WO2016000894A1 - Ortspositionsabhängige darstellung von fahrzeugumfelddaten auf einer mobilen einheit - Google Patents
Ortspositionsabhängige darstellung von fahrzeugumfelddaten auf einer mobilen einheit Download PDFInfo
- Publication number
- WO2016000894A1 WO2016000894A1 PCT/EP2015/062216 EP2015062216W WO2016000894A1 WO 2016000894 A1 WO2016000894 A1 WO 2016000894A1 EP 2015062216 W EP2015062216 W EP 2015062216W WO 2016000894 A1 WO2016000894 A1 WO 2016000894A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- mobile unit
- vehicle
- environment
- determined
- environment data
- Prior art date
Links
- 230000001419 dependent effect Effects 0.000 title description 2
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 238000004590 computer program Methods 0.000 claims abstract description 6
- 230000005672 electromagnetic field Effects 0.000 claims description 25
- 230000007613 environmental effect Effects 0.000 claims description 16
- 238000009877 rendering Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000001815 facial effect Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
Definitions
- the invention relates to a method in which environmental data of a vehicle are determined by means of an environment sensor. These are transmitted to a mobile unit and displayed there.
- the invention further relates to a
- Driver assistance system for monitoring a vehicle environment and a mobile unit for monitoring a vehicle environment.
- a method for monitoring a vehicle environment is also known from DE 10 2012 200 721 A1. Here is at least a section of the
- the prior art reproduction of the environment data on the mobile unit may be disadvantageous to a user of the mobile unit due to the large amount of displayed information. It can be difficult for him to separate important from unimportant environmental data.
- the object of the invention is therefore to display the environment data indicated to a user of such a mobile unit in a situation-appropriate manner.
- a method for monitoring a vehicle environment is proposed, environment data of a vehicle being determined by means of an environmental sensor system.
- the determined environment data are transmitted to a mobile unit and displayed there. It is provided that a spatial position of the mobile unit is determined with respect to the vehicle.
- the environment data, which were determined by means of the environmental sensor, are then displayed as a function of the respectively determined spatial position of the mobile unit.
- the mobile unit For a user of the mobile unit only those environment data are displayed, which he needs at the respective location position.
- environment data in particular images or videos, which in any case are visible to the user from the current location position, can be hidden from the display on the mobile unit.
- the representation, in particular the preparation of the environment data on the mobile unit, depending on the location position can be done differently.
- a color rendering, a shape rendering or a perspective rendering can be adapted to the respective spatial position of the mobile unit. The information density which the operator of the mobile unit receives based on the environmental data presented there can thereby be significantly reduced.
- the environment sensor system can in particular be a camera and / or video system.
- the environment sensor system can alternatively or additionally
- Radar sensors ultrasonic sensors, infrared light sensors, etc. have.
- the data generated by these sensors form the environmental data that is used to monitor the vehicle environment. Accordingly, the environment data can in particular images or videos and / or distances to obstacles and / or positions of obstacles with respect to the vehicle and / or
- the basic idea of the invention is to display only those data on the mobile unit which are relevant for the respective location position of the mobile unit or to design the representation of the surrounding data according to the respective spatial position.
- the vehicle environment is divided into a plurality of discrete sectors.
- the mobile unit it is determined within which sector the mobile unit is located.
- the environment data is then displayed on the mobile unit depending on the detected sector. Basically, the determination of the location position
- Location sensor be provided. Dividing the vehicle environment into several discrete sectors reduces the number of possible ones
- such environment data are displayed which essentially lie in a region of the non-visible area of the mobile location
- Vehicle environment may therefore be, for example, a blind spot of the vehicle environment. So this is an area of the vehicle environment, which is visually non-visible by an operator of the mobile unit at the current location position of his mobile unit. This can be, for example, a vehicle side remote from the current position. The mobile unit can then represent a picture or video signal especially from this remote vehicle side.
- the displayed environment data therefore only contain information that the operator can not recognize himself from his position in space.
- the environment sensor system therefore preferably has at least one camera which records camera images of the vehicle surroundings. This may in particular include the entire vehicle environment. Accordingly, the environment sensor system can also have a plurality of such cameras, which are arranged distributed on the vehicle.
- the environment data displayed on the mobile unit in this case are camera images of the non-visible area of the vehicle environment from the determined location position. These are, in particular, live camera images, that is to say a respective current camera image of the respective area of the camera Vehicle environment.
- the determination of the spatial position of the mobile unit can be carried out, for example, by evaluating the environmental data of the environmental sensor system, such as, for example, from camera images of the environmental sensor system.
- the determination of the spatial position by facial recognition of the operator of the mobile unit and by subsequent assignment of the detected facial positions on the
- the respective spatial position or the respective sector within which the mobile unit is located can be determined simply and accurately.
- a plurality of respective transmitters emitting an electromagnetic field can be arranged stationarily on an outer region of the vehicle. The transmitters may then be evenly or non-uniformly distributed on the exterior of the vehicle.
- the mobile unit then has at least one receiver that detects the field strength of the electromagnetic field. The location of the mobile unit with respect to the
- Vehicle or the sector within which the mobile unit is located is determined by the detected by the receiver field strengths of
- the mobile unit is additionally designed to remotely control the vehicle.
- the vehicle can then be ranked particularly easily for an operator of the mobile unit.
- the invention is therefore particularly well suited to facilitate maneuvering of the vehicle.
- the remote control may relate in particular to an acceleration and / or deceleration and / or steering of the vehicle.
- the remote control can also be based on a default simple or complex maneuver of the
- Vehicle relate. These are then communicated to the vehicle by the mobile unit, whereupon the vehicle carries out the driving maneuvers independently.
- a parking operation or a coupling process can be automated.
- the invention also relates to a computer program product for
- the invention also relates to a driver assistance system for monitoring a vehicle environment.
- the driver assistance system is designed in particular for carrying out the method explained above.
- the driver assistance system is designed to determine environment data of a vehicle and to transmit the environment data to a mobile unit as well as the environment data on the mobile unit
- driver assistance system is executed to a
- the invention relates to a mobile unit for monitoring a vehicle environment.
- This is designed to obtain environmental data of a vehicle, in particular of an environment sensor system of the vehicle, and it is designed to represent the environment data depending on a location position of the mobile unit with respect to the vehicle.
- the mobile unit is a mobile unit portable by a person.
- the mobile unit is in particular a mobile telephone, such as a smartphone, or it is, for example, a tablet PC, a laptop, a handheld, etc.
- the transmitter (s) radiating an electromagnetic field are, in particular, a Bluetooth Transmitter, a WLAN transmitter, an NFC transmitter, an RFID transmitter, etc., so in the IT industry commercially common transmitter.
- RFID Radio Frequency Identification
- Wireless Wireless Local Area Network
- NFC Near Field Communication
- BLE Bluetooth Low Energy
- the receiver detecting the electromagnetic field is one that can detect the Bluetooth field, the NFC field, the WLAN field, the RFID field, etc., or can detect its field strength.
- the above types of transmitters have been found to be particularly suitable for the present application.
- each transmitter is designed to be at the broadcast of the
- Electromagnetic field in particular continuously in operation, an individual identifier, for example, an individual string to emit.
- each of the electromagnetic fields can be assigned exactly the transmitter underlying the field. The receiver is then executed to this
- the field strength detected by the receiver of each of the electromagnetic fields is its associated one
- Determining the location of the mobile unit will be significantly refined.
- the figure shows a schematic representation of a plan view of a vehicle and a mobile unit.
- the vehicle is designed Mogliedrig.
- this is a towing vehicle 1 with trailers 2 coupled thereto.
- Trailer 2 can be omitted.
- the vehicle is provided with an environment sensor system by means of which environment data of the vehicle is determined.
- the environment sensor system is a plurality of cameras 3, which are arranged distributed on an outer area of the vehicle.
- the cameras 3 are in particular distributed so that the entire environment of the vehicle of the
- the environment sensor system can have additional sensors for determining environmental data of the vehicle.
- the environment sensor system can also have one or more ultrasonic sensors, radar sensors, laser sensors, infrared light sensors, etc. Part or all of the thus determined
- a portable mobile unit 4 This is in particular a mobile phone or a tablet PC.
- the mobile unit is operated by an operator 5. This may be, for example, a driver or passenger of the vehicle.
- the operator 5 is located with the mobile unit 4 in the illustrated example outside the vehicle on the driver side, at the height of the first trailer 2.
- the mobile unit 4 is designed in particular to remotely control the vehicle. The operator 5 can therefore maneuver the vehicle from the outboard position in which he is currently located,
- Passenger side is at the height of the first trailer 2, do not see.
- the location of the mobile unit 4 with respect to the vehicle is therefore determined. Depending on this determined
- the environment data which are detected by the environment sensors (here: the cameras 3) are displayed on the mobile unit 4. According to the figure, this takes place in the illustrated embodiment in that the image captured by the passenger-side camera 3 is displayed on the mobile unit 4. As a result, the obstacle 6 is displayed on the mobile unit 4
- environment data can be displayed on the mobile unit 4 to the operator 5 depending on the environment sensor used, such as a radar image, an ultrasound image, an infrared image, etc.
- the representation may also differ from a pictorial representation of the vehicle environment.
- a distance between the vehicle and the obstacle 6 can be displayed.
- the preparation of the data colors, shapes,
- the determination of the spatial position of the mobile unit 4 with respect to the vehicle can, as shown by way of example in the figure, take place by means of a special positioning sensor system.
- the location position can also be arbitrarily different.
- transmitters 7 of the position sensor system are fixedly arranged on the outer region of the vehicle and emit an electromagnetic field X in each case.
- the transmitters 7 are arranged in particular in the region of edges of the vehicle, in particular in the region of vertical edges.
- the mobile unit 4 has a receiver 8 as part of the location sensor system, which in each case detects a field strength of the electromagnetic fields X in the area of the mobile unit 4.
- the field strength of the electromagnetic fields X decreases with increasing distance to the respective transmitter 7.
- the spatial position at which the receiver 8 or the mobile unit 4 is located are determined. This can be done for example by trigonometric calculations or empirical experiments or by maps.
- the transmitters 7 emit an individual identifier with the respective electromagnetic field X. Accordingly, based on each electromagnetic field X of the respective field emitting transmitter 7 can be identified.
- Receiver 8 recognizes next to the field strength then the associated individual
- Vehicle can be accurately determined.
- the vehicle surroundings are subdivided into a plurality of discrete sectors A to H.
- the exact location of the mobile unit 4 or the receiver 8 is not determined, but only in which sector A to H the mobile unit 4
- corresponding environment data are accordingly adapted to the respective sector A to H, within which the mobile unit 4 is located.
- the mobile unit 4 is located within the sector F.
- the image of the passenger-side camera 3 is displayed on the mobile unit 4.
- the sector H (rear of the vehicle) would not be visible to the operator 5 and would therefore be displayed on the mobile unit 4. If the operator 5 were with the mobile unit 4 in the area of the sector A, the image of the cameras 3 on the driver side and on the front side on the mobile unit 4 would be displayed. The same applies to the others Sectors A to H. Of course, a smaller or higher number of sectors A to H may be provided.
- a driver's seat is designated by the reference numeral 9. Accordingly, the driver side is on the left side of the vehicle and the passenger side is on the right side of the vehicle.
- the front of the vehicle is in sector D and the rear of the vehicle is in sector H.
- the receiver 8 can be replaced by a transmitter 7 emitting an electromagnetic field.
- the transmitters 7 shown in the figure are to be replaced by corresponding receivers 8. This also makes it possible to carry out a location determination of the mobile unit 4.
- sensors 7 and receivers are shown in the figure by boxes.
- the transmitter 7 and / or receiver 8 may also be arranged at other suitable locations of the vehicle.
- the transmitters 7 are in each case in particular BLE tags. Accordingly, the receiver 8 serves to detect a field strength of the BLE tags.
- the transmitter 7 are coupled in particular to the power supply to the respective electrical system of the vehicle. Alternatively, they may each be battery-powered or have an electric generator for their own generation of the electrical energy required for operation (energy harvesting).
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Indicating Measured Values (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/322,004 US11112788B2 (en) | 2014-07-02 | 2015-06-02 | Position-dependent representation of vehicle environment data on a mobile unit |
CN201580035474.2A CN106662871B (zh) | 2014-07-02 | 2015-06-02 | 车辆周围环境数据在移动单元上依赖于方位位置的显示 |
EP15729103.0A EP3164771A1 (de) | 2014-07-02 | 2015-06-02 | Ortspositionsabhängige darstellung von fahrzeugumfelddaten auf einer mobilen einheit |
JP2016575752A JP2017522665A (ja) | 2014-07-02 | 2015-06-02 | 車両の周辺データのモバイルユニット上への局所位置依存表示 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014212819.6A DE102014212819A1 (de) | 2014-07-02 | 2014-07-02 | Ortspositionsabhängige Darstellung von Fahrzeugumfelddaten auf einer mobilen Einheit |
DE102014212819.6 | 2014-07-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016000894A1 true WO2016000894A1 (de) | 2016-01-07 |
Family
ID=53398054
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2015/062216 WO2016000894A1 (de) | 2014-07-02 | 2015-06-02 | Ortspositionsabhängige darstellung von fahrzeugumfelddaten auf einer mobilen einheit |
Country Status (6)
Country | Link |
---|---|
US (1) | US11112788B2 (de) |
EP (1) | EP3164771A1 (de) |
JP (1) | JP2017522665A (de) |
CN (1) | CN106662871B (de) |
DE (1) | DE102014212819A1 (de) |
WO (1) | WO2016000894A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10331125B2 (en) * | 2017-06-06 | 2019-06-25 | Ford Global Technologies, Llc | Determination of vehicle view based on relative location |
CN108279671B (zh) * | 2018-01-08 | 2021-12-14 | 深圳市易成自动驾驶技术有限公司 | 基于太赫兹的环境感知方法、装置及计算机可读存储介质 |
JP6437166B1 (ja) * | 2018-03-28 | 2018-12-12 | クレオ株式会社 | 衝突可視化装置、およびプログラム |
US11592813B2 (en) * | 2018-12-17 | 2023-02-28 | Robert Bosch Gmbh | Method and controller for the situational transmission of surroundings information of a vehicle |
CN109917790A (zh) * | 2019-03-21 | 2019-06-21 | 上海赛摩物流科技有限公司 | 一种自主导引车辆及其行驶控制方法和控制装置 |
US11733690B2 (en) | 2020-07-06 | 2023-08-22 | Ford Global Technologies, Llc | Remote control system for a vehicle and trailer |
JP7501470B2 (ja) | 2021-08-19 | 2024-06-18 | トヨタ自動車株式会社 | 走行映像表示方法、走行映像表示システム |
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DE102012200721A1 (de) | 2012-01-19 | 2013-07-25 | Robert Bosch Gmbh | Verfahren zum Überwachen eines Fahrzeugumfeldes |
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-
2014
- 2014-07-02 DE DE102014212819.6A patent/DE102014212819A1/de not_active Withdrawn
-
2015
- 2015-06-02 JP JP2016575752A patent/JP2017522665A/ja active Pending
- 2015-06-02 EP EP15729103.0A patent/EP3164771A1/de not_active Ceased
- 2015-06-02 WO PCT/EP2015/062216 patent/WO2016000894A1/de active Application Filing
- 2015-06-02 US US15/322,004 patent/US11112788B2/en active Active
- 2015-06-02 CN CN201580035474.2A patent/CN106662871B/zh not_active Expired - Fee Related
Patent Citations (3)
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EP1510849A1 (de) * | 2003-08-29 | 2005-03-02 | C.R.F. Società Consortile per Azioni | Virtuelles Anzeigegerät für ein Fahrzeug |
DE102008034606A1 (de) | 2008-07-25 | 2010-01-28 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Darstellung der Umgebung eines Fahrzeugs auf einer mobilen Einheit |
DE102012200721A1 (de) | 2012-01-19 | 2013-07-25 | Robert Bosch Gmbh | Verfahren zum Überwachen eines Fahrzeugumfeldes |
Also Published As
Publication number | Publication date |
---|---|
CN106662871B (zh) | 2021-02-19 |
US20170131713A1 (en) | 2017-05-11 |
JP2017522665A (ja) | 2017-08-10 |
DE102014212819A1 (de) | 2016-01-07 |
CN106662871A (zh) | 2017-05-10 |
EP3164771A1 (de) | 2017-05-10 |
US11112788B2 (en) | 2021-09-07 |
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