition of an object 103 (FIG. 1) in the environment 105 of the motor vehicle 101 is first of all carried out. It is determined whether the object 103 is an attention-relevant object.
  • An attention-relevant object is, for example, an object from which a potential danger to the user of the motor vehicle 101 originates and / or for which the motor vehicle 101 represents a potential danger.
  • An attention-relevant object is in particular special a person, an approaching motor vehicle such as a motorcycle or for example another approaching object.
  • a sensor system 107 of the motor vehicle is used. For example, information about a CAN and / or ADAS unit or similar information sources is used. Brightness sensors, speed and other data can also be taken into account.
  • another camera 108 is used to determine the object 103.
  • the camera 102 of the camera monitor system is used to determine the object 103.
  • 108 is an infrared camera.
  • a further control unit 109 of the motor vehicle 101 is used to detect the object 103.
  • information is received by means of a communication interface 111 from external information sources and taken into account in the determination of the object 103. For example, information about a car2car or a car2x interface is received.
  • step 302 it is determined whether the user should be made particularly aware of the object 103 or not. If not, the process continues in step 301.
  • step 302 If it is determined in step 302 that the attentively keitsrelevante object 103 requires a special notice, in step 303, a display property of an image 201 ( Figures 3, 5 and 7) of the camera 102 and the Dar position on the monitor 104 is changed. For example, the brightness of the monitor is increased. Alternatively or additionally, the representation is colored on the monitor in a predetermined color.
  • step 304 The image is displayed in step 304 for a predetermined time period on the monitor 104 with the changed presentation properties. Subsequently, in step 305, the presentation performance property is reset and the image 201 un changed displayed on the monitor 104.
  • the decision in step 302 is made, for example, as a function of visibility 112 of the motor vehicle 101. For example, at night and / or fog and / or a winding road visibility 112 may be reduced.
  • the decision 302 is made as a function of a history 113.
  • the history 113 includes information as to when and how often in the past, in step 303, the presentation properties were changed.
  • the decision is made in step 302 in response to attention recognition 114.
  • the attention recognition includes, for example, fatigue detection of the driver.
  • it is determined whether the driver is otherwise distracted, for example by using other devices of the motor vehicle 101.
  • the decision in step 302 is alternatively or additionally made depending on a criticality 115. Thus, for example, it is taken into account how acute a driving situation is by the object 103.
  • an approaching vehicle is detected as object 103.
  • This is done for example by an automatic detection system, for example by means of at least one of the elements 107, 108, 109, 111.
  • an abrupt brightness control of the camera automatic system is a way to detect an approaching vehicle with headlights.
  • the brightness of the monitor 104 is increased for a short time of, for example, 0.1 second to 5 seconds. Another period is possible, for example, the period is set by a user adjustable or predetermined depending on the determined object 103.
  • the brightness of the monitor 104 is achieved by raising the backlight.
  • the brightness of the display on the monitor is generally increased, for example, by increasing the light transmittance of the liquid crystals in the monitor or the like in other monitor technologies.
  • the change of the display on the monitor 104 excites the attention of the driver. As a result, a risk from the object 103 is avoided.
  • the driver does not continue to blind himself, for example, from the headlight of the approaching vehicle due to the rapidly following reduction of the brightness of the driver.
  • the brightness of the monitor 104 can be greatly reduced without danger to cause no distraction in normal danger situations. Once an attention-relevant object 103 is determined, the driver is intuitively made aware of this.
  • Another example of an attention-relevant object 103 is, in addition to the approaching vehicle, an approaching person.
  • the display on the monitor 104 for the given period of time in one color.
  • color choice for example red
  • information is communicated to the driver by means of the color selection.
  • a pre-given color is used, for example, to indicate a low, medium and high risk.
  • by means of the color selection it is possible to represent a low, medium and high speed of the approaching vehicle. It is possible to color a frame around the entire display. Alternatively or additionally, it is possible to color a frame around the field of view. It is also possible to colorize a frame around the object 103 in the illustration on the monitor 104.
  • Ge drive for example, an approaching vehicle, a pedestrian, overtaking color-coded represent.
  • an approaching blue light vehicle for example, a frame can be coded in blue.
  • a different color is used as blue, so that the actual blue light also provides well Darge and is recognized.
  • a gradation of the brightness increase is used according to exemplary embodiments for the stated applications, for example stepwise, low, medium high, or by a continuous change in the brightness. If a monitor 104 is used which can display high brightness, it is possible to use the method without restrictions during the day.
  • the information on the dangerous situations is provided by the camera monitor system 100 according to the exemplary embodiment by system-internal sources.
  • the information is provided by external warning systems.
  • This concerns for example, in-vehicle information, which is provided, for example, by means of CAN or an ADAS unit or similar information sources, for example by means of the sensor 107, the camera 108 and / or the control unit 109.
  • external information is taken into account which, for example, via a car2car communication or a car2x communication to the motor vehicle 101 are transmitted.
  • threshold values can be defined as of when the system should warn the driver. These are taken into account in particular in step 302.
  • the threshold value is specified, for example, by the driver. Alternatively or additionally, the threshold value can be configured ex works.
  • setting the threshold value involves the attention of the driver. If the driver is distracted, for example by prolonged operation of the navigation system or the radio, the threshold value is set lower, for example. Thus, the driver becomes warned earlier.
  • the attention is estimated by means of a tiredness recognition implemented in the camera monitor system 100 itself or provided by external control devices, in particular by the attention recognition 114.
  • the threshold value is determined as a function of the criticality 115.
  • object recognition and other control devices and / or by the car2car communication are for example detailed information about the object 103 before.
  • a critical situation is determined depending on the information about the object 103, in particular a BEWE movement vector and a derived trajectory, a vehicle type, a lighting condition and other properties, depending on the own trajectory and lane and other information about the motor vehicle 101.
  • the threshold value is set correspondingly high in order to suppress a warning if necessary, or to warn it accordingly if there is a potential danger.
  • the threshold value is set as a function of a speed of an approaching object 103. For example, a high-speed vehicle is approaching from behind, and the driver of the motor vehicle 101 is warned by changing the appearance of the image on the monitor 104.
  • the threshold value is set as a function of visibility of the object 103.
  • the object 103 is hidden behind a long curve.
  • the transmitted via the car2car communication position is taken into account and combined by means of example detailed map data, so that there is information about the elongated curve.
  • the object 103 is detected in the image 201 of the camera 102 of the camera-monitor system 100 by means of object recognition.
  • the further control device 109 it is determined by means of the further control device 109, whether the object 103 for the driver of the motor vehicle 101 should already be visible. For example, this is done by means of radar sensors LIDAR.
  • the history of how and when the presentation property should be changed and thereby warned is included. For example, when the motor vehicle 101 is moved on a highway, it is possible that no other car, and thus no object 103, will approach for a longer time. Thus, the
  • Threshold set comparatively low to give a warning early.
  • the driver's concentration is lower than in the case of heavy traffic. For example, if another vehicle relatively promptly follows the previous warning, the next warning could accordingly be less intense or even fail.
  • FIG. 3 shows the image 201 of the camera 102 with unchanged display properties according to an exemplary embodiment.
  • FIG. 4 shows a modified image 202 according to an exemplary embodiment.
  • the modified image 202 is displayed on the monitor 104 in order to alert the driver to the attention-relevant object 103 or to warn.
  • FIG. 3 shows the conventional representation of the image 201, in which the camera monitor system 100 selects the presentation properties so as to be able to display as many details of the surroundings 104 as possible.
  • the brightness in the area of the headlights of the approaching motor vehicle 103 is reduced.
  • the brightness of the monitor 104 is increased.
  • the modified image 202 with the changed display properties simulates, for a short time, an aperture that could occur with a conventional side mirror.
  • Figure 5 shows the image 201 according to another embodiment example.
  • the attention-relevant object 103 is a pedestrian in the area of the motor vehicle 100.
  • the display properties are changed such that the modified image 202 shown in the monitor 104 is colored in color.
  • a yellow veil is provided in order to point the user of the motor vehicle 101 to the person 103 in the area of the motor vehicle 101 and to warn him / her against this.
  • Figure 7 shows the image 201 according to another embodiment example.
  • the attention-relevant object 103 is a motorcycle approaching from behind.
  • the presentation properties are changed and the modified image 202 is displayed, as shown by way of example in FIG.
  • a graphical element 203 is displayed.
  • the graphical element 203 is in the embodiment shown, a frame, in particular in a pre-given color, which is displayed on the monitor 104.
  • the frame 203 is shown on the outer periphery of the monitor 104.
  • the frame is provided in the area of the security-relevant object 103.
  • a presentation area 204 is determined in which the security-relevant object 103 is displayed on the monitor 104.
  • the image 202 is changed only outside the display area 204 to warn the user of the motor vehicle 101.
  • the unchanged image 201 is displayed.
  • attention-relevant object 103 shown as detailed as possible. It is avoided that important information is not displayed on the monitor 104 due to the change of the display characteristic, for example, an emergency vehicle's flashing light.
  • the different described examples for the change of the presentation properties can be combined arbitrarily.
  • the representation outside the display area 204 is colored in color, as explained in connection with FIG.
  • the described method as well as the described camera monitor system 100 make it possible to inform the driver of the motor vehicle 101 about dangers without the driver having to look directly at one of the monitors 104. With the help of color or brightness coding, different types of dangerous situations are also communicated. In addition, the dazzling effect of approaching vehicle headlights is avoided ver. The safety for the driver and other persons is thereby increased. It is also possible to inform the driver about movements outside the vehicle 101 in the state, for example, as a theft warning system. Alternatively or additionally, it is possible to warn the driver before getting out of an approaching vehicle. This is triggered for example by a handle to the doorknob.
  • the environment 105 is detailed and easily recognizable in the monitor 104. Especially at night, it is possible the display brightness sufficiently reduce. Nevertheless, a warning effect is realized by temporarily changing the display on the monitor 104.

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Abstract

A method for operating a camera monitor system (100) for a motor vehicle (101), in which the camera monitor system (100) has a camera (102), which is designed to provide an image of surroundings (105) of the motor vehicle (101), and has a monitor (104) for presenting images from the camera (102), comprises: - providing an image (201) from the camera (102), - ascertaining an object (103) of relevance to attentiveness in the surroundings (105), - temporarily altering at least one presentation property of the image (201) on the basis of the ascertained object (103) to produce an altered image (202), - presenting the altered image (202) on the monitor (104) .

Description

Beschreibung description
Verfahren und Vorrichtung zum Betreiben eines Kamera- Monitor-Systems für ein Kraftfahrzeug Method and device for operating a camera-monitor system for a motor vehicle
Es wird ein Verfahren zum Betreiben eines Kamera-Monitor-Systems für ein Kraftfahrzeug angegeben. Es wird weiterhin eine Vor richtung angegeben, die dazu ausgebildet ist, das Verfahren durchzuführen . A method for operating a camera monitor system for a motor vehicle is disclosed. There is further provided a device which is adapted to carry out the method.
Kraftfahrzeuge können eine Kamera aufweisen und einen Monitor, der Bilder der Kamera für einen Nutzer des Kraftfahrzeugs darstellt. Beispielsweise sind Spiegelersatzsysteme bekannt, bei denen mittels der Kamera und des Monitors die Sichtbereiche von herkömmlichen Außenspiegeln abgebildet werden. Motor vehicles may include a camera and a monitor that displays images of the camera to a user of the motor vehicle. For example, mirror replacement systems are known in which the viewing areas of conventional exterior mirrors are imaged by means of the camera and the monitor.
Es ist wünschenswert, ein Verfahren zum Betreiben eines Kamera- Monitor-Systems für ein Kraftfahrzeug anzugeben, das einen zuverlässigen Betrieb des Systems ermöglicht. Es ist weiterhin wünschenswert, eine Vorrichtung zum Betreiben eines Kamera- Monitor-Systems anzugeben, die einen zuverlässigen Betrieb ermöglicht . It is desirable to provide a method of operating a camera-monitor system for a motor vehicle that enables reliable operation of the system. It is further desirable to provide an apparatus for operating a camera-monitor system that enables reliable operation.
Die Erfindung zeichnet sich aus durch ein Verfahren zum Betreiben eines Kamera-Monitor-Systems für ein Kraftfahrzeug sowie durch eine korrespondierende Vorrichtung, die dazu ausgebildet ist, das Verfahren auszuführen. The invention is characterized by a method for operating a camera monitor system for a motor vehicle and by a corresponding device that is designed to carry out the method.
Gemäß zumindest einer Ausführungsform weist das Kamera- Monitor-System eine Kamera auf. Die Kamera ist insbesondere eingerichtet, ein Bild einer Umgebung des Kraftfahrzeugs aufzunehmen und bereitzustellen. Das Kamera-Monitor-System weist einen Monitor auf zum Darstellen von Bildern der Kamera. In accordance with at least one embodiment, the camera-monitor system has a camera. The camera is in particular configured to record and provide an image of an environment of the motor vehicle. The camera monitor system has a monitor for displaying images of the camera.
Ein Bild der Kamera wird bereitgestellt. Ein aufmerksam keitsrelevantes Objekt wird in der Umgebung ermittelt. Min destens eine Darstellungseigenschaft des Bildes wird in Ab- hängigkeit von dem ermittelten Objekt verändert, sodass ein verändertes Bild bereitgestellt wird. Die mindestens eine Darstellungseigenschaft wird vorübergehend verändert. Das veränderte Bild wird auf dem Monitor dargestellt. An image of the camera is provided. An attention-relevant object is determined in the environment. At least one representation property of the image is shown in Ab- changed from the determined object, so that a modified image is provided. The at least one presentation property is temporarily changed. The changed image is displayed on the monitor.
Mittels des Kamera-Monitor-Systems ist es möglich, die Umgebung des Kraftfahrzeugs auf den Monitor des Kamera-Monitor-Systems zumindest ausschnittsweise für einen Fahrer des Kraftfahrzeugs darzustellen. Auf herkömmliche Außenspiegel kann dadurch verzichtet werden. Die Kamera ist insbesondere einer Längsseite des Kraftfahrzeugs zugeordnet und eingerichtet, mindestens den Teil der Umgebung abzubilden, der herkömmlich mittels eines herkömmlichen Außenspiegels einsehbar ist. By means of the camera-monitor system, it is possible to represent the environment of the motor vehicle on the monitor of the camera-monitor system at least partially for a driver of the motor vehicle. On conventional exterior mirrors can be omitted. In particular, the camera is assigned to a longitudinal side of the motor vehicle and is set up to image at least the part of the environment which can be viewed conventionally by means of a conventional exterior mirror.
Das aufmerksamkeitsrelevante Objekt ist insbesondere ein Objekt, auf das die Aufmerksamkeit des Nutzers des Kraftfahrzeugs gerichtet und gelenkt werden soll. Beispielsweise ist das aufmerksamkeitsrelevante Objekt ein Fußgänger, ein Einsatz fahrzeug mit Blaulicht, ein überholendes Fahrzeug oder ein anderes sich insbesondere bewegendes Objekt, das im Ein flussbereich des Kraftfahrzeugs liegt. The attention-relevant object is in particular an object to which the attention of the user of the motor vehicle is to be directed and directed. For example, the attention-relevant object is a pedestrian, a use vehicle with blue light, an overtaking vehicle or another particular moving object, which is located in the A flow region of the motor vehicle.
Mittels des vorübergehenden Veränderns der Darstellungs eigenschaften des Bildes wird die Aufmerksamkeit des Nutzers auf den Monitor gelenkt. Beispielsweise wird die Helligkeit des Bildes erhöht. Somit ist es möglich, den Nutzer darauf hin zuweisen, dass in der Umgebung ein Objekt ist, das vom Nutzer des Kraftfahrzeugs beachtet und berücksichtigt werden sollte. Die Darstellungseigenschaft wird nicht für einen längeren Zeitraum oder dauerhaft verändert, sondern nur vorübergehend. Danach wird das Bild wieder mit den unveränderten Darstellungseigenschaften dargestellt. Somit wird vermieden, dass der Nutzer gestört wird. Beispielsweise ist so vermeidbar, dass der Nutzer bei einer Nachtfahrt von dem Monitor über längere Zeit geblendet wird. Bei Nachfahrten beispielsweise auf einer Autobahn ist üblicherweise kaum etwas auf dem Monitor abgebildet, außer es nähert sich ein Licht wie beispielsweise ein anderes Fahrzeug mit Front- Scheinwerfer. Die Helligkeit des Monitors wird so nachgeregelt, dass der Fahrer nicht durch zu viel Bewegung und Bildrauschen im Monitor gestört wird. Mittels der vorübergehenden Veränderung der Darstellungseigenschaft, beispielsweise einem Anheben der Helligkeit des Monitors, wird dennoch eine Warnwirkung erzielt. Somit wird der Nutzer auch beim Einsatz des Spiegelersatzsystems statt einem herkömmlichen Außenspiegel auf das Objekt aufmerksam gemacht . By temporarily changing the presentation properties of the image, the user's attention is directed to the monitor. For example, the brightness of the image is increased. Thus, it is possible to assign the user to the fact that in the environment is an object that should be considered and taken into account by the user of the motor vehicle. The presentation property is not changed for a longer period or permanently, but only temporarily. Then the picture is displayed again with the unchanged presentation properties. This avoids that the user is disturbed. For example, it is avoidable so that the user is blinded by the monitor for a long time during a night drive. For example, for after-rides on a highway, for example, hardly anything is displayed on the monitor unless a light, such as another vehicle with a front-end, is approaching. Headlights. The brightness of the monitor is readjusted so that the driver is not disturbed by too much movement and image noise in the monitor. Nevertheless, a warning effect is achieved by means of the temporary change of the display characteristic, for example an increase in the brightness of the monitor. Thus, the user is also made aware of the object when using the mirror replacement system instead of a conventional exterior mirror.
Gemäß zumindest einer Ausführungsform wird das Objekt mittels eines Objekterkennungsverfahrens in dem bereitgestellten Bild ermittelt. Beispielsweise werden die Bildinhalte softwareba siert ausgewertet. Eine Objekterkennung ermöglicht das Iden tifizieren des aufmerksamkeitsrelevanten Objekts in dem be- reitgestellten Bild. In accordance with at least one embodiment, the object is determined by means of an object recognition method in the provided image. For example, the image contents are evaluated software-based. An object recognition makes it possible to identify the attention-relevant object in the provided image.
Gemäß zumindest einer Ausführungsform wird das Objekt alternativ oder zusätzlich mittels mindestens eines weiteren Sensors des Kraftfahrzeugs ermittelt. Beispielsweise wird ein Radar, ein LIDAR, weitere Kameras oder Abstandssensoren verwendet, um das aufmerksamkeitsrelevante Objekt in der Umgebung zu ermitteln. In accordance with at least one embodiment, the object is determined alternatively or additionally by means of at least one further sensor of the motor vehicle. For example, a radar, a LIDAR, additional cameras or distance sensors are used to determine the attention-relevant object in the environment.
Gemäß zumindest einer Ausführungsform wird das Objekt alternativ oder zusätzlich mittels einer Fahrzeug-zu-Fahrzeug-Kommuni- kation ermittelt (car2car Kommunikation) . Das aufmerksam keitsrelevante Objekt und das Kraftfahrzeug können somit direkt miteinander kommunizieren und beispielsweise Informationen über Lage, Geschwindigkeit oder geplante Routen miteinander aus- tauschen. Dies erfolgt beispielsweise mittels eines In accordance with at least one embodiment, the object is determined alternatively or additionally by means of a vehicle-to-vehicle communication (car2car communication). The attentively relevant object and the motor vehicle can thus communicate directly with one another and, for example, exchange information about position, speed or planned routes with one another. This is done for example by means of a
WLAN-Standards , über Bluetooth oder eine andere drahtlose Kommunikationsschnittstelle. Alternativ oder zusätzlich kom muniziert ein weiteres Objekt dem Kraftfahrzeug, um Informa tionen über das aufmerksamkeitsrelevante Objekt mitzueilten. Beispielsweise teilt das weitere Objekt dem Kraftfahrzeug die Position des aufmerksamkeitsrelevanten Objekts mit. Gemäß zumindest einer Ausführungsform umfasst das Verändern der Darstellungseigenschaft ein Verändern einer Helligkeit. Al ternativ oder zusätzlich umfasst das Verändern der Darstel lungseigenschaft ein Verändern einer Farbe. Alternativ oder zusätzlich umfasst das Verändern der Darstellungseigenschaft ein Darstellen eines zusätzlichen grafischen Elements. Weitere Veränderungen der Darstellungseigenschaft sind möglich, die geeignet sind, die Aufmerksamkeit des Nutzers auf das darge stellte Bild zu lenken. Wi-Fi standards, via Bluetooth or another wireless communication interface. Alternatively or additionally, another object communicates with the motor vehicle in order to communicate information about the object of interest. For example, the further object notifies the motor vehicle of the position of the attention-relevant object. According to at least one embodiment, changing the display characteristic comprises changing a brightness. Alternatively or additionally, changing the presentation characteristic includes changing a color. Alternatively or additionally, changing the display property comprises displaying an additional graphical element. Further changes of the presentation characteristic are possible, which are suitable to draw the attention of the user to the presented image.
Gemäß zumindest einer Ausführungsform wird ein Darstellungs bereich des Objekts in dem Bild auf dem Monitor ermittelt. Die Darstellungseigenschaft wird in dem Darstellungsbereich bei behalten und außerhalb des Darstellungsbereichs verändert. Somit bleibt das aufmerksamkeitsrelevante Objekt gut erkennbar. Zudem ist es möglich, die Aufmerksamkeit auf das dargestellte Bild auf dem Monitor zu lenken. Somit kann beispielsweise gewährleistet werden, dass ein Blaulicht eines Einsatzfahrzeuges weiterhin gut erkennbar im Darstellungsbereich dargestellt wird. Außerhalb des Darstellungsbereichs wird durch das Verändern der Darstel lungseigenschaft eine erhöhte Aufmerksamkeit erzielt. In accordance with at least one embodiment, a display area of the object in the image is determined on the monitor. The display property is kept in the viewport and changed outside the viewport. Thus, the attention-relevant object remains easily recognizable. In addition, it is possible to focus attention on the displayed image on the monitor. Thus, it can be ensured, for example, that a blue light of an emergency vehicle is still clearly visible in the display area. Outside the display area, increased attention is achieved by changing the display character.
Gemäß zumindest einer Ausführungsform wird ein Schwellwert für die Aufmerksamkeitsrelevanz ermittelt. Ein Wert der Aufmerk- samkeitsrelevanz des Objekts wird ermittelt. Die Darstel lungseigenschaft wird verändert, wenn der ermittelte Wert größer ist als der Schwellwert. Somit ist es möglich, die Darstel lungseigenschaft situativ anzupassen. Dadurch wird bei spielsweise ermöglicht, dass die Darstellungseigenschaft nur dann verändert wird, wenn dies tatsächlich notwendig ist. Beispielsweise wird der Schwellwert in Abhängigkeit von dem Objekt ermittelt. Alternativ oder zusätzlich wird der In accordance with at least one embodiment, a threshold value for the attention relevance is determined. A value of the attention relevance of the object is determined. The representation property is changed if the determined value is greater than the threshold value. Thus, it is possible to situationally adjust the presentation property. This makes it possible, for example, that the presentation property is changed only when it is actually necessary. For example, the threshold value is determined as a function of the object. Alternatively or additionally, the
Schwellwert beispielsweise in Abhängigkeit von einem Nutzer des Kamera-Monitor-Systems ermittelt. Beispielsweise wird der Schwellwert in Abhängigkeit einer ermittelten Konzentrations fähigkeit des Nutzers ermittelt. Beispielsweise wird eine Müdigkeit des Nutzers ermittelt. Beispielsweise wird ermittelt, ob der Nutzer verhältnismäßig abgelenkt ist, beispielsweise durch Benutzung anderer Geräte des Kraftfahrzeugs wie bei spielsweise des Radios. Beispielsweise wird der Schwellwert in Abhängigkeit davon festgelegt, ob sich das Objekt schnell oder langsam nähert. Zudem ist es möglich, den Schwellwert in Ab hängigkeit von Umgebungsvariablen festzulegen, wie bei spielsweise einer Tageszeit, einer Helligkeit, einem Ver kehrsaufkommen oder weiteren Einflussfaktoren. Threshold determined, for example, depending on a user of the camera-monitor system. For example, the threshold value is determined as a function of a determined concentration ability of the user. For example, a fatigue of the user is determined. For example, it is determined whether the user is relatively distracted, for example by using other devices of the motor vehicle as in example of the radio. For example, the threshold is determined depending on whether the object is approaching fast or slow. In addition, it is possible to set the threshold value as a function of environmental variables, such as, for example, a time of day, a brightness, a traffic volume or other influencing factors.
Gemäß zumindest einer Ausführungsform wird ein Zeitraum für das Verändern der Darstellungseigenschaft ermittelt. Der Zeitraum wird in Abhängigkeit von dem Objekt und/oder von einem Nutzer des Kamera-Monitor-Systems ermittelt. Die Darstellungseigenschaft wird für den ermittelten Zeitraum verändert. Das veränderte Bild wird innerhalb des ermittelten Zeitraums dargestellt. Das Bild wird mit der unveränderten Darstellungseigenschaft dargestellt außerhalb des Zeitraums, insbesondere nach dem Zeitraum. Somit ist die Dauer der Darstellung des veränderten Bildes in Ab hängigkeit von Umgebungsvariablen und Einheiten des Nutzers möglich . In accordance with at least one embodiment, a time period for changing the presentation property is determined. The period of time is determined as a function of the object and / or by a user of the camera monitor system. The presentation property is changed for the determined period. The changed image is displayed within the determined period. The image is displayed with the unchanged rendering property outside the period, especially after the period. Thus, the duration of the display of the changed image depending on environment variables and units of the user is possible.
Weitere Vorteile, Merkmale und Weiterbildungen ergeben sich aus den nachfolgenden, in Verbindung mit den Figuren erläuterten Beispielen. Gleiche, gleichartige und gleichwirkende Elemente können figurenübergreifend mit den gleichen Bezugszeichen versehen sein. Further advantages, features and developments emerge from the following, explained in conjunction with the figures examples. The same, similar and equivalent elements can be provided across the figures with the same reference numerals.
Es zeigen: Show it:
Figur 1 eine schematische Darstellung eines Kraftfahrzeugs mit einem Kamera-Monitor-System gemäß einem Ausführungsbei spiel, 1 shows a schematic representation of a motor vehicle with a camera-monitor system according to a Ausführungsbei game,
Figur 2 eine schematische Darstellung eines Ablaufdiagramms eines Verfahrens gemäß einem Ausführungsbeispiel, Figur 3 eine schematische Darstellung eines Bildes gemäß einem Ausführungsbeispiel , FIG. 2 shows a schematic representation of a flow chart of a method according to an exemplary embodiment, FIG. 3 shows a schematic representation of an image according to an exemplary embodiment,
Figur 4 eine schematische Darstellung des Bildes der Figur 3 mit veränderten Darstellungseigenschaften, FIG. 4 shows a schematic representation of the image of FIG. 3 with changed presentation properties,
Figur 5 eine schematische Darstellung eines Bildes gemäß einem Ausführungsbeispiel , 5 shows a schematic representation of an image according to an embodiment,
Figur 6 eine schematische Darstellung des Bildes der Figur 5 mit veränderten Darstellungseigenschaften, FIG. 6 shows a schematic illustration of the image of FIG. 5 with altered presentation properties,
Figur 7 eine schematische Darstellung eines Bildes gemäß einem Ausführungsbeispiel, und Figure 7 is a schematic representation of an image according to an embodiment, and
Figur 8 eine schematische Darstellung des Bildes der Figur 7 mit veränderten Darstellungseigenschaften. FIG. 8 shows a schematic representation of the image of FIG. 7 with altered presentation properties.
Figur 1 zeigt eine schematische Darstellung eines Kraftfahrzeugs 101 gemäß einem Ausführungsbeispiel von oben. Das Kraftfahrzeug 101 ist beispielsweise ein Lastkraftwagen. Gemäß weiteren Ausführungsbeispielen ist das Kraftfahrzeug ein Bus und/oder ein Personenkraftwagen . FIG. 1 shows a schematic representation of a motor vehicle 101 according to an exemplary embodiment from above. The motor vehicle 101 is, for example, a truck. According to further embodiments, the motor vehicle is a bus and / or a passenger car.
Das Kraftfahrzeug 101 weist ein Kamera-Monitor-System 100 als Spiegelersatzsystem auf. Das Kamera-Monitor-System 100 weist je Längsseite 106 eine Kamera 102 auf. Die Kameras 102 dienen jeweils dazu, einen Teil einer Umgebung 105 des Kraftfahrzeugs 101 aufzunehmen. Gemäß weiteren Ausführungsbeispielen sind je Seite 106 mehrere Kameras vorgesehen, beispielsweise zwei Kameras oder mehr. Gemäß weiteren Ausführungsbeispielen ist die Kamera 102 lediglich an einer Seite 106 des Kraftfahrzeugs 101 vorgesehen. Die Kamera 102 ist insbesondere einer Längsseite des Kraft fahrzeugs 101 zugeordnet. Die Kamera 102 dient insbesondere dazu, einen Teil der Umgebung 105 aufzuzeichnen, der im Sichtbereich herkömmlicher Außenspiegel liegt. Das Kamera-Monitor-System 100 weist zwei Monitore 104 auf. Im Betrieb wird auf dem Monitor 104 jeweils ein Ausschnitt der zugehörigen Umgebung 105 auf der zugehörigen Seite 106 dar gestellt. Insbesondere wird das Bild der zugehörigen Kamera 102 auf dem Monitor 104 dargestellt. Somit unterscheiden sich die dargestellten Bilder 400 auf den Monitoren 104 voneinander. The motor vehicle 101 has a camera monitor system 100 as a mirror replacement system. The camera monitor system 100 has a camera 102 on each longitudinal side 106. The cameras 102 each serve to receive part of an environment 105 of the motor vehicle 101. According to further embodiments, several cameras 106 are provided on each side, for example two cameras or more. According to further embodiments, the camera 102 is provided only on one side 106 of the motor vehicle 101. The camera 102 is assigned in particular to a longitudinal side of the motor vehicle 101. The camera 102 serves, in particular, to record a part of the environment 105 which lies within the field of vision of conventional exterior mirrors. The camera monitor system 100 has two monitors 104. In operation, a section of the associated environment 105 is provided on the associated page 106 on the monitor 104, respectively. In particular, the image of the associated camera 102 is displayed on the monitor 104. Thus, the displayed images 400 on the monitors 104 are different from each other.
Eine Vorrichtung 110 ist vorgesehen, mit der die Kameras 102 und die Monitore 104 signaltechnisch gekoppelt sind. Die Vorrichtung 110 ist eingerichtet, sowohl die Kameras 102 als auch die Monitore 104 zu steuern. Beispielsweise ist die Vorrichtung 110 ein Steuergerät oder Teil eines Steuergeräts des Kraftfahrzeugs 101. Insbesondere ist die Vorrichtung 110 zur Bildverarbeitung eingerichtet . A device 110 is provided, with which the cameras 102 and the monitors 104 are signal-technically coupled. The device 110 is configured to control both the cameras 102 and the monitors 104. By way of example, the device 110 is a control device or part of a control device of the motor vehicle 101. In particular, the device 110 is set up for image processing.
Figur 2 zeigt ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel. In Schritt 301 erfolgt zunächst eine Erkennung eines Objekts 103 (Figur 1) in der Umgebung 105 des Kraftfahrzeugs 101. Es wird ermittelt, ob das Objekt 103 ein aufmerksamkeitsrelevantes Objekt ist. Ein aufmerksamkeitsre levantes Objekt ist beispielsweise ein Objekt, von dem eine potentielle Gefahr für den Nutzer des Kraftfahrzeugs 101 ausgeht und/oder für den das Kraftfahrzeug 101 eine potentielle Gefahr darstellt. Ein aufmerksamkeitsrelevantes Objekt ist insbe sondere eine Person, ein sich näherndes Kraftfahrzeug wie beispielsweise ein Motorrad oder beispielsweise ein anderes sich näherndes Objekt. FIG. 2 shows a flowchart of a method according to one exemplary embodiment. In step 301, recognition of an object 103 (FIG. 1) in the environment 105 of the motor vehicle 101 is first of all carried out. It is determined whether the object 103 is an attention-relevant object. An attention-relevant object is, for example, an object from which a potential danger to the user of the motor vehicle 101 originates and / or for which the motor vehicle 101 represents a potential danger. An attention-relevant object is in particular special a person, an approaching motor vehicle such as a motorcycle or for example another approaching object.
Zur Erkennung des aufmerksamkeitsrelevanten Objekts 103 wird insbesondere eine Sensorik 107 des Kraftfahrzeugs verwendet. Beispielsweise werden Informationen über ein CAN und/oder einer ADAS Einheit oder ähnlichen Informationsquellen verwendet. Auch Helligkeitssensoren, Geschwindigkeit und weitere Daten können berücksichtigt werden. Alternativ oder zusätzlich wird zur Ermittlung des Objekts 103 eine weitere Kamera 108 verwendet. Alternativ oder zusätzlich wird zur Ermittlung des Objekts 103 die Kamera 102 des Kamera-Monitor-Systems verwendet. Die Kamera 108 ist beispielsweise eine Infrarotkamera . Alternativ oder zusätzlich wird ein weiteres Steuergerät 109 des Kraftfahrzeugs 101 verwendet, um das Objekt 103 zu erkennen. Alternativ oder zusätzlich werden Informationen mittels einer Kommunikations schnittstelle 111 von fahrzeugexternen Informationsquellen empfangen und bei der Ermittlung des Objekts 103 berücksichtigt. Beispielsweise werden Informationen über eine car2car oder eine car2x Schnittstelle empfangen. Nachfolgend wird im Schritt 302 ermittelt, ob der Nutzer auf das Objekt 103 besonders aufmerksam gemacht werden soll oder nicht. Wenn nicht, wird das Verfahren in Schritt 301 fortgesetzt. To detect the attention-relevant object 103, in particular a sensor system 107 of the motor vehicle is used. For example, information about a CAN and / or ADAS unit or similar information sources is used. Brightness sensors, speed and other data can also be taken into account. Alternatively or additionally, another camera 108 is used to determine the object 103. Alternatively or additionally, the camera 102 of the camera monitor system is used to determine the object 103. The camera For example, 108 is an infrared camera. Alternatively or additionally, a further control unit 109 of the motor vehicle 101 is used to detect the object 103. Alternatively or additionally, information is received by means of a communication interface 111 from external information sources and taken into account in the determination of the object 103. For example, information about a car2car or a car2x interface is received. Subsequently, in step 302, it is determined whether the user should be made particularly aware of the object 103 or not. If not, the process continues in step 301.
Wenn in Schritt 302 ermittelt wird, dass das aufmerksam keitsrelevante Objekt 103 eines besonderen Hinweises bedarf, wird in Schritt 303 eine Darstellungseigenschaft eines Bildes 201 (Figuren 3, 5 und 7) der Kamera 102 beziehungsweise der Dar stellung auf dem Monitor 104 verändert. Beispielsweise wird die Helligkeit des Monitors erhöht. Alternativ oder zusätzlich wird die Darstellung auf dem Monitor in einer vorgegebenen Farbe eingefärbt . If it is determined in step 302 that the attentively keitsrelevante object 103 requires a special notice, in step 303, a display property of an image 201 (Figures 3, 5 and 7) of the camera 102 and the Dar position on the monitor 104 is changed. For example, the brightness of the monitor is increased. Alternatively or additionally, the representation is colored on the monitor in a predetermined color.
Das Bild wird in Schritt 304 für einen vorgegebenen Zeitraum auf dem Monitor 104 mit den geänderten Darstellungseigenschaften dargestellt. Nachfolgend wird in Schritt 305 die Darstel lungseigenschaft wieder zurückgesetzt und das Bild 201 un verändert auf dem Monitor 104 dargestellt. The image is displayed in step 304 for a predetermined time period on the monitor 104 with the changed presentation properties. Subsequently, in step 305, the presentation performance property is reset and the image 201 un changed displayed on the monitor 104.
Die Entscheidung in Schritt 302 wird beispielsweise in Ab hängigkeit einer Sichtbarkeit 112 des Kraftfahrzeugs 101 ge troffen. Beispielsweise bei Nacht und/oder Nebel und/oder einer kurvigen Straße kann die Sichtbarkeit 112 reduziert sein. The decision in step 302 is made, for example, as a function of visibility 112 of the motor vehicle 101. For example, at night and / or fog and / or a winding road visibility 112 may be reduced.
Alternativ oder zusätzlich wird die Entscheidung 302 in Ab hängigkeit einer Historie 113 getroffen. Die Historie 113 umfasst insbesondere Informationen, wann und wie oft in der Vergangenheit in Schritt 303 die Darstellungseigenschaften geändert wurden. Alternativ oder zusätzlich wird die Entscheidung in Schritt 302 in Abhängigkeit einer Aufmerksamkeitserkennung 114 getroffen. Die Aufmerksamkeitserkennung umfasst beispielsweise eine Müdigkeiterkennung des Fahrers. Alternativ oder zusätzlich wird ermittelt, ob der Fahrer anderweitig abgelenkt ist, bei spielsweise durch Benutzung anderer Geräte des Kraftfahrzeugs 101. Die Entscheidung in Schritt 302 wird alternativ oder zusätzlich in Abhängigkeit von einer Kritikalität 115 getroffen. Somit wird beispielsweise berücksichtigt, wie akut eine Ge fahrensituation durch das Objekt 103 ist. Alternatively or additionally, the decision 302 is made as a function of a history 113. In particular, the history 113 includes information as to when and how often in the past, in step 303, the presentation properties were changed. Alternatively or additionally, the decision is made in step 302 in response to attention recognition 114. The attention recognition includes, for example, fatigue detection of the driver. Alternatively or additionally, it is determined whether the driver is otherwise distracted, for example by using other devices of the motor vehicle 101. The decision in step 302 is alternatively or additionally made depending on a criticality 115. Thus, for example, it is taken into account how acute a driving situation is by the object 103.
Beispielsweise wird als Objekt 103 ein sich näherndes Fahrzeug erkannt. Dies erfolgt beispielsweise durch ein automatisches Erkennungssystem, beispielsweise mittels mindestens einer der Elemente 107, 108, 109, 111. Alternativ oder zusätzlich ist auch eine abrupte Helligkeitsabregelung der Kameraautomatik eine Möglichkeit, ein sich näherndes Fahrzeug mit Scheinwerfern zu erkennen. Nachfolgend wird für eine kurze Zeit von beispielsweise 0,1 s bis 5 s die Helligkeit des Monitors 104 erhöht. Auch ein anderer Zeitraum ist möglich, beispielsweise ist der Zeitraum von einem Nutzer einstellbar oder in Abhängigkeit des ermittelten Objekts 103 vorgegeben. For example, an approaching vehicle is detected as object 103. This is done for example by an automatic detection system, for example by means of at least one of the elements 107, 108, 109, 111. Alternatively or additionally, an abrupt brightness control of the camera automatic system is a way to detect an approaching vehicle with headlights. Subsequently, the brightness of the monitor 104 is increased for a short time of, for example, 0.1 second to 5 seconds. Another period is possible, for example, the period is set by a user adjustable or predetermined depending on the determined object 103.
Beispielsweise wird die Helligkeit des Monitors 104 durch ein Anheben der Hintergrundbeleuchtung erreicht. Alternativ oder zusätzlich wird die Helligkeit der Darstellung auf den Monitor im Allgemeinen erhöht, beispielsweise durch Anhebung der Lichtdurchlässigkeit der Flüssigkristalle im Monitor oder korrespondierendes bei anderen Monitortechnologien. Die Ver änderung der Darstellung auf dem Monitor 104 erregt die Auf merksamkeit des Fahrers. Dadurch wird eine Gefährdung durch das Objekt 103 vermieden. Zudem wird durch das schnell folgende Wiederherabsetzen der Helligkeit der Fahrer beispielsweise vom Scheinwerfer des sich nähernden Fahrzeugs nicht weiter ge blendet. Insbesondere auf Langstreckenfahrten kann somit die Helligkeit des Monitors 104 ohne Gefahr sehr stark reduziert werden, um in normalen Gefahrsituationen keine Ablenkung hervorzurufen. Sobald ein aufmerksamkeitsrelevantes Objekt 103 ermittelt wird, wird der Fahrer intuitiv auf dieses aufmerksam gemacht . For example, the brightness of the monitor 104 is achieved by raising the backlight. Alternatively or additionally, the brightness of the display on the monitor is generally increased, for example, by increasing the light transmittance of the liquid crystals in the monitor or the like in other monitor technologies. The change of the display on the monitor 104 excites the attention of the driver. As a result, a risk from the object 103 is avoided. In addition, the driver does not continue to blind himself, for example, from the headlight of the approaching vehicle due to the rapidly following reduction of the brightness of the driver. Thus, especially on long-distance trips, the brightness of the monitor 104 can be greatly reduced without danger to cause no distraction in normal danger situations. Once an attention-relevant object 103 is determined, the driver is intuitively made aware of this.
Ein anderes Beispiel für ein aufmerksamkeitsrelevantes Objekt 103 ist neben dem sich nähernden Fahrzeug auch eine sich nähernde Person . Another example of an attention-relevant object 103 is, in addition to the approaching vehicle, an approaching person.
Alternativ oder zusätzlich zu der Erhöhung der Helligkeit ist es möglich, die Darstellung auf dem Monitor 104 für den vorgegebenen Zeitraum in einer Farbe einzufärben. Durch entsprechende Farbwahl, beispielsweise rot, wird die Aufmerksamkeit des Fahrers weiter erhöht. Alternativ oder zusätzlich wird dem Fahrer mittels der Farbwahl eine Information vermittelt. Eine vor gegebene Farbe dient beispielsweise dazu, eine geringe, mittlere und hohe Gefahr anzuzeigen. Alternativ oder zusätzlich ist es mittels der Farbwahl möglich, eine gering, mittlere und hohe Geschwindigkeit des sich nähernden Fahrzeugs darzustellen. Es ist möglich, einen Rahmen um das gesamte Display einzufärben. Alternativ oder zusätzlich ist es möglich, einen Rahmen um das Sichtfeld einzufärben. Es ist auch möglich, einen Rahmen um das Objekt 103 in der Darstellung auf dem Monitor 104 einzufärben. Alternatively, or in addition to the increase in brightness, it is possible to colorize the display on the monitor 104 for the given period of time in one color. By appropriate color choice, for example red, the driver's attention is further increased. Alternatively or additionally, information is communicated to the driver by means of the color selection. A pre-given color is used, for example, to indicate a low, medium and high risk. Alternatively or additionally, by means of the color selection it is possible to represent a low, medium and high speed of the approaching vehicle. It is possible to color a frame around the entire display. Alternatively or additionally, it is possible to color a frame around the field of view. It is also possible to colorize a frame around the object 103 in the illustration on the monitor 104.
Alternativ oder zusätzlich ist es möglich, verschiedene Ge fahren, beispielsweise ein sich näherndes Fahrzeug, einen Fußgänger, einen Überholvorgang farbkodiert darzustellen. Im Fall eines sich nähernden Blaulichtfahrzeuges kann bei spielsweise ein Rahmen in Blau kodiert werden. Gemäß weiteren Ausführungsbeispielen wird eine andere Farbe als Blau verwendet, damit das eigentliche Blaulicht auch entsprechend gut darge stellt und erkannt wird. Alternatively or additionally, it is possible to drive different Ge drive, for example, an approaching vehicle, a pedestrian, overtaking color-coded represent. In the case of an approaching blue light vehicle, for example, a frame can be coded in blue. According to further embodiments, a different color is used as blue, so that the actual blue light also provides well Darge and is recognized.
Alternativ oder zusätzlich zur Farbkodierung wird gemäß Aus führungsbeispielen für die genannten Anwendungszwecke eine Abstufung der Helligkeitserhöhung verwendet, beispielsweise stufenweise, niedrig, mittelhoch, oder durch eine kontinuier liche Veränderung der Helligkeit. Wenn ein Monitor 104 verwendet wird, der eine hohe Helligkeit darstellen kann, ist es möglich, das Verfahren ohne Ein schränkungen tagsüber zu verwenden. Alternatively or in addition to the color coding, a gradation of the brightness increase is used according to exemplary embodiments for the stated applications, for example stepwise, low, medium high, or by a continuous change in the brightness. If a monitor 104 is used which can display high brightness, it is possible to use the method without restrictions during the day.
Die Informationen zu den Gefahrensituationen, also insbesondere zur Ermittlung des Objekts 103, werden von dem Kamera- Monitor-System 100 gemäß Ausführungsbeispiel durch system interne Quellen bereitgestellt. Alternativ oder zusätzlich werden die Informationen durch externe Warnsysteme bereitge stellt. Dies betrifft beispielsweise fahrzeuginterne Infor mationen, die beispielsweise mittels CAN oder einer ADAS Einheit oder ähnlichen Informationsquellen bereitgestellt werden, beispielsweise mittels des Sensors 107, der Kamera 108 und/oder dem Steuergerät 109. Alternativ oder zusätzlich werden fahr zeugexterne Informationen berücksichtigt, die beispielsweise über eine car2car Kommunikation oder eine car2x Kommunikation an das Kraftfahrzeug 101 übermittelt werden. Hierdurch ist es möglich, dass der Fahrer beispielsweise bereits vor einem sich nähernden Fahrzeug und/oder vor auf der Strecke liegenden Hindernissen gewarnt wird, die noch nicht von der Kamera 102 oder der anderen Sensorik des Kraftfahrzeugs 101 erkennbar bezie hungsweise sichtbar sind, beispielsweise also in Kurven hinter oder vor dem Fahrzeug. The information on the dangerous situations, that is to say in particular for determining the object 103, is provided by the camera monitor system 100 according to the exemplary embodiment by system-internal sources. Alternatively or additionally, the information is provided by external warning systems. This concerns, for example, in-vehicle information, which is provided, for example, by means of CAN or an ADAS unit or similar information sources, for example by means of the sensor 107, the camera 108 and / or the control unit 109. Alternatively or additionally, external information is taken into account which, for example, via a car2car communication or a car2x communication to the motor vehicle 101 are transmitted. This makes it possible for the driver to be warned, for example, of an approaching vehicle and / or of obstacles lying on the track, which are not yet recognizable or visible by the camera 102 or the other sensors of the motor vehicle 101, for example, in FIG Curves behind or in front of the vehicle.
Damit bei Nachtfahrten und höherem Verkehrsaufkommen nicht ständig der Fahrer durch die optische Warnung gestört wird, können unterschiedliche Schwellwerte definiert werden, ab wann das System den Fahrer warnen soll. Diese werden insbesondere in Schritt 302 berücksichtigt. Der Schwellwert wird beispielsweise vom Fahrer vorgegeben. Alternativ oder zusätzlich ist der Schwellwert ab Werk konfigurierbar. So that the driver is not constantly disturbed by the visual warning during night driving and higher traffic volumes, different threshold values can be defined as of when the system should warn the driver. These are taken into account in particular in step 302. The threshold value is specified, for example, by the driver. Alternatively or additionally, the threshold value can be configured ex works.
Gemäß zumindest einer Ausführungsform wird vom Festlegen des Schwellwerts die Aufmerksamkeit des Fahrers miteinbezogen . Ist der Fahrer abgelenkt, beispielsweise durch längere Bedienung des Navigationssystems oder des Radios, wird der Schwellwert beispielsweise niedriger angesetzt. Somit wird der Fahrer frühzeitiger gewarnt. Alternativ oder zusätzlich wird die Aufmerksamkeit mittels einer Müdigkeitserkennung abgeschätzt, die in dem Kamera-Monitor-System 100 selbst realisiert ist oder von externen Steuergeräten bereitgestellt wird, insbesondere von der Aufmerksamkeitserkennung 114. Zudem ist es möglich, die Blickrichtung des Fahrers zu ermitteln und insbesondere auf das Objekt 103 hinzuweisen, wenn der Fahrer in eine andere Richtung blickt . In accordance with at least one embodiment, setting the threshold value involves the attention of the driver. If the driver is distracted, for example by prolonged operation of the navigation system or the radio, the threshold value is set lower, for example. Thus, the driver becomes warned earlier. Alternatively or additionally, the attention is estimated by means of a tiredness recognition implemented in the camera monitor system 100 itself or provided by external control devices, in particular by the attention recognition 114. In addition, it is possible to determine the direction of the driver's vision, and in particular to notify the object 103 when the driver is looking in a different direction.
Alternativ oder zusätzlich wird der Schwellwert in Abhängigkeit der Kritikalität 115 festgelegt. Durch Objekterkennung und andere Steuergeräte und/oder durch die car2car Kommunikation liegen beispielsweise detaillierte Informationen über das Objekt 103 vor. Eine kritische Situation wird in Abhängigkeit der Informationen über das Objekt 103, insbesondere ein Bewe gungsvektor und eine daraus abgeleitete Trajektorie, ein Fahrzeugtyp, ein Beleuchtungszustand und weitere Eigenschaften, in Abhängigkeit von der eigenen Trajektorie sowie Fahrspur und weitere Informationen über das Kraftfahrzeug 101 ermittelt. Gemäß Ausführungsbeispielen wird der Schwellwert entsprechend hoch gesetzt, um eine Warnung gegebenenfalls zu unterdrücken, oder bei potentieller Gefahr entsprechend zu warnen. Bei spielsweise wird der Schwellwert in Abhängigkeit einer Ge schwindigkeit eines sich nähernden Objekts 103 festgelegt. Beispielsweise nähert sich von hinten ein Fahrzeug mit hoher Geschwindigkeit und der Fahrer des Kraftfahrzeugs 101 wird durch die Veränderung der Darstellung des Bilds auf dem Monitor 104 gewarnt . Alternatively or additionally, the threshold value is determined as a function of the criticality 115. By object recognition and other control devices and / or by the car2car communication are for example detailed information about the object 103 before. A critical situation is determined depending on the information about the object 103, in particular a BEWE movement vector and a derived trajectory, a vehicle type, a lighting condition and other properties, depending on the own trajectory and lane and other information about the motor vehicle 101. According to exemplary embodiments, the threshold value is set correspondingly high in order to suppress a warning if necessary, or to warn it accordingly if there is a potential danger. For example, the threshold value is set as a function of a speed of an approaching object 103. For example, a high-speed vehicle is approaching from behind, and the driver of the motor vehicle 101 is warned by changing the appearance of the image on the monitor 104.
Alternativ oder zusätzlich ist es möglich, den Schwellwert in Abhängigkeit einer Sichtbarkeit des Objekts 103 festzulegen. Beispielsweise ist das Objekt 103 verdeckt hinter einer langgezogenen Kurve. Die mittels der car2car Kommunikation übertragene Position wird berücksichtigt und mittels bei spielsweise detaillierten Kartendaten kombiniert, sodass ein Information über die langgezogene Kurve vorliegt. Alternativ oder zusätzlich wird das Objekt 103 in dem Bild 201 der Kamera 102 des Kamera-Monitor-Systems 100 mittels Objekt erkennung ermittelt. Alternatively or additionally, it is possible to set the threshold value as a function of visibility of the object 103. For example, the object 103 is hidden behind a long curve. The transmitted via the car2car communication position is taken into account and combined by means of example detailed map data, so that there is information about the elongated curve. Alternatively or additionally, the object 103 is detected in the image 201 of the camera 102 of the camera-monitor system 100 by means of object recognition.
Alternativ oder zusätzlich wird mittels des weiteren Steuer geräts 109 ermittelt, ob das Objekt 103 für den Fahrer des Kraftfahrzeugs 101 bereits sichtbar sein müsste. Beispielsweise erfolgt dies mittels Radarsensoren der LIDAR. Alternatively or additionally, it is determined by means of the further control device 109, whether the object 103 for the driver of the motor vehicle 101 should already be visible. For example, this is done by means of radar sensors LIDAR.
Gemäß Ausführungsbeispielen wird für die Art und Weise, wie und wann die Darstellungseigenschaft geändert werden soll und dadurch gewarnt werden soll, die Historie 113 miteinbezogen . Wenn das Kraftfahrzeug 101 beispielsweise auf einer Autobahn bewegt wird, ist es möglich, dass sich für eine längere Zeit kein anderes Auto und damit kein Objekt 103 annähert. Somit wird der According to embodiments, the history of how and when the presentation property should be changed and thereby warned is included. For example, when the motor vehicle 101 is moved on a highway, it is possible that no other car, and thus no object 103, will approach for a longer time. Thus, the
Schwellwert vergleichsweise niedrig angesetzt, um eine Warnung frühzeitig auszugeben. Bei der Autobahnfahrt, bei der sich längere Zeit kein Auto angenähert hat, wird somit insbesondere von einer geringeren Konzentration des Fahrers ausgegangen als bei hohem Verkehrsaufkommen. Folgt auf die vorherige Warnung relativ zeitnah ein weiteres Fahrzeug, so könnte die nächste Warnung beispielsweise entsprechend weniger intensiv ausfallen oder sogar ausbleiben. Threshold set comparatively low to give a warning early. When driving on the highway, where no car has approached for a long time, it is thus assumed that the driver's concentration is lower than in the case of heavy traffic. For example, if another vehicle relatively promptly follows the previous warning, the next warning could accordingly be less intense or even fail.
Figur 3 zeigt das Bild 201 der Kamera 102 mit unveränderten Darstellungseigenschaften gemäß einem Ausführungsbeispiel. FIG. 3 shows the image 201 of the camera 102 with unchanged display properties according to an exemplary embodiment.
Figur 4 zeigt ein verändertes Bild 202 gemäß einem Ausfüh rungsbeispiel. Das veränderte Bild 202 wird auf dem Monitor 104 dargestellt, um den Fahrer auf das aufmerksamkeitsrelevante Objekt 103 aufmerksam zu machen beziehungsweise zu warnen. In Figur 3 ist die herkömmliche Darstellung des Bildes 201 gezeigt, bei der das Kamera-Monitor-System 100 die Darstellungseigen schaften so wählt, um möglichst viele Details der Umgebung 104 darstellen zu können. Hierfür wird beispielsweise die Helligkeit in dem Bereich der Scheinwerfer des sich nähernden Kraftfahrzeugs 103 reduziert. Um den Fahrer des Kraftfahrzeugs 101 dennoch auf das sich nähernde Fahrzeug 103 hinzuweisen, ähnlich wie bei einem herkömmlichen Seitenspiegel, wird die Helligkeit des Monitors 104 erhöht. Dies ist in Figur 4 dargestellt. Das veränderte Bild 202 mit den geänderten Darstellungseigenschaften simuliert beispielsweise kurzzeitig ein Blenden, das bei einem her kömmlichen Seitenspiegel auftreten könnte. FIG. 4 shows a modified image 202 according to an exemplary embodiment. The modified image 202 is displayed on the monitor 104 in order to alert the driver to the attention-relevant object 103 or to warn. FIG. 3 shows the conventional representation of the image 201, in which the camera monitor system 100 selects the presentation properties so as to be able to display as many details of the surroundings 104 as possible. For this purpose, for example, the brightness in the area of the headlights of the approaching motor vehicle 103 is reduced. To the driver of the motor vehicle 101 yet on To point the approaching vehicle 103, similar to a conventional side mirror, the brightness of the monitor 104 is increased. This is shown in FIG. For example, the modified image 202 with the changed display properties simulates, for a short time, an aperture that could occur with a conventional side mirror.
Figur 5 zeigt das Bild 201 gemäß einem weiteren Ausführungs beispiel. Das aufmerksamkeitsrelevante Objekt 103 ist ein Fußgänger im Bereich des Kraftfahrzeugs 100. Wie in Figur 6 dargestellt, werden die Darstellungseigenschaften so geändert, dass das im Monitor 104 dargestellte veränderte Bild 202 farblich eingefärbt ist. Beispielsweise wird ein gelber Schleier dar gestellt, um den Nutzer des Kraftfahrzeugs 101 auf die Person 103 im Bereich des Kraftfahrzeugs 101 hinzuweisen und vor dieser zu warnen . Figure 5 shows the image 201 according to another embodiment example. The attention-relevant object 103 is a pedestrian in the area of the motor vehicle 100. As shown in FIG. 6, the display properties are changed such that the modified image 202 shown in the monitor 104 is colored in color. By way of example, a yellow veil is provided in order to point the user of the motor vehicle 101 to the person 103 in the area of the motor vehicle 101 and to warn him / her against this.
Figur 7 zeigt das Bild 201 gemäß einem weiteren Ausführungs beispiel. Das aufmerksamkeitsrelevante Objekt 103 ist ein sich von hinten näherndes Motorrad. Die Darstellungseigenschaften werden geändert und das veränderte Bild 202 dargestellt, wie in Figur 8 beispielhaft gezeigt. Um den Nutzer des Kraftfahrzeugs 101 zu warnen, wird beispielsweise ein grafisches Element 203 eingeblendet. Das grafische Element 203 ist im gezeigten Ausführungsbeispiel ein Rahmen, insbesondere in einer vorge gebenen Farbe, der auf dem Monitor 104 dargestellt wird. Figure 7 shows the image 201 according to another embodiment example. The attention-relevant object 103 is a motorcycle approaching from behind. The presentation properties are changed and the modified image 202 is displayed, as shown by way of example in FIG. To warn the user of the motor vehicle 101, for example, a graphical element 203 is displayed. The graphical element 203 is in the embodiment shown, a frame, in particular in a pre-given color, which is displayed on the monitor 104.
Beispielsweise wird der Rahmen 203 am Außenumfang des Monitors 104 dargestellt. Gemäß weiteren Ausführungsbeispielen wird der Rahmen im Bereich des sicherheitsrelevanten Objekts 103 dar gestellt. For example, the frame 203 is shown on the outer periphery of the monitor 104. According to further embodiments, the frame is provided in the area of the security-relevant object 103.
Alternativ oder zusätzlich wird ein Darstellungsbereich 204 ermittelt, in dem das sicherheitsrelevante Objekt 103 auf dem Monitor 104 dargestellt wird. Das Bild 202 wird nur außerhalb des Darstellungsbereichs 204 verändert, um den Nutzer des Kraft fahrzeugs 101 zu warnen. Innerhalb des Darstellungsbereichs 204 wird das unveränderte Bild 201 dargestellt. Somit wird das aufmerksamkeitsrelevante Objekt 103 möglichst detailreich dargestellt. Es wird vermieden, dass wichtige Informationen aufgrund der Veränderung der Darstellungseigenschaft nicht auf dem Monitor 104 angezeigt werden, beispielsweise ein Blaulicht eines Einsatzfahrzeugs. Alternatively or additionally, a presentation area 204 is determined in which the security-relevant object 103 is displayed on the monitor 104. The image 202 is changed only outside the display area 204 to warn the user of the motor vehicle 101. Within the display area 204, the unchanged image 201 is displayed. Thus, that will attention-relevant object 103 shown as detailed as possible. It is avoided that important information is not displayed on the monitor 104 due to the change of the display characteristic, for example, an emergency vehicle's flashing light.
Die unterschiedlichen beschriebenen Beispiele für die Änderung der Darstellungseigenschaften können beliebig kombiniert werden. Beispielsweise wird bei dem veränderten Bild 202 gemäß Figur 8 die Darstellung außerhalb des Darstellungsbereichs 204 farbig eingefärbt, wie in Verbindung mit Figur 6 erläutert. The different described examples for the change of the presentation properties can be combined arbitrarily. For example, in the case of the modified image 202 according to FIG. 8, the representation outside the display area 204 is colored in color, as explained in connection with FIG.
Das beschriebene Verfahren sowie das beschriebene Kamera- Monitor-System 100 ermöglichen ein Informieren des Fahrers des Kraftfahrzeugs 101 über Gefahren, ohne dass der Fahrer dabei direkt auf einen der Monitore 104 blicken muss. Mit Hilfe der Färb- oder Helligkeitskodierung werden zudem unterschiedliche Typen von Gefahrensituationen mitgeteilt. Zudem wird die Blendwirkung von sich nähernden Fahrzeugscheinwerfern ver mieden. Die Sicherheit für den Fahrer und andere Personen wird dadurch erhöht. Es ist auch möglich, den Fahrer über Bewegungen außerhalb des Fahrzeugs 101 im Stand zu informieren, bei spielsweise als Diebstahlwarnsystem. Alternativ oder zusätzlich ist es möglich, den Fahrer vor dem Aussteigen bei einem sich nähernden Fahrzeug zu warnen. Dies wird beispielsweise durch einen Griff zur Türklinke ausgelöst. The described method as well as the described camera monitor system 100 make it possible to inform the driver of the motor vehicle 101 about dangers without the driver having to look directly at one of the monitors 104. With the help of color or brightness coding, different types of dangerous situations are also communicated. In addition, the dazzling effect of approaching vehicle headlights is avoided ver. The safety for the driver and other persons is thereby increased. It is also possible to inform the driver about movements outside the vehicle 101 in the state, for example, as a theft warning system. Alternatively or additionally, it is possible to warn the driver before getting out of an approaching vehicle. This is triggered for example by a handle to the doorknob.
Es ist auch möglich, das beschriebene Verfahren mit einem akustischen Warnverfahren zu kombinieren. Ein derartiges Verfahren ist beispielsweise in der deutschen Patentanmel dung 102017220394.3 mit dem Titel "Verfahren und Vorrichtung zum Betreiben eines Fahrerassistenzsystems für ein Kraftfahrzeug und Kraftfahrzeug" beschrieben. Somit ist es möglich, den Fahrer umfassend auf ein aufmerksamkeitsrelevantes Objekt hinzuweisen. It is also possible to combine the described method with an acoustic warning method. Such a method is described, for example, in German patent application 102017220394.3 entitled "Method and apparatus for operating a driver assistance system for a motor vehicle and motor vehicle". Thus, it is possible to fully inform the driver on an attention-relevant object.
Die Umgebung 105 ist im Monitor 104 detailreich und gut erkennbar . Insbesondere bei Nacht ist es möglich, die Displayhelligkeit ausreichend zu reduzieren. Dennoch ist eine Warnwirkung rea lisiert, indem die Darstellung auf dem Monitor 104 kurzzeitig verändert wird. The environment 105 is detailed and easily recognizable in the monitor 104. Especially at night, it is possible the display brightness sufficiently reduce. Nevertheless, a warning effect is realized by temporarily changing the display on the monitor 104.

Claims

Patentansprüche claims
1. Verfahren zum Betreiben eines Kamera-Monitor-Systems (100) für ein Kraftfahrzeug (101), bei dem das Kamera-Monitor-System (100) eine Kamera (102) aufweist, die dazu ausgebildet ist, ein Bild einer Umgebung (105) des Kraftfahrzeugs (101) bereit zu stellen, und einen Monitor (104) aufweist zum Darstellen von Bildern der Kamera (102), umfassend: A method of operating a camera monitor system (100) for a motor vehicle (101), wherein the camera monitor system (100) comprises a camera (102) adapted to image an environment (105 ) of the motor vehicle (101), and a monitor (104) for displaying images of the camera (102), comprising:
- Bereitstellen eines Bildes (201) der Kamera (102),  Providing an image (201) of the camera (102),
- Ermitteln eines aufmerksamkeitsrelevanten Objekts (103) in der Umgebung (105) ,  Determining an attention-relevant object (103) in the environment (105),
- vorübergehendes Verändern mindestens einer Darstellungsei genschaft des Bildes (201) in Abhängigkeit von dem ermittelten Objekt (103) zu einem veränderten Bild (202),  temporarily changing at least one representation property of the image (201) as a function of the determined object (103) to a modified image (202),
- Darstellen des veränderten Bildes (202) auf dem Monitor (102) .  - Representing the modified image (202) on the monitor (102).
2. Verfahren nach Anspruch 1, umfassend: 2. The method of claim 1, comprising:
- Ermitteln des Objekts (103) mittels eines Objekterkennungs verfahrens in dem bereitgestellten Bild (201) .  - Detecting the object (103) by means of an object recognition method in the provided image (201).
3. Verfahren nach Anspruch 1 oder 2, umfassend: 3. The method of claim 1 or 2, comprising:
- Ermitteln des Objekts (103) mittels mindestens eines weiteren Sensors (107) des Kraftfahrzeugs (101).  - Determining the object (103) by means of at least one further sensor (107) of the motor vehicle (101).
4. Verfahren nach einem der Ansprüche 1 bis 3, umfassend: 4. The method according to any one of claims 1 to 3, comprising:
- Ermitteln des Objekts (103) mittels einer Fahr- zeug-zu-Fahrzeug-Kommunikation .  - Detecting the object (103) by means of a vehicle-to-vehicle communication.
5. Verfahren nach einem der Ansprüche 1 bis 4, bei dem das Verändern der Darstellungseigenschaft mindestens eines umfasst aus : 5. The method of claim 1, wherein changing the display characteristic comprises at least one of
- Verändern einer Helligkeit,  Changing a brightness,
- Verändern einer Farbe,  - changing a color,
- Darstellen eines zusätzlichen grafischen Elements (203) .  - Representing an additional graphical element (203).
6. Verfahren nach einem der Ansprüche 1 bis 5, umfassend: - Ermitteln eines Darstellungsbereichs (204) des Objekts (103) in dem Bild auf dem Monitor (104), 6. The method according to any one of claims 1 to 5, comprising: Determining a presentation area (204) of the object (103) in the image on the monitor (104),
- Beibehalten der Darstellungseigenschaft in dem Darstel lungsbereich (204), und  Maintaining the presentation property in the rendering area (204), and
- Verändern der Darstellungseigenschaft außerhalb des Dar stellungsbereichs (204).  Changing the presentation property outside the display area (204).
7. Verfahren nach einem der Ansprüche 1 bis 6, umfassend:7. The method according to any one of claims 1 to 6, comprising:
- Ermitteln eines Schwellwerts für die Aufmerksamkeitsrelevanz,Determining a threshold for attention relevance,
- Ermitteln eines Werts der Aufmerksamkeitsrelevanz des Objekts (103) , Determining a value of the attention relevance of the object (103),
- Verändern der Darstellungseigenschaft, wenn der ermittelte Wert größer ist als der Schwellwert.  Changing the display property if the determined value is greater than the threshold value.
8. Verfahren nach Anspruch 7, umfassend: 8. The method of claim 7, comprising:
- Ermitteln des Schwellwerts in Abhängigkeit von dem  Determining the threshold value depending on the
Objekt (103) und/oder von einem Nutzer des Kame- ra-Monitor-Systems (100) und/oder von einer Historie der Veränderung der Darstellungseigenschaft. Object (103) and / or by a user of the camera monitor system (100) and / or a history of the change of the presentation property.
9. Verfahren nach einem der Ansprüche 1 bis 8, bei dem das vorübergehende Verändern der Darstellungseigenschaft umfasst:A method according to any one of claims 1 to 8, wherein temporarily changing the display characteristic comprises:
- Ermitteln eines Zeitraums für das Verändern in Abhängigkeit von dem Objekt (103) und/oder von einem Nutzer des Kame- ra-Monitor-Systems (100), Determining a period for the modification as a function of the object (103) and / or by a user of the camera monitor system (100),
- Verändern der Darstellungseigenschaft für den ermittelten Zeitraum,  Changing the presentation property for the determined period,
- Darstellen des veränderten Bildes (202) innerhalb des er mittelten Zeitraums,  Representing the modified image (202) within the time period determined,
- Darstellen des Bildes (201) mit der unveränderten Darstel lungseigenschaft nach dem Zeitraum.  - Representing the image (201) with the unchanged representation property after the period.
10. Vorrichtung für ein Kraftfahrzeug, die ausgebildet ist, ein Verfahren nach einem der Ansprüche 1 bis 9 auszuführen. 10. A device for a motor vehicle, which is designed to carry out a method according to one of claims 1 to 9.
EP19722607.9A 2018-05-17 2019-05-07 Method and apparatus for operating a camera monitor system for a motor vehicle Withdrawn EP3794500A1 (en)

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