FR2956364A1 - Driver assistance device for handling e.g. car around building site, has processing unit generating image data defining image to be displayed in vehicle, where image data represents part of vehicle based on relative position of head - Google Patents

Abstract

The device (D) has a processing unit (MT) estimating a relative position of a driver's head with respect to a reference position. The processing unit generates image data defining an image to be displayed in a vehicle (V). The image data represents a part of the vehicle and exterior environment of a part defined by captured environmental data, along a selected view point and according to the relative position of head. A treating unit is arranged to define and memorize reference position of the driver head to the moment in which a view point is chosen.

Description

The invention relates to vehicles, possibly of terrestrial type, and more precisely the on-board devices which make it possible to help drivers. to maneuver their vehicles. As known to those skilled in the art, many solutions have been proposed Zo to help the driver of a vehicle, such as a motor vehicle, to perform a maneuver. The help can be sound and / or visual. The visual solutions all propose to display on a screen implanted in the vehicle real images (possibly processed) representative of part of the environment of the vehicle, captured by at least one camera, and / or synthetic images materializing , in a two-dimensional top view (2D), the relative positioning of at least a portion of the vehicle in its environment. It will be appreciated that the displayed images may optionally include lines and / or marks and / or adjoining information by superposition or insertion. Visual solutions are more intuitive than purely sonic solutions, but some of the information they provide may be difficult to understand and / or use in real time and / or the presentation method used may be more disturbing than useful. Thus, solutions offering a direct visual aid by camera (s) make it possible to visualize areas that are not directly observable by the driver, but the deformations of the displayed objects, resulting from the wide-angle optics, make it difficult to estimate the real distances, and the fields displayed are generally small. The visual solutions called "360 ° vision" offer an overview of the vehicle and its surrounding environment, generally from above and thus in computer graphics. The observable field is therefore more complete in terms of area covered, but the display of a computer image with possibly information and / or superimposed marks on screens of relatively small resolution and size does not facilitate the detection of details. In fact, the latter solution is of interest for positioning a vehicle in a location that is delimited by lines on the ground or between obstacles that are sufficiently spaced, but the lack of precision of the images displayed does not allow to appreciate the actual distance that separates a specific part of a vehicle from an obstacle that is very close. In addition, the method used to reconstruct this type of image induces a strong deformation of obstacles that are very close to the vehicle, which makes the interpretation of the final images difficult. Mixed visual solutions are a compromise between direct visual aids and visual 360-degree vision aids. They consist of displaying in parallel a synthetic image of the vehicle and its surrounding environment in a view from above (to present the general situation with few details), and a direct image of a small part of the environment of the vehicle, captured by a camera. The choice of the part of the environment is generally left to the driver, which gives him more freedom, in theory, but which in practice constitutes a constraint due to the manipulations that he must perform on a human / machine interface during his maneuver. In addition each change of view decided by the driver requires an adaptation effort in real time, and can make difficult the understanding of the relationship between the two images (radically different) that are displayed in parallel.

The invention therefore aims to improve the situation. It proposes for this purpose a device, intended to help a driver to maneuver a vehicle, and comprising processing means arranged: - to estimate the relative position of the driver's head relative to a reference position, and - to generate image data defining an image to be displayed in the vehicle, representative of at least a portion of the vehicle and the external environment of that portion defined by captured environmental data, from a selected point of view and according to the position relative of the head. The device according to the invention may comprise other characteristics that can be taken separately or in combination, and in particular: its processing means can be arranged to use a default point of view in the absence of a point of view designation; by the driver and when a first viewing direction of the driver, initially estimated, does not point approximately to an area of the vehicle where the images are displayed; its processing means can be arranged, when an estimated viewing direction of the driver points approximately to an area of the vehicle where the images are displayed, to start by using a default viewpoint and then to modify the latter according to the difference between the relative position of the driver's head and a reference position associated with a reference observation direction pointing towards the center of the image display area; its processing means can be arranged to use a point of view designated by the driver; its processing means can be arranged to use a default point of view in which the vehicle is represented integrally with respect to the top in the center of an external environment of selected dimensions; its processing means can be arranged, in the event of bringing the head of the display area closer together, to generate image data defining an image to be displayed in the vehicle, representative of a close-up (or zooming in) the part of the vehicle and the external environment of that part, and, if the head of the display area is moved away, to generate image data defining an image to be displayed in said vehicle, representative of a wide (or zoomed out) plan of the part of the vehicle and the external environment of that part; its processing means can be arranged to define and memorize as a reference position the position of the driver's head at the moment when he chooses a point of view; its processing means can be arranged to estimate the relative position of the driver's head with respect to a reference position as a function of data determined by head position detection means implanted in the vehicle; alternatively, its processing means can be arranged to estimate the relative position of the driver's head relative to a reference position as a function of data provided by the driver by means of a man / machine interface implanted in the vehicle; the human / machine interface may be chosen from (at least) tactile input means, capable of enabling the driver to indicate on a screen its relative position with respect to the reference position, and manual designation means , fit in case of actuation to allow the driver to signal his relative position relative to the reference position; the captured data may be derived from at least one observation camera secured to the vehicle in a position making it possible to observe the external environment of the part of the vehicle in question and / or at least one means for measuring distance by waves secured to the vehicle in a position for detecting obstacles in the external environment of the vehicle part 20 considered; it can comprise each observation camera and / or each means of distance measurement by waves; it may comprise form recognition means arranged to determine objects present in the external environment of the part as a function of the data captured by each observation camera and / or each means of distance measurement by means of waves. . In this case, its processing means may be arranged to integrate in the image data representative data objects determined, given their respective positions with respect to the vehicle; its processing means can be arranged to use a physical model, associated with the position of a virtual external observer which defines the point of view used and which depends on the relative position of the driver's head, so as to control (by example smooth and / or dampen) changes of point of view; its processing means can be arranged to generate image data that defines synthetic images.

Other features and advantages of the invention will appear on examining the detailed description below, and the accompanying drawings, in which: - Figure 1 illustrates schematically and functionally, in a view from above, an example of a vehicle automobile equipped with an exemplary embodiment of a maneuvering aid device according to the invention, - Figure 2 schematically illustrates a display screen on which is displayed a synthetic image of a motor vehicle and its immediate environment in a FIG. 3 schematically illustrates a display screen on which is displayed a motor vehicle synthesis image and its immediate environment in a perspective view of the top off-center towards the rear (or in English "). birdview "), - Figure 4 schematically illustrates a display screen on which is displayed a summary image of the left rear part of a motor vehicle and its immediate environment in a rear perspective view (or in English "dogview"), - Figure 5 schematically illustrates a display screen on which is displayed a computer image of a motor vehicle and its environment Immediately in a perspective rear three-quarter view (or in English "isoview"), - Figure 6 schematically illustrates a display screen on which is displayed a computer image of a front portion of a motor vehicle and from its immediate environment, resulting from a close-up request (or zoom in), in a view from above, - Figure 7 schematically illustrates a display screen on which a summary image of a part is displayed. rear view of a motor vehicle and its immediate environment, resulting from a close-up request, in a view from above, - Figure 8 schematically illustrates a display screen on which is located displaying a computer image of a right-hand side part of a motor vehicle and its immediate environment, resulting from a request for a slight close-up, in a slightly inclined top view, and - Figure 9 schematically illustrates a screen of display on which is displayed a computer image of a left side part of a motor vehicle and its immediate environment, resulting from a request for a slight close-up, in a slightly inclined top view. The attached drawings may not only serve to complete the invention, but also contribute to its definition, if any. The invention aims to provide a device for assisting a driver to perform maneuvers with his vehicle (V).

In the following, we consider, by way of non-limiting example, that the vehicle (V) is terrestrial, such as for example a motor vehicle (such as a car, a coach, a truck, a utility vehicle or an agricultural or construction machine). But, the invention is not limited to this type of vehicle. It concerns any type of land or sea vehicle that can move and maneuver on the ground or on the water. FIG. 1 shows schematically and functionally a motor vehicle V, equipped with an exemplary embodiment of a maneuvering device D according to the invention.

This car V conventionally comprises a front portion PV, a rear portion PR opposite the front portion PV, and two side portions PD and PG opposite one another and located substantially perpendicular to the front portions PV and rear PR, respectively on the right and left sides. Moreover, this car V also conventionally includes an indirect vision system such as for example a right mirror mirror RD and a mirror left mirror RG. The device (assistance maneuvers) D comprises at least MT processing means. In the nonlimiting example illustrated, the device D is an equipment that is not part of the vehicle computer V, but which is preferably coupled thereto. But, it could be part of this board computer. Therefore, the device D can be realized in the form of electronic circuits or software modules (or computer) or a combination of electronic circuits and software modules. The processing means MT are firstly arranged (or designed) to estimate the relative position of the driver's head of the vehicle V with respect to a reference position. The relative position can be deduced from position data which can have several origins, according to the envisaged embodiment and / or according to the equipment that may optionally further comprise the vehicle V. Thus, these position data can for example, and as illustrated without limitation, be determined by MD head position detection means which are located in the vehicle V. It is important to note that these head position detection means MD may possibly be part of the device D. But, it may also be a piece of equipment that provides another function within the vehicle V, such as, for example, the detection of the state of vigilance of the driver. In the latter case, the position data obtained by the equipment must be retrieved either from the latter, or from the vehicle's computer bus V, or directly from the onboard computer of the vehicle V. Any type of means MD head position detection known to those skilled in the art can be considered here, since it can detect the position of the head of a driver. By "position" is meant here a point in a three-dimensional space reference (3D), originating from a reference position, and an orientation (in the vector sense of the term) in this same three-dimensional space. Moreover, here "reference position" is understood to mean the origin of the aforementioned reference point and a reference orientation defined by a vector starting from this origin. The reference direction is for example the vector which starts from the origin of the 3D reference and which points to an area where are displayed the images produced by the device D (and which will be discussed later). This zone is for example an EC screen implanted in the dashboard (in central position) or the dashboard of vehicle V or in the up position ("head up") on the windshield of vehicle V.

Thus, they (MD) can constitute a stereovision equipment (including at least two fixed cameras), or they (MD) can implement a triangulation technique using data provided by a camera and piloted light beacons, or they (MD) can constitute a "3D camera" (that is to say comprising a camera and a pilot lighting for calculating a flight time of the light beam), or they (MD) can comprise at least one camera and shape recognition means for real-time face tracking. In an alternative embodiment, the position data may for example be provided by the driver by means of a man / machine interface (or HMI) which is located in the vehicle V. It is important to note that this man / machine interface (or HMI) may possibly be part of the device D. But, it may also be a device that provides another function within the vehicle V, such as the selection of functions in menus or the entry of characters or predefined marks. In the latter case, the position data obtained by the equipment must be retrieved either from the latter, or from the vehicle's computer bus V, or directly from the on-board computer of the vehicle V. Any type of interface man / machine (or HMI) known to those skilled in the art can be considered here, since it allows to designate and record a position (which is here assimilated to that of the head of a driver). "Position" here means a point in a three-dimensional coordinate system (3D) and an orientation (in the vector sense of the term) in the same three-dimensional coordinate system. Moreover, here "reference position" is understood to mean the origin of the aforementioned reference mark (3D) and a reference orientation defined by a vector starting from this origin. The reference direction is, for example, the vector which originates from the origin of the 3D reference point and which points straight towards the front of the vehicle V. Thus, the human / machine interface (or HMI) can be in the form of tactile input means arranged so as to enable the driver to signal on a touch screen subdivided into N representative portions of the vehicle V (or a set of N touch sensitive keys each associated with a portion of the vehicle V) its relative position with respect to a position reference (materialized on the screen (for example by its center)). For example, placing a finger on the touch surface signals the activation of the function, and moving a finger to a selected position without lifting the touch surface (function called "drag" in English) allows to provide a relative position and to record it (at the time of the withdrawal of the finger). Note that the position of the head can be updated as the finger moves (drag), the distance of the finger from the touch surface resulting in freezing the last contact position and causing his recording. In a variant, the man / machine interface (or HMI) can be in the form of manual designation means (2D or 3D) arranged, in case of actuation, to enable the driver to signal his relative position with respect to a reference position. 2D manual designation means may for example be in the form of a joystick (or joystick) with force feedback (or linear designator), or a set of N (for example 4 to 8) pushbuttons ( or all-or-nothing designator). The 2D lever may for example be located in a portion of the steering wheel of the vehicle V, so that its actuation does not disturb the maneuvers. It is at rest in a central position and allows movement up, down, left and right to indicate the relative position of the head chosen by the driver. 3D manual designation means may for example be in the form of a joystick (or joystick) with force feedback which is at rest in a central position and allows movement upward, downward, left and right. right to indicate the relative position of the head chosen by the driver and which in addition can be pulled or pushed axially or turned clockwise or anti-clockwise to signal a request for close-up (or zoom out) or wide shot (or zoom in). The 3D controller may for example be located in a part of the steering wheel of the vehicle V, so that its actuation does not disturb the maneuvers. The forces can be proportional to the restoring forces applied to the position of a virtual external observer from which the point of view is defined. If the driver moves the joystick in a direction (for example upwards), the position of the virtual outside observer corresponds to a movement of the head upwards. A simulated viscosity effect may make it possible not to have a sudden return when the driver releases the joystick. In addition, this can make it possible to avoid abrupt discontinuities or accelerations of the observation point on its trajectory whatever the cause (sudden head movements, loss of head detection, positioning system of all types). or-nothing, control with an unstable joystick, for example during a rise / descent of the sidewalk, in particular). Small repeated jolts thus allow to reach intermediate positions while a maintenance in a chosen direction will position the head in a predefined extreme position. The processing means MT are also arranged (or designed) to generate image data which defines an image to be displayed in the vehicle V and which is representative of at least a portion of the vehicle V and the external environment of the vehicle. this part, which is defined by captured environmental data. According to the invention, this image is displayed according to a point of view which is chosen and as a function of the relative position of the driver's head which has been estimated from the position data provided by head position detection means MD or by the driver via a man / machine interface.

Here "point of view" is understood to mean a particular or general angle of observation of at least part of the vehicle V for a virtual observer (and not the driver) which is located outside this vehicle V. This point (observation by an outside observer) should not be confused with the direction of observation of the driver, that is to say the estimated direction in which he looks in view of the relative position of his head. The point of view is defined by an observation direction of a virtual external observer which is defined by a three-dimensional vector whose origin is the point which defines the position of the virtual external observer and whose end is a end point located on or under the vehicle V. This end point may be, for example, the center of gravity of the vehicle V. But, this is not an obligation. Indeed, it may be the center of gravity of the right rear wheel, for example when the chosen point of view is dogview type right. So that a displacement of the position of the virtual external observer automatically leads to a displacement (less but in the same proportion and according to the same axes) of the point of view on the vehicle V, the end of the vector defining the orientation of the observer can for example be positioned under the vehicle.

Four examples of point of view are represented in FIGS. 2 to 5. More precisely, in FIG. 2 the vehicle V and its immediate environment are displayed on a display screen EC, in the form of a synthetic image in a view from above centered (or "top view"), in Figure 3 the vehicle V and its immediate environment are displayed on an EC display screen, in the form of a computer image in a perspective view of the top off-center towards the rear (or birdview), in FIG. 4 the vehicle V and its immediate environment are displayed on an EC display screen, in the form of a computer image in a left rear perspective view (or dogview). ), and in Figure 5 the vehicle V and its immediate environment are displayed on an EC display screen, in the form of a computer image in a rear three-quarter perspective view (or isoview). Of course, other general or particular points of view may be proposed by a device D according to the invention, and in particular a perspective view of the top off-center forwards, a perspective view on the right rear side, a view from above. front right or left side, or a perspective view of three-quarter front right or left. For example, a dogview on the right (left) will allow the driver to better appreciate the distance between the right rear wheel (rear left) and the sidewalk, and a topview view will allow the driver to align more easily all of his vehicle V on a parking space which is delimited by a marking on the ground. Note that in Figures 2 to 9 the environment of the vehicle V is devoid of objects or obstacles, to avoid overloading. But in practice, the environment very often includes one or more obstacles or objects. The image data that is generated by the processing means MT are transmitted to EC display means which are located in a selected area of the vehicle (in line of sight for the driver) and which are responsible for transforming them into displayed images. . The display means EC are for example a screen implanted in the dashboard (in central position) or in the dashboard of the vehicle V or in the up position (head up) on the windshield of the vehicle V. captured data, which are used by the processing means MT, come from observation means MOj, such as for example one or more cameras and / or one or more means for measuring distance by wave (for example a radar or a sensor by wave (of any type)). Each observation camera is secured to the vehicle V in a position that allows it to observe at least part of its external environment. Similarly, each wavelength distance measuring means is secured to the vehicle V in a position that allows it to detect obstacles in at least part of its external environment. Wavelength measurement means provides captured data from which 2D, 2.5D or 3D mapping of the external environment can be generated. An observation camera (preferably wide angle) provides captured data (raw images) that must be processed and analyzed in order to determine the relative positions and distances of the obstacles and objects of the environment with respect to the vehicle V. It is also possible to implement a form recognition technique to allow a synthesized representation of the objects or obstacles contained in the captured images. In this case, provision may be made for MR form recognition means arranged to determine objects or obstacles present in the external environment of the considered part of the environment as a function of the data captured by each observation camera and / or each means for measuring distance by waves. Any image analysis technique known to those skilled in the art and for obtaining position information (distance and orientation) and shape information can be used here. It is important to note that these form recognition means MR may possibly be part of the device D, as shown in non-limiting manner in FIG. 1. However, it may also be equipment that provides another function within the device. vehicle V. In the latter case, the data representative of the determined objects, obtained by the equipment, must be retrieved either from the latter, or from the computer bus of the vehicle V, or directly from the on-board computer of the vehicle V. It will be noted that these MR form recognition means are intended to provide information on the possible presence of obstacles and / or to make the image more natural (and in particular less deformed when an obstacle is close to the vehicle ).

It will be understood that the processing means MT are arranged to integrate in the image data the data which are representative of the objects determined by the shape recognition means MR, taking into account their respective positions with respect to the vehicle V. For example, the processing means MT can firstly create a 2D, 2.5D or 3D scene from the captured data (possibly previously processed) which define the external environment (flat (2D) or in volume (3D)), then they add to this scene a 2D, 2.5D or 3D model of the vehicle V. It will be noted that the captured data can be the subject of mathematical treatments in order to provide exploitable information, that is to say of a nature to allow the reconstruction of an image of the ground around the vehicle V (external environment), for example in a top view centered. Among these treatments one can for example quote one or more geometrical transformations (corrections of distortions, rectification), and / or one or more affine re-projections (or "warping"), and / or one or more sewing operations (or " stiching "). It is important to note that at least one of the observation means MOj may possibly be part of the device D. Consequently, at least one of the observation means MOj may possibly be an equipment that provides at least one other device. function in the vehicle V. In the latter case, the data captured by the equipment must be retrieved either from the latter, or from the vehicle V computer bus, or from the vehicle computer.

In the nonlimiting example illustrated in FIG. 1, the vehicle V is equipped with four observation means MOj (j = 1 to 4). The first observation means MO1 is responsible for observing all the part of the environment which is located in front of the front part PV of the vehicle V (it is for example implanted at least partially in the bumper or front shield). The 1 o second observation means MO2 is responsible for observing all the part of the environment which is located behind the rear part PR of the vehicle V (it is for example implanted at least partially in the bumper or rear shield) . The third observation means MO3 is responsible for observing all the part of the environment which is situated to the right of the right lateral part PD 15 of the vehicle V (for example it is at least partially implanted on the right mirror RD). The third observation means MO3 is responsible for observing all that part of the environment which is situated to the left of the left lateral part PG of the vehicle V (it is for example implanted at least partially on the left rearview mirror RG). This makes it possible to observe the entire environment of the vehicle V. But this is not mandatory. Indeed, it can be envisaged that the device D only provides images of a predefined part of the environment of the vehicle V. These four observation means MOj can be, for example, radars. But, it could also be wide angle cameras or a combination of 25 camera (s) and radar (s) (or more generally means for measuring distance by wave). It should be noted that the processing means MT are preferably arranged so as to use a default point of view, on the one hand, when the driver has not provided or designated an observation point of view and as the device D does not use position data determined by head position detection means MD, and secondly, when the device D uses position data determined by head position detection means MD but the first The driver's viewing direction, initially estimated, does not point approximately to the EC area of the vehicle V where the generated images are displayed. By "first viewing direction" is meant herein a direction which points from the driver's head to the EC area where the images produced by the device D are displayed, for the first time (ie when the driver observe for the first time the EC display screen during a new session). This first observation direction can be estimated by the processing means MT from the relative position of the driver's head. It therefore constitutes a relative observation direction with respect to a reference observation direction. Note that this first observation direction is used to initialize the reference position used by the device D each time the driver uses his services. By way of non-limiting example, the default viewpoint may be a centered top view of the entire vehicle V and its near outside environment (of selected dimensions). But, the observation point of view can be designated by the driver by means of a man / machine interface of designation (or input) or by the relative position of his head when it is estimated from data provided by MD head position detecting means. In the latter case, one can for example configure the processing means MT so that they start by using a default viewpoint, associated with a reference position of the driver's head, when the direction of observation of the driver estimated peak, for the first time, approximately to the EC area of the vehicle V where the generated images are displayed. It is considered that when the driver looks approximately at the EC display screen, he wants to activate the maneuvering aid function, but he has not yet selected an observation point of view. or do not wish to select a particular observation point of view. In this case, once the processing means MT have generated image data defining at least a first image (or initial image) according to the default point of view, they can modify the latter according to the difference that exists between the relative position of the head and the reference position. It is considered here that when the relative position of the driver's head changes slightly relative to its reference position, consecutively to an initial look towards the EC display screen is that the driver wants to report to the device D from a particular observation point of view. For example, if the driver slightly raises his head this may mean that he wants a perspective view of the top off center, if the same driver bends (or lowers) his head slightly it may mean that he wants a view in perspective from the top off-center to the front, if this same driver slightly moves his head to the right (respectively the left) it may mean that he wants a top view off-center to the right side (left respectively), if this same driver slightly inclines (or descends) his head while moving it slightly to the right (respectively the left) it can mean that he wants a perspective view of three-quarter front right (respectively left), and if the same driver straightens slightly moving it slightly to the right (respectively to the left) it may mean that he wants a perspective view of three-quarter right rear (respectively left).

It will be understood that in the absence of head position detecting means MD, the different points of view presented above can also be selected by the driver by means of a man / machine interface, for example with one of his fingers. Note also that the processing means MT may be optionally arranged to define and store as a reference position of the head of a driver, the position in which the head is at the moment when the driver chooses a point of view for the first time. times (that is, at the beginning of a help session). In this case, the processing means MT compare the following positions (of the same help session) 3o to the memorized reference position. Of course, in the event of a change in point of view, the processing means MT use (and store) a new reference position. In order to continue to provide comprehensible (exploitable) intermediate images during a change of view during the help session (resulting from a request from the driver or from a displacement of his head), the processing means MT can for example, using a mechanism for driving the position of the outside observer along a trajectory that starts from his last position defining the last current point of view and ends in a position that corresponds to the new point of view of arrival requested, with a passage through an intermediate point of view located between the point of view of departure and arrival, preferably sufficiently far from the vehicle V to be seen in its entirety. It should be noted that it is possible to predict a progressive acceleration at the beginning of the trajectory and a gradual slowdown at the end of the trajectory. It is important to understand that the trajectory of the virtual external observer (whose current position defines the point of view used) is determined from the successive estimates of the relative position of the driver's head. It will also be noted that the processing means MT may also be and possibly advantageously arranged to provide close-ups (or forward zooms) or wide shots (or rear zooms) of at least a portion of the vehicle V and its external environment. For this purpose, the processing means MT may, for example, generate image data which define an image to be displayed representative of a close-up of a part of the vehicle V and the external environment of this part when the head of the vehicle driver moves closer (in distance) from the EC display area. Likewise, the processing means MT may, for example, generate image data which define an image to be displayed representative of a wide plane of a part of the vehicle V and the external environment of this part when the driver's head away from the EC display area. It will be understood that in the presence of head position detecting means MD, a reconciliation (respectively a removal) of the head is detected when the distance separating the head of the screen EC decreases (respectively increases). In the absence of MD head position detecting means, it is possible, for example, to detect a close-up (respectively a distance) of the head when the driver's finger moves away (respectively approaches) from the central reference position of the screen of the man / machine interface, or when the joystick of the human / machine interface is inclined (respectively close) with respect to its central reference position (a priori substantially vertical), or if a dedicated key is pressed on the man / machine interface. In general any man / machine interface means allowing the driver to provide a request or order can be used. Four nonlimiting examples of close-ups are shown in FIGS. 6 to 9. More specifically, in FIG. 6 a front part of the vehicle V and its immediate environment are displayed on a display screen EC, in the form of an image in a view from above, in response to a close-up request (or zoom in), in FIG. 7 a rear part of the vehicle V and its immediate environment are displayed on an EC display screen, in the form of In a top view, in response to a close-up request, in FIG. 8 a right-hand side portion of the vehicle V and its immediate surroundings are displayed on a display screen EC, in the form of a synthetic image in a slightly slanted top view, in response to a close-up request, and in Figure 9 a left side portion of the vehicle V and its immediate environment are displayed on an EC display screen, in the form of no computer image in a slightly inclined top view, in response to a close-up request. Note also that in order to make it easier to observe the help images, the processing means MT can also be and possibly arranged in such a way as not to take account of micro or abrupt movements of the head or errors. Head position estimation which is likely to induce abrupt and / or frequent image changes of no interest to the driver. To do this, the processing means MT may for example use a physical model associated with the position of the virtual external observer (which depends on the relative position of the driver's head). For example, the position of the external observer can be likened to a virtual mass that bathes in a viscous liquid with a gradual and limited acceleration, so as to smooth and dampen its movements and facilitate the return of the point that represents it to its initial reference position by default. The commands, provided by the driver via the man / machine interface or detected from the position data provided by the head position detection means MD, are then converted by the processing means MT into forces which are then applied to the virtual mass in order to move it in a better controlled (filtered) way in the three-dimensional space to allow possible changes or modifications of the point of view. Moreover, it can be envisaged that the movements of the driver's head are amplified to accentuate certain effects (such as, for example, the rotation or the inclination or the magnification of the synthetic model representing the car V), and thus to prevent the driver from have to move too far. In the case of a man / machine interface comprising a force feedback joystick, the forces applied to the joystick may be proportional to the restoring forces that are applied to the position of the outside observer. The invention is not limited to the maneuvering aid and vehicle embodiments described above, only as an example, but it encompasses all the variants that can be envisaged by those skilled in the art. within the scope of the claims below.

Claims (15)

REVENDICATIONS1. Maneuvering aid (D) for a driver of a vehicle (V), characterized in that it comprises processing means (MT) arranged i) for estimating the relative position of the head of said driver with respect to a reference position, and ii) for generating image data defining an image to be displayed in said vehicle (V), representative of at least a portion of said vehicle (V) and the external environment of that part defined by captured environmental data, according to a selected point of view and according to said relative head position. 2. Device according to claim 1, characterized in that said processing means (MT) are arranged to use a default view in the absence of a point of view designation by said driver and when a first direction of observation of said conductor, initially estimated, does not point approximately to an area of said vehicle (V) where said images are displayed. 3. Device according to one of claims 1 and 2, characterized in that said processing means (MT) are arranged, when an estimated viewing direction of the driver points approximately to a zone 20 of said vehicle (V) where are displaying said images, to start by using a default view point, and then to modify it according to the difference between said relative position of the head of said conductor and a reference position associated with a reference observation direction pointing to the center of said image display area. 25 4. Device according to one of claims 1 to 3, characterized in that said processing means (MT) are arranged to use a viewpoint designated by said driver. 5. Device according to one of claims 2 to 4, characterized in that said processing means (MT) are arranged to use a point of view 30 by default in which said vehicle (V) is represented integrally with a view from above. center of an outdoor environment of selected dimensions. 6. Device according to one of claims 1 to 5, characterized in that said processing means (MT) are arranged, in case of approximation of said head of the display area, to generate image data defining an image to be displayed in said vehicle (V), representative of a close-up of said part of the vehicle (V) and the external environment of this part, and, in case of removal of said head from the display area, for generating image data defining an image to be displayed in said vehicle (V), representative of a wide plane of said portion of the vehicle (V) and the external environment of that portion. 7. Device according to one of claims 1 to 6, characterized in that said processing means (MT) are arranged to define and store as a reference position the position of the driver's head when he chooses a point of view . 8. Device according to one of claims 1 to 7, characterized in that said processing means (MT) are arranged to estimate the relative position of the driver's head relative to a reference position as a function of data determined by head position detection means (MD) implanted in said vehicle (V). 9. Device according to one of claims 1 to 7, characterized in that said processing means (MT) are arranged to estimate the relative position of the driver's head relative to a reference position according to data provided by said driver by means of a man / machine interface implanted in said vehicle (V). 10. Device according to claim 9, characterized in that said man / machine interface is selected from a group comprising at least tactile input means adapted to allow said driver to signal on a screen its relative position with respect to said position of reference, and manual designation means, clean in case of actuation to allow said driver to signal its relative position with respect to said reference position. 11. Device according to one of claims 1 to 10, characterized in that said captured data are derived from at least one observation camera secured to said vehicle (V) in a position to observe the external environment of said part and / or at least one means of distance measurement by wave connected to said vehicle (V) in a position for detecting obstacles in the external environment of said part. 12. Device according to claim 11, characterized in that it comprises each observation camera and / or each means of distance measurement by wave. 13. Device according to one of claims 11 and 12, characterized in that it comprises form recognition means (MR) arranged to determine objects present in the external environment of said part according to the data captured by each observation camera and / or 1 o each wavelength measurement means, and in that said processing means (MT) are arranged to integrate in said image data data representative of said determined objects, account given their respective positions with respect to said vehicle (V). 14. Device according to one of claims 1 to 13, characterized in that said processing means (MT) are arranged to use a physical model, associated with the position of an outside observer who defines the point of view used and which depends on the relative position of the driver's head, so as to control the changes in point of view. 15. Device according to one of claims 1 to 14, characterized in that said processing means (MT) are arranged to generate image data defining synthetic images.