EP3844947A1 - Verfahren und anordnung zum erzeugen einer umgebungsrepräsentation eines fahrzeugs und fahrzeug mit einer solchen anordnung - Google Patents
Verfahren und anordnung zum erzeugen einer umgebungsrepräsentation eines fahrzeugs und fahrzeug mit einer solchen anordnungInfo
- Publication number
- EP3844947A1 EP3844947A1 EP19756328.1A EP19756328A EP3844947A1 EP 3844947 A1 EP3844947 A1 EP 3844947A1 EP 19756328 A EP19756328 A EP 19756328A EP 3844947 A1 EP3844947 A1 EP 3844947A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- projection screen
- representation
- image information
- environment
- 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- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000007613 environmental effect Effects 0.000 claims description 37
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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
- 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
- B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
-
- 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
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- 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
- 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
-
- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
Definitions
- the invention relates to a method and an arrangement for generating a
- the environmental representation can be created and displayed in the manner of a so-called top or bird view perspective, in which a model representation of the vehicle itself is often displayed for orientation purposes (for example in the middle of the image).
- environmental representations are known in which a model of the vehicle is shown in a top view and the vehicle surroundings, the vehicle surroundings being depicted on the basis of the captured camera images.
- the environmental representation is typically combined from images captured by a plurality of vehicle-mounted camera devices.
- Approaches are known for this, in which a (virtual) projection screen is generated and the images are projected into this projection screen, the images of a plurality of cameras being combined to form a correspondingly simultaneous projection to form the environmental representation.
- the projection takes place, for example, in accordance with the known installation positions and / or
- DE 10 2010 051 206 A1 discloses combining several partial images to form a larger area that exceeds the partial images, it also being possible to display additional symbols (so-called artificial image elements).
- the environment representation can be created on the basis of
- a (virtual) projection screen can be defined for camera images. This is typically defined as a horizontal room level and / or as a vehicle surface. This is based on the idea that the cameras are also directed at least in part towards the vehicle surface, for example by choosing an appropriate viewing angle, and thus captured images can also be projected back onto the vehicle surface. This represents a comparatively simple solution for creating the environment representation, in which satisfactory results can be achieved, particularly in the immediate vicinity of the vehicle. In certain situations, however, this approach can lead to distortions, which reduces the quality of representation. Alternatively, it is therefore known that
- a curved projection screen which is also referred to as a projection “bowl”.
- the projection screen is flat on its own and extends as a two-dimensional flat or curved structure around the vehicle or around the displayed vehicle model. It has been shown that the use of a curved projection screen does not always lead to a realistic and intuitively understandable environmental representation. In addition, only comparatively small ones have been made so far
- a basic idea of the invention is to attach the projection screen to the
- Structures within the vehicle environment are also raised (locally). It has been shown that in this way it is possible to reduce distortions within the representation of the surroundings in comparison with projection screens used hitherto, for example in comparison with the previous case in which real raised images recorded in the camera images
- Structures can be projected onto flat or curved projection screens.
- the invention further provides, not only in the immediate vicinity of the vehicle
- the environment representation can be used to continuously texturize, generate and / or supplement an environment map while the vehicle is traveling.
- the environment map can therefore in principle have a variable size or can generally be generated as a data collection of variable size.
- the environment map can be continuously supplemented in accordance with the collected or generated environment representations and, for example, enlarged to an optional maximum size.
- the environment map can be generated and supplemented along a route of the vehicle which is, for example, at least 5 m, at least 10 m or at least 20 m long.
- a route of the vehicle which is, for example, at least 5 m, at least 10 m or at least 20 m long.
- areas of the area map that are preferably opposite the current direction of travel or in relation to the current direction of travel behind the vehicle can be deleted and new areas of the direction of travel can be deleted Area map to be supplemented. This can be done by deleting and adding information for these areas.
- the surrounding map (or the surrounding area covered by it) can therefore
- the vehicle can be positioned in various ways within the environment map and / or the environment map cannot be fixed to the vehicle or cannot be purely centered around the
- the projection screen is raised at least in certain areas if the determined height profile indicates a correspondingly raised structure of the vehicle surroundings and
- the surroundings Representation of the surroundings, with the surroundings map being able to (and / or depicting) a surrounding area of the vehicle that is larger than a detection area of sensors used to determine the height profile and / or the image information.
- the surrounding area depicted by the surroundings map can comprise at least one and a half times, at least twice, at least three times or at least four times the sensor detection area, the respective areas
- ⁇ are preferably viewed as surfaces (for example in a horizontal spatial plane or along the vehicle surface).
- a detection range of a sensor can be understood to be a range within which evaluable signals and / or signals that meet a predetermined quality criterion (e.g. have a signal-to-noise ratio of at least 0.5 or at least 0.7) can be detected.
- a predetermined quality criterion e.g. have a signal-to-noise ratio of at least 0.5 or at least 0.7
- the environmental representation can be a virtual and / or digital one
- Act environment representation In particular, it can be a representation generated in the form or based on image and / or video files.
- a representation of the environment can be displayed on a display device, in particular in a vehicle interior.
- a displayable section of the environmental representation can correspond to a detection range of the sensors.
- the environment map can generally depict a larger area of the surroundings than can be displayed on the display device.
- a complete three-dimensional profile of the vehicle environment can be recorded, for example by means of (environment) sensor devices explained below.
- a height profile of the vehicle surroundings should be recorded, that is, an extension of structures of the vehicle surroundings in the vertical spatial direction, the vertical spatial direction is preferably orthogonal to the vehicle surface. It is understood that the dimensions of the detectable height profile (or also the complete
- the (preferably three-dimensional) height profile can be present as a file and / or be a digital information collection which, for example, depicts the surroundings in the form of a (measurement) point collection and / or a grid model.
- the invention therefore generally provides for the projection screen to be produced in accordance with the height profile (i.e. the
- Shape projection screen analogous to the height profile (preferably three-dimensional).
- the projection screen and thus indirectly the surrounding map can then be textured with the image information.
- the environment representation can also be referred to as an elevation profile textured with image information and / or the environment map can be generated or assembled on the basis of an environment representation that depicts different environment areas.
- the captured image information can be video information and / or a video image data stream.
- the environment representation can be continuously updated and / or generated, for example by continuously feeding in new (i.e. currently acquired) image information.
- new image information i.e. currently acquired
- image information that was acquired or recorded at the same acquisition time is preferably projected simultaneously.
- the projecting can include arranging the image information in or on the projection screen, which can generally be carried out with the aid of a computer.
- Information on the system structure and in particular the position and / or orientation of camera devices used for image acquisition can be used here.
- a raised formation of the projection screen can be understood as an at least partial extension in a non-horizontal direction and / or at an angle to the direction (virtual) vehicle surface.
- the projection screen can run vertically at least in some areas.
- the raised formation of the projection screen can result in a three-dimensional formation of the projection screen, the raised areas rising from, for example, an initial plane of the projection screen or extending at an angle thereto can).
- Raised areas can be shaped, for example, in a protruding manner or as protruding areas, for example in relation to an abovementioned starting or basic level of the
- the projection screen By providing raised areas, the projection screen can have edges, kinks and / or angles at least in some areas. As a result of the raised areas, the projection screen can have areas running at an angle to one another and / or areas running parallel to one another (and in particular planes)
- the method can optionally include determining raised areas in the height profile and locally changing the projection screen for at least selected of these areas from an initially or standard flat (or horizontal) extension, in particular in the form that the projection screen there is analogous to the raised areas of the height profile or the surrounding map (e.g. vertical).
- a position of the vehicle can generally be determined within the area map.
- odometry information can be used in a manner known per se which, for example, records or maps wheel movements.
- a steering angle and / or a vehicle inclination can be recorded and taken into account.
- information from navigation systems in particular location information
- Such information can be generated, for example, on the basis of GPS signals.
- GPS signals for example in order to be independent of current reception conditions for such signals.
- a sensor e.g. a
- Camera device is positioned and remains the same within the vehicle (i.e. positioned at a constant position in it and / or is oriented in a constant manner and thus has a constant viewing angle). Based on this, for example, a vehicle position can be converted into a position of the camera devices and / or corresponding location information can be assigned to the captured image information.
- areas of the environment map and / or the height profile can also be assigned corresponding location information, wherein for example a position of the sensor device for generating the environment map (for example distance sensors) can be used and a determined vehicle position in a position of Sensor device can be converted. Information recorded from this (in particular areas of the environment map and / or the elevation profile recorded from this) can then likewise be provided with location information.
- both areas of the environment map and / or the elevation profile and captured image information can thus be provided with location information, so that it can also be determined which image information relates to which areas of the environment map and / or the elevation profile.
- Environment representation can be used.
- a location information relating to this environment area can be assigned to an area of the environment representation that maps a particular environment area, e.g. based on the image information (s) used.
- s image information
- the image information is preferably mounted with at least one vehicle
- Camera device that detects a type of sensor for generating the
- At least three or at least four camera devices can be provided, which can be distributed around the vehicle, for example, so that cameras are preferably provided on each side of the vehicle (i.e. on the front and rear as well as on the two outer sides comprising the entry doors).
- the environmental representation can correspond to a so-called “surround” or 360 ° view.
- the image information can be provided in the form of video data and / or as an image data stream and the camera devices can accordingly be designed as video cameras.
- the height profile (or the environment map) can be recorded at least in part on the basis of sensors with sensors in the form of at least one vehicle-mounted (environment) sensor device
- the vehicle-mounted sensor device preferably being a sensor device different from the camera devices.
- the sensor device can be set up to
- the sensor device can be one of the following: a distance measuring device, a radar device, a Lidar device, an ultrasound device, an optical distance measuring device
- the image information is used to generate an at least area-wise texture of the projection screen.
- at least one area of the projection screen can be based on or by means of the
- Image information can be textured. This can be done by projecting the image information, wherein a corresponding texturing or, in other words, mapping of the image information to this area as a corresponding texture can take place at the areas of impact of the image information on the projection screen.
- texturing can take place in at least selected (in particular raised) areas of the projection screen by means of predetermined filling information instead of the image information.
- provision can generally be made to first project all image information onto the projection screen (e.g. based on a predefined point in time) and then to subsequently adapt the content of the projection screen (e.g. by hiding or overwriting the image information projected onto the projection screen in areas).
- it can be provided from the outset to determine areas of the projection screen onto which the image information is not to be projected or in which information other than the image information is to be displayed.
- image information This can be done depending on the determined height profile. For example, areas can be determined on the basis of the height profile, on which projecting image information would presumably lead to a loss of quality and the predetermined filling information should instead be used. This can be raised areas or from raised areas (from
- texturing takes place in at least one area of the projection screen which, from the vehicle's perspective, lies behind a raised area of the projection screen (that is to say is covered by this raised area) by means of predetermined filling information instead of the image information.
- predetermined filling information can be used, which, for example, also only serves to make a driver aware that there is no meaningful image information for the corresponding area.
- the fill-in information may include at least one of the following:
- a given color e.g. black or white
- an object in the area can be recognized and classified based on previously stored object classes (e.g. comprehensive traffic signs, vehicle types, components such as curbs or sidewalks).
- object classes e.g. comprehensive traffic signs, vehicle types, components such as curbs or sidewalks.
- this can then be represented by other information (or a texturing specification). From the driver's point of view, this can increase the informative value of the environment representation, since frequently recurring features are always displayed in the same way based on the texturing specification, and the content of the environment representation can thus be grasped quickly and intuitively.
- the invention further relates to an arrangement for generating an environmental representation of a vehicle, comprising:
- At least one sensor device for acquiring information for generating a height profile of the vehicle environment
- At least one camera device for capturing image information of the
- the projection screen Projecting the image information onto at least part of the projection screen to generate the environmental representation, wherein the projection screen can be raised at least in some areas if the determined height profile indicates a correspondingly raised structure of the vehicle surroundings, and wherein the environment representation generating device is also set up to generate an environment map of the vehicle on the basis of the environment representation with which an environment area of the vehicle can be mapped, which is larger than a detection range of the sensor device and the camera device.
- the arrangement can be set up to carry out a method according to any of the above and following variants.
- the invention further relates to a vehicle comprising an arrangement of the above type.
- FIG. 1A shows a schematic illustration of a vehicle, comprising an arrangement according to an exemplary embodiment of the invention, the arrangement detecting the surroundings of the vehicle;
- FIG. 1B shows a schematic illustration of a projection screen generated on the basis of the detection from FIG. 1A;
- FIG. 2 shows a flow chart for a method according to the invention.
- FIG. 1A shows a vehicle 100 which comprises an arrangement 10 according to the invention which carries out a method according to the invention.
- the vehicle 100 is shown schematically in a front view, so that the line of sight corresponds to a view of the front or front of the vehicle.
- the vehicle 100 comprises a camera device 12 and a further sensor device 14 in the form of a distance measuring device (for example an ultrasound sensor device which, in a side area (for example on a side mirror, not shown separately and therefore not directly on the front side facing the viewer) can also be arranged in the area of a fender).
- the camera device 12 has a detection area, indicated by dashed lines and widening conically, but due to an increasing distance
- the sensor device 14 detects distances to structures in the environment by ultrasound in a manner known per se, which is indicated in FIG. 1A by a single dashed line.
- the camera device 12 and also the sensor device 14 thus each have a defined detection area (i.e. a detection area of the surroundings), the size of which is limited in particular by requirements for the quality of the information recorded (for example less than 4 m or less than 3 m).
- the vehicle 100 although not shown accordingly, has at least one camera device 12 and a further sensor device 14 on each side, so that the
- Vehicle environment in the sense of a 360 ° detection can be completely captured both visually and by means of the sensor devices 14.
- a curb 16 is shown to the side of the vehicle 100 as a raised (i.e. deviating from the purely horizontal spatial plane) structure. This is recorded both by the camera device 12, which continuously generates video images of the surroundings, and by the sensor device 14, which also continuously detects the surroundings.
- the camera device 12 and sensor device 14 send the detected and optionally also already evaluated information to an environment representation generating device 18, which e.g. can be integrated into a control device of the vehicle 100 or can be provided as such.
- Environment representation generating device 18 a height profile of the environment. It preferably brings together the information from several or all of the corresponding sensor devices 14 on the individual sides of the vehicle, one
- Captured camera images can also be evaluated to create the height profile, e.g. to make the measurement signals of the sensor devices 14 plausible
- the environment representation generating device 18 also generates a virtual projection screen 22 (see FIG. 1B), into which it then captured all the camera devices 12 at the same time in order to generate the environmental representation
- FIG. 1B schematically shows a section of the (virtual) projection screen 22 generated by the environment representation generating device 18.
- This can e.g. can be defined as a data record which shows the spatial extension of the projection screen 22 e.g. around a virtual vehicle center point M (or a so-called virtual camera).
- the projection screen 22 is not shown to the driver separately, but is only used to generate the environmental representation.
- the projection screen 22 is defined as a three-dimensional structure and extends e.g. also into the image plane of FIG. 1B and in equal parts also to the left of the vehicle center M.
- the projection screen 22 does not have a purely flat (i.e., extending in a single flat or curved two-dimensional plane) shape. Instead, it also has a raised area 24 in the area of the curb 16. The projection screen 22 thus extends analogously to the detected height profile
- Height profile corresponds (i.e. reflects the uneven height profile caused by the curb 16).
- the environmental representation generator 18 uses them
- Projection screen 22 in order to project the image information acquired by means of the camera device 12 onto it. This is done in accordance with approaches known from the prior art, some of which are explained in the publications described at the outset or are already used in the “area view” solution offered by the applicant.
- the initially not separately textured projection screen 22 (or an environment map corresponding to the height profile) is textured.
- the fact that the projection screen 22 can also be designed to be raised in accordance with the detected height profile can reduce distortions that have occurred in previous projection into a purely horizontal plane (for example into a plane corresponding to the vehicle base 20 from FIG. 1A). The invention thus enables a higher quality of the environmental representation, since this is realistic and easier for the driver to understand.
- the environmental representation obtained in this way can be given to a driver in a
- Display device can be displayed in the vehicle interior. This is preferably done as a so-called bird-view perspective or vehicle top view, in which the vehicle is shown as a symbol. Examples of comparable representations can be found, for example, in areas 29a and 29d from FIGS. 4 & 5 of the above. DE 10 2015 002 438 A1.
- the environment representation generating device 18 is set up to generate generated environment representations (or different areas of a
- a realistic and comparatively large environment map (or, in other words, a large-scale composite environment representation) can be generated, with the help of which a more precise representation and generally comprehensive information collection regarding the environment can be achieved. This can be used to display to a driver, in comparison to previous solutions, larger, more realistic and / or continuously updated and also quickly retrievable sections of the environment map on a display device in the vehicle interior, particularly during maneuvering operations.
- an area 26 is marked which, from the perspective of the vehicle 100 (or the vehicle center point M), is positioned behind the raised area 24, that is to say behind the area of the projection screen 22 corresponding to the curb 16. It can happen that for such areas 26 no image information can be captured by the camera devices 14, since they are covered by the raised structure (in this case the curb 16). Whether such potentially hidden areas 26 are present can be determined in a separate method step.
- the information of the height profile can be used, for example a locally recorded height H, as is shown in FIG. 1B for the projection screen 22 in the raised area 24. If this exceeds a minimum threshold value, it can be assumed that the area behind it is likely to be covered and not meaningful from a vehicle perspective
- Image information for this can be determined.
- the height H shown can also be chosen to be significantly larger, e.g. as a kind of vertical delimitation surface of the projection screen 22.
- the projection onto the vertical delimitation surface can take place and the determination of the hidden area or the provision of separate filling information would not be absolutely necessary.
- a determination and a special representation of hidden areas 26 is desired. If a corresponding (potentially) hidden area 26 has been determined (for example by the environment representation generating device 18 and, for example, taking into account the information discussed above), it can be determined for this area 26 of the projection screen 22 that the environment representation in this area 26 is not based the captured image information is generated. Instead, predetermined (or similarly predetermined) filling information can be used there, e.g. predefined colors or patterns which indicate to the driver the absence of
- Can signal image information can be specified as filling information in order to draw the driver's attention to the actually existing image information within the
- Ambient representation increases because of unnatural distortions and / or an incorrect arrangement of image information within the surrounding representation less
- Corresponding processes can be carried out continuously while the vehicle 100 is traveling, for example along a travel distance of at least 5 m or at least 10 m. This distance extends beyond the detection ranges of the sensors 12, 14, in particular when the vehicle 100 is stationary. Based on that Then, as explained above, an environment map can be continuously supplemented or put together, thus creating a type of digital and virtually reproducible information collection relating to the vehicle environment.
- FIG. 2 shows a flow diagram for the method described above with reference to FIGS. 1A, 1B, but it is not necessary to consider hidden areas 26.
- the vehicle environment is recorded in a step S1 by camera device (s) 12 and by sensor device (s) 14.
- the information is transmitted to the environment representation generating device 18 for evaluation.
- the latter determines a preferably 360 ° height profile of the vehicle surroundings in a step S2.
- the (virtual) projection screen 22 is generated in a step S3, in particular by providing raised areas 24 of the projection screen 22 in accordance with corresponding raised structures in the height profile.
- Camera devices 12 record image information on the projection screen 22.
- the result can be displayed in step S5 on a display device in the vehicle interior.
- steps S1 to S5 can be carried out repeatedly in order to permanently update the generated environmental representation. This is shown by a corresponding arrow from S5 to S1.
- the steps can also be carried out partially in parallel. For example, when step S3 is carried out, a renewed environmental detection in the sense of step S1 can begin again
- Environment detection can generally be carried out continuously and without interruption.
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018214875.9A DE102018214875A1 (de) | 2018-08-31 | 2018-08-31 | Verfahren und Anordnung zum Erzeugen einer Umgebungsrepräsentation eines Fahrzeugs und Fahrzeug mit einer solchen Anordnung |
PCT/EP2019/071391 WO2020043461A1 (de) | 2018-08-31 | 2019-08-09 | Verfahren und anordnung zum erzeugen einer umgebungsrepräsentation eines fahrzeugs und fahrzeug mit einer solchen anordnung |
Publications (1)
Publication Number | Publication Date |
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EP3844947A1 true EP3844947A1 (de) | 2021-07-07 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP19756328.1A Withdrawn EP3844947A1 (de) | 2018-08-31 | 2019-08-09 | Verfahren und anordnung zum erzeugen einer umgebungsrepräsentation eines fahrzeugs und fahrzeug mit einer solchen anordnung |
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US (1) | US20210323471A1 (de) |
EP (1) | EP3844947A1 (de) |
CN (1) | CN112585959A (de) |
DE (1) | DE102018214875A1 (de) |
WO (1) | WO2020043461A1 (de) |
Families Citing this family (1)
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JP2021148914A (ja) * | 2020-03-18 | 2021-09-27 | 本田技研工業株式会社 | 表示制御装置、車両及び表示制御方法 |
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DE19926559A1 (de) * | 1999-06-11 | 2000-12-21 | Daimler Chrysler Ag | Verfahren und Vorrichtung zur Detektion von Objekten im Umfeld eines Straßenfahrzeugs bis in große Entfernung |
JP3692082B2 (ja) | 2002-01-23 | 2005-09-07 | トヨタ自動車株式会社 | 駐車支援装置 |
US7483549B2 (en) * | 2004-11-30 | 2009-01-27 | Honda Motor Co., Ltd. | Vehicle surroundings monitoring apparatus |
JP2006160193A (ja) * | 2004-12-10 | 2006-06-22 | Alpine Electronics Inc | 車両運転支援装置 |
JP4456086B2 (ja) * | 2006-03-09 | 2010-04-28 | 本田技研工業株式会社 | 車両周辺監視装置 |
DE102008003662A1 (de) * | 2008-01-09 | 2009-07-16 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Anzeigen der Umgebung eines Fahrzeugs |
DE102009009047A1 (de) * | 2009-02-16 | 2010-08-19 | Daimler Ag | Verfahren zur Objektdetektion |
JP5165631B2 (ja) * | 2009-04-14 | 2013-03-21 | 現代自動車株式会社 | 車両周囲画像表示システム |
DE102010051206A1 (de) | 2010-11-12 | 2012-05-16 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erzeugen eines Bilds einer Fahrzeugumgebung und Abbildungsvorrichtung |
US10235575B2 (en) * | 2011-08-26 | 2019-03-19 | Panasonic Intellectual Property Management Co., Ltd. | Driving assistance apparatus |
DE102011084554A1 (de) * | 2011-10-14 | 2013-04-18 | Robert Bosch Gmbh | Verfahren zur Darstellung eines Fahrzeugumfeldes |
KR101459835B1 (ko) * | 2012-10-11 | 2014-11-07 | 현대자동차주식회사 | 입체물 표시 제어 장치 및 방법 |
US9834143B2 (en) * | 2013-05-23 | 2017-12-05 | GM Global Technology Operations LLC | Enhanced perspective view generation in a front curb viewing system |
US9013286B2 (en) * | 2013-09-23 | 2015-04-21 | Volkswagen Ag | Driver assistance system for displaying surroundings of a vehicle |
DE102013019374B4 (de) | 2013-11-19 | 2022-09-08 | Audi Ag | Verfahren zum Betrieb eines zur vollständig automatisierten Führung eines Kraftfahrzeugs ausgebildeten Fahrzeugsystems und Kraftfahrzeug |
DE102014208664A1 (de) * | 2014-05-08 | 2015-11-12 | Conti Temic Microelectronic Gmbh | Verfahren und vorrichtung zum verzerrungsfreien anzeigen einer fahrzeugumgebung eines fahrzeuges |
US9767366B1 (en) * | 2014-08-06 | 2017-09-19 | Waymo Llc | Using obstacle clearance to measure precise lateral |
DE102014114999A1 (de) * | 2014-10-15 | 2016-04-21 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erfassen zumindest eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
US9725040B2 (en) * | 2014-10-28 | 2017-08-08 | Nissan North America, Inc. | Vehicle object detection system |
DE102015002438A1 (de) | 2015-02-26 | 2016-09-01 | Daimler Ag | Verfahren zum Betreiben eines Kraftfahrzeugs für ein Durchführen eines automatischen Parkvorgangs und Kraftfahrzeug mit einem Parksystem |
DE102015104940A1 (de) * | 2015-03-31 | 2016-10-06 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Bereitstellen von Höheninformationen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs an einer Kommunikationsschnittstelle, Sensoreinrichtung, Verarbeitungseinrichtung und Kraftfahrzeug |
DE102015213694A1 (de) * | 2015-07-21 | 2017-01-26 | Robert Bosch Gmbh | Sensorsystem zum Erkennen überstehender oder freiliegender Objekte in der Umgebung eines Fahrzeugs |
DE102015217258A1 (de) * | 2015-09-10 | 2017-03-16 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Darstellen eines Fahrzeugumfeldes eines Fahrzeuges |
DE102016013696A1 (de) | 2016-11-17 | 2017-05-24 | Daimler Ag | Verfahren und Vorrichtung zur Parkplatzerkennung |
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JP7039879B2 (ja) * | 2017-08-03 | 2022-03-23 | 株式会社アイシン | 表示制御装置 |
DE102018210812A1 (de) * | 2018-06-30 | 2020-01-02 | Robert Bosch Gmbh | Verfahren zu einer sensor- und speicherbasierten Darstellung einer Umgebung, Anzeigevorrichtung und Fahrzeug mit der Anzeigevorrichtung |
EP3693244B1 (de) * | 2019-02-06 | 2022-08-17 | Continental Autonomous Mobility Germany GmbH | Fahrzeug und verfahren zum autonomen betreiben eines fahrzeugs |
EP3951744A4 (de) * | 2019-03-26 | 2022-05-25 | Sony Semiconductor Solutions Corporation | Bildverarbeitungsvorrichtung, fahrzeugsteuerungsvorrichtung, verfahren und programm |
EP4191274A1 (de) * | 2021-12-03 | 2023-06-07 | Aptiv Technologies Limited | Radarbasierte schätzung der höhe eines objekts |
US11645775B1 (en) * | 2022-06-23 | 2023-05-09 | Plusai, Inc. | Methods and apparatus for depth estimation on a non-flat road with stereo-assisted monocular camera in a vehicle |
-
2018
- 2018-08-31 DE DE102018214875.9A patent/DE102018214875A1/de not_active Withdrawn
-
2019
- 2019-08-09 WO PCT/EP2019/071391 patent/WO2020043461A1/de unknown
- 2019-08-09 CN CN201980056355.3A patent/CN112585959A/zh active Pending
- 2019-08-09 US US17/271,622 patent/US20210323471A1/en not_active Abandoned
- 2019-08-09 EP EP19756328.1A patent/EP3844947A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US20210323471A1 (en) | 2021-10-21 |
WO2020043461A1 (de) | 2020-03-05 |
CN112585959A (zh) | 2021-03-30 |
DE102018214875A1 (de) | 2020-03-05 |
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