WO2013053590A1

WO2013053590A1 - Method for representing a vehicle environment

Info

Publication number: WO2013053590A1
Application number: PCT/EP2012/068804
Authority: WO
Inventors: Henning Von Zitzewitz; Karsten Muehlmann; Jan Egelhaaf; Raphael Cano; Leo VEPA
Original assignee: Robert Bosch Gmbh
Priority date: 2011-10-14
Filing date: 2012-09-24
Publication date: 2013-04-18
Also published as: DE102011084524A1

Abstract

The invention proposes a method for representing a vehicle environment on a man-machine interface (18) of a driver assistance system (26), having the following steps: acquiring environment data with the aid of an environment sensor system (20, 22, 24); calculating an environment representation (42) in a bird's eye view on the basis of the acquired environment data; outputting the environment representation (42) on a touch-sensitive display apparatus (40); and controlling a view of the environment in the environment representation (42) by means of gestures (52, 54, 55, 56, 58) of a user (44) on the touch-sensitive display apparatus (40). Such a computer program product and such a driving assistance system are also proposed.

Description

Description title

PRIOR ART The invention relates to a method for representing a vehicle environment on a man-machine interface in a driver assistance system. The invention further relates to such a computer program product and such

Driving assistance system. Driver assistance systems are additional devices in a vehicle that assist the driver when driving

Assist maneuvering of the vehicle. Typically, driver assistance systems include various subsystems, such as a parking assistant

Navigation system or blind spot monitoring, which monitor the environment of the vehicle with the help of a sensor. Such sensors may include, for example, optical sensors, ultrasonic sensors, radar sensors or LIDAR sensors that provide individually or in combination data concerning the vehicle environment.

Driver assistance systems typically include a human-machine interface (HMI) that provides the driver with information from various subsystems, such as a

Navigation system or an entertainment system, provides and / or by the

Driver can interact with different subsystems. From document DE 10 2008 025 124 A1 a display system for a vehicle is known, which has a display for the graphical representation of variable information in combination with a

touch-sensitive surface. The touch-sensitive generates

Surface as a function of actuation of the surface by the user a

Operational information.

DE 10 2009 057 081 A1 describes a user interface which records input gestures on a touch-sensitive surface and changes a graphical representation on a display surface as a function of detected parameters relating to the input gestures. From DE 10 2006 060 904 an airport traffic information display system is known, which displays an airport area to be monitored with the aid of an image processing unit. For illustration, the image processing unit is provided with a touch-sensitive

Input device equipped to a panoramic segment depending on a

To select finger movement on the input device.

At the man-machine interface of a driver assistance system are high

Requirements made. So the interface must be intuitively detectable and easy to use, so that the driver's attention is not negatively affected. Therefore, there is a continuing interest in making the provision of information to the driver as well as the interaction with the driver as simple and uncomplicated as possible.

Disclosure of the invention

According to the invention, a method for representing a vehicle environment on a man-machine interface of a driver assistance system is proposed with the following steps:

- Capture environmental data using environmental sensors;

- calculating an environment representation in a bird's eye view on the basis of the acquired environment data;

- Output of the environment representation on a touch-sensitive

Display device; and

- Controlling a view of the environment in the environment representation by gestures of the user on the touch-sensitive display device.

In the context of the invention, a driver assistance system is an electronic, integrated in a vehicle option that supports the driver in different driving situations. Driver assistance systems typically include various subsystems that are used in particular to enhance the safety or comfort of the vehicle. For example, a driver assistance system may include a parking assistant that assists the driver in maneuvering in parking situations. To output information to the driver, a driver assistance system usually comprises a human-machine interface (HMI), which can output information in haptic, optical and / or acoustic form. For example, jerking on the steering wheel, displaying images on a display, or outputting sounds through a speaker correspond to such outputs. Furthermore, the human-machine interface can interact with the driver, wherein means are provided to the driver for haptic, visual and / or acoustic input. For example, a voice or video control may be provided. Also, a touch-sensitive device that registers touches of the user, such as the driver or the passenger, can be used for inputs of the driver. Examples include keyboards or touch-sensitive

Display devices.

To characterize the vehicle environment includes the driver assistance system

Environment sensor system that captures environmental data. The environment sensor system may include, for example, a camera system with one or more cameras. Additionally or alternatively, however, an ultrasound system, radar system, etc. may be used to

To collect environmental data. The environment representation combines the acquired environment data for output on a touch-sensitive display device. So can the

Environment representation about on the camera system based video views of the

Vehicle environment for output on a touch-sensitive display device include. Furthermore, the environment representation may include visualizations of ultrasound data, radar data, etc.

The environment representation, which represents a combination of captured environmental data, can be transformed into a bird's-eye view. For this purpose, the recorded environment data can be stored in one

Data processing device are projected onto a plane that represents the vehicle environment, as seen from a point above the vehicle. The projection level can be chosen arbitrarily in your form. Preferably, the environment data is projected onto a flat or bullet-shaped level. In particular, video views based on the camera system, the different sections of the

Vehicle environment show to be merged in a plane. In this case, the vehicle and its surroundings can be displayed such that the vehicle is reproduced, for example, in the center with the environment around the vehicle. In the case of a bullet-shaped projection plane, the transition between the horizontal area and the vertical area of the plane may be chosen to match the transition between flat areas such as the street and raised objects such as buildings. Preferably, the bird's eye view of the environment is projected from video views of the camera system projected onto one

Bowl-shaped level, generated.

The touch-sensitive display device may include a display coupled to at least one detection element for registering touches of the user. For example, the display may include a touch-sensitive surface as a detection element. The detection element detects a contact between the touch-sensitive display device and a finger or a stylus of the user. Thus, finger and / or pen movements of the user can be detected as a gesture and based on the detected gesture, a control signal to a

Data processing unit is sent, which performs the transformation from one view to another view or from a viewing angle in a different perspective on the environment in the environment representation.

The gestures and their effect with respect to changing the view to the environment in the environment representation can be predefined. Thus, changes in the view can be controlled by predefined gestures of the user. For example, the angle of view or the scale of the environment representation may be changed if the gesture of the user corresponds to the corresponding predefined gesture. The change of view can be made evenly or erratic depending on the gesture of the user. Thus, a viewing angle change in the environment representation can take place evenly, by following the view of the surroundings in the environment representation, for example, by dragging the finger or stylus via the touch-sensitive display device as a gesture. Also, a scaling of the view or a zoom in the view can be made evenly by, for example, stretching and compressing, for example, two fingers as a gesture.

Abrupt changes in the view can be about switching between

include predefined angles of view. For this purpose, one or more symbols can be included in the view of the environment representation. To switch between the Views can be predefined by tapping or double-tapping with the stylus or finger on an icon as a gesture. Alternatively, dragging or pushing with one or more fingers via the touch-sensitive display as a gesture may also control the selection of various predefined viewing angles.

According to the invention, a computer program is also proposed according to which one of the methods described herein is performed when the computer program is executed on a programmable computer device. The computer device can be, for example, a module for implementing a

Driver Assistance System, or a subsystem thereof, acting in a vehicle. The computer program may be stored on a machine-readable storage medium, such as on a permanent or rewritable storage medium or in association with a computer device or on a removable CD-ROM, DVD or USB stick. Additionally or alternatively, the computer program may be provided for download on a computing device, such as a server, e.g. via a data network such as the Internet or a communication connection such as a telephone line or a wireless connection.

Finally, according to the invention a driver assistance system for the representation of a

Vehicle environment proposed on a man-machine interface in a driver assistance system, preferably for carrying out the above-described

Procedure serves. The driver assistance system according to the invention comprises the following components for this purpose: environmental sensor system for detecting environmental data;

at least one component for calculating a bird's eye view of the surrounding environment on the basis of the acquired environment data;

at least one touch-sensitive display device for outputting the environment representation; and

- at least one component that responds to user's gestures

Change view to the environment in the environment view.

The environment sensor system may include, for example, a camera system with one or more cameras. Additionally or alternatively, however, an ultrasound system, radar system, etc. can be used to collect environmental data. The calculation of the environment representation in the bird's eye view as well as the transformation of the environment representation from one view to another view can be done by one or different components of the driver assistance system. For example, a data processing device of the driver assistance system can be designed to perform these calculations and transformations.

The touch-sensitive display device may include a display coupled to a detection element for registering touches of the user.

For example, the display may have a touch-sensitive surface as

Detection element include, depending on the gesture on the touch-sensitive

Surface is generated a control signal, based on which the view is transformed to the environment in the environment representation according to a predefined change. Advantages of the invention

The invention makes it possible to provide the driver, particularly in difficult and confusing driving situations, such as parking, as quickly as possible, individually adapted to the situation information available. Thus, the driver can quickly get a comprehensive overview of the environment of the vehicle to assess the driving situation and to perform the driving maneuver safely. Furthermore, the invention represents a particularly intuitive solution that can be operated without difficulty and thus avoids unnecessary distractions of the driver through the driver assistance system. In this way, the utility and acceptance of appropriate wizards can be increased.

Situations in which in particular the driver's field of vision is limited occur frequently in urban traffic, for example when parking, and a driver assistance system developed according to the invention can thus contribute to a relevant improvement.

Brief description of the drawings

Further aspects and advantages of the invention will now be described in more detail with reference to the accompanying figures. Hereby shows: FIG. 1 shows a vehicle equipped with a driver assistance system according to the invention in an exemplary driving situation;

Figure 2 is a schematic representation of the projection plane for the production

Environment presentation in a bird's-eye view;

Figure 3 shows an exemplary environment representation issued on a

touch-sensitive display device of the HMI

Driver assistance system of Figure 1;

FIG. 4 shows in the form of a flowchart an operation of the driver assistance system from FIG. 1. Embodiments of the invention

1 schematically shows a vehicle 10 in a driving situation, which relates to parking in a parking space 12 between delimiting objects (for example vehicles 14 and 16), but which may also affect parking out of the parking space 12. During maneuvering, the driver is assisted by the driver assistance system 26 according to the invention in that an HMI 18 displays the environment of the vehicle 10 on a display device 40 to the driver. For this purpose, the driver assistance system 26 comprises a camera system with a front camera 20, a reversing camera 24 and two side cameras 22, which can be designed as wide-angle cameras. In addition to the camera system, the driver assistance system 1 1 more

Surrounding sensors include, which is not shown in Fig. 1.

From the camera system 20, 22, 24, the environment of the vehicle 10 is recorded in sections from different perspectives and thus provides different video views. In order to provide the driver as complete as possible an overview of his immediate environment, that is within the range of the built-in cameras 20, 22, 24, the different video views in one

Data processing unit 25 are transformed into an environment representation 42 from a bird's eye view and output on a display device 18. For this purpose, the different video views are projected onto a plane 30, which represents the vehicle 10 and its surroundings, viewed from a point above the vehicle 10. FIG. 2 shows by way of example a section of a dish-like plane 30 onto which

Video views of the vehicle environment can be projected. In this case, the transition between the horizontal region 34 and the vertical region 32 of the bowl-shaped plane 30 is preferably selected such that it coincides with the transition between flat regions, such as the road 27 on which the vehicle 10 is located, and raised objects, such as buildings 28 , in the environment of the vehicle 10 match. In this way, a real impression arises in the displayed environment representation 42, which is more intuitive for the driver to judge.

The resulting environment representation 42 for output on one of the display devices 40 of an HMI is shown in FIG. There, the vehicle 10 and its environment are shown from a bird's eye view. The display device 40 is embodied as a touch-sensitive display device 40, wherein a touch-sensitive surface is integrated in the display in order to detect contact with, for example, one or more fingers 44 of the user or a stylus. In this case, the position of the contact on the display device 40 and any finger or pen movements of the user is registered as a gesture. Such gestures may include, for example, finger gestures such as simple typing, double tipping, dragging, stretching or swaging on the surface of the device

Display device 40 include. As a result, an intuitive support of the driver can be achieved because the driver can control the view of the environment in the environment representation 42 individually adapted to the driving situation. In addition, the controller is quick and easy to use. Thus, the driver is not distracted unnecessarily and can concentrate on the current driving situation.

In Fig. 3 exemplary effects of gestures on the display 40 of the HMI 18 are indicated. Here are gestures and their effect in relation to the control of the view of the environment in the environment representation 42 predefined. In the following, only some of the possible embodiments for gesture control in the bird's-eye view of the vehicle 10 are mentioned. The following examples are not exhaustive and im

A range of modifications is possible within the framework of expert action.

In an example for controlling the viewing angle, the user may as a gesture, for example, the finger or the pen, as indicated by reference numeral 56, on the

Pull the touch-sensitive display device 40 and so with the movement of the Fingers the view of the environment of the vehicle 10, shown in the

Environment representation 42, control. For this purpose, based on the detected gesture a

Control signal sent to a data processing unit 25 of the driving assistance system 26, which performs the transformation of the environment representation 42 in different views of the environment 5.

In another example, the viewing angle change by jogging or double-taping can be realized abruptly. Thus, as shown in Fig. 3, icons 46, 48, 50 for predefined views of the vehicle environment, shown in the environment representation 42, o are displayed. Tapping these icons will automatically display the view

predefined viewing angle and possibly predefined scaling. In addition to jogging as a gesture, this could also be realized by pushing between the symbols 46, 48, 50, as indicated by reference numeral 58. Schubsen describes a finger or pin movement that represents a quick pull over the touch-sensitive display with only a short-term contact. It is to be understood briefly and quickly relative to other gestures with other effects, such as pulling to change the angle.

Another possibility is that the user as a gesture, for example, one or more fingers, as indicated by reference numerals 52, 54 and 55, in rotational movements o moves over the touch-sensitive display device 40. In this way, the

Users the perspective on the environment of the vehicle 10, shown in the

Environment representation 42, the movement of the finger following one of three spatial axes 52, 54, 55 rotate. 5 In addition to the scattering of the angle by gestures can also gestures for scaling or for zooming in and out in the view of the vehicle environment, shown in the

Environment representation 42 to be defined. For example, stretching and compressing at least two fingers can be defined as a gesture. It should again be pointed out explicitly at this point that a variety of 0 modifications to the gesture control in the bird's-eye view are possible for the specifically mentioned examples.

FIG. 4 shows a flow diagram 60 for carrying out the method according to the invention, wherein the interaction of the components according to FIG. 1 is illustrated. In step 62, first environmental data are acquired with the aid of environmental sensors. It serves in particular, a camera system 20, 22, 24 as environmental sensors that provides video views from different perspectives as environmental data.

In step 62, an environment representation 42 is calculated from the environment data in a bird's-eye view, wherein the environment data is projected onto a plane 30, which shows the vehicle 10 and its surroundings from a bird's-eye view.

In step 64, the computed environment representation 42 is output on a touch-sensitive display device 40. In this case, the display device 40 recognizes gestures of the user on a touch-sensitive surface and converts these into control signals that are interpreted by a data processing unit 25. In this way, the user can control the view of the environment in the surround view 42 by gestures on the touch-sensitive display device 40 as performed in step 66.

The invention is not limited to the embodiments described herein and the aspects highlighted therein. Rather, within the scope given by the appended claims a variety of modifications are possible, which are within the scope of expert action.

Claims

Claims 1. A method for displaying a vehicle environment on a man-machine interface (18) of a driver assistance system (26), comprising the following steps:

- Capture environmental data using environmental sensors (20, 22, 24);

- Computing an environment representation (42) in a bird's eye view on the basis of the acquired environment data;

- Output of the environment representation (42) on a touch-sensitive

Display device (40); and

- Controlling a view of the environment in the environment representation (42) by gestures (52, 54, 55, 56, 58) of a user (44) on the touch-sensitive

Display device (40).

2. The method of claim 1, wherein the surround sensing system comprises a camera system having one or more cameras (20, 22, 24) and the surround view (42) includes video system-based video views of the vehicle surroundings for output on a touch-sensitive display device (40).

The method of claim 1 or 2, wherein the bird's eye view of the surround view (42) is generated from video views of the camera system (20, 22, 24) projected onto a bullet-shaped plane (30).

A method according to any one of claims 1 to 3, wherein a detection element detects contact between the touch-sensitive display device (40) and at least one finger or at least one stylus of the user (44).

The method of any one of claims 1 to 4, wherein the controlling of the view is by predefined gestures (52, 54, 55, 56, 58) of the user (44).

6. The method according to any one of claims 1 to 5, wherein the angle of view or the

Scaling the environment representation (42) is changed when the gesture of the user (44) to a predefined gesture (52, 54, 55, 56, 58) corresponds.

7. The method according to any one of claims 1 to 6, wherein the control of the view depending on the gesture (52, 54, 55, 56, 58) of the user (44) takes place evenly or suddenly.

8. Computer program for carrying out the method according to one of the preceding claims, when the computer program is executed on a programmable computer device.

9. driver assistance system (26) for displaying a vehicle environment on a man-machine interface (18) with the following components:

- Environment sensors (20, 22, 24) for detecting environmental data;

- At least one component (26) for calculating an environment representation (42) in a bird's eye view on the basis of the detected environment data;

- at least one touch-sensitive display device (40) for outputting the environment representation (42); and

- at least one component (26) which in response to gestures (52, 54, 55, 56, 58) of a user (44) on the touch-sensitive display device (40) controls a view of the environment in the environment representation (42).