WO2022214330A1

WO2022214330A1 - Method and optical output system for a vehicle for optically outputting a characteristic of a vehicle to be sensed which is located in a vehicle environment

Info

Publication number: WO2022214330A1
Application number: PCT/EP2022/057818
Authority: WO
Inventors: Theodoros Tzivanopoulos
Original assignee: Volkswagen Aktiengesellschaft
Priority date: 2021-04-08
Filing date: 2022-03-24
Publication date: 2022-10-13
Also published as: DE102021203482A1; EP4320593A1

Abstract

The invention relates to a method for optically outputting, to a user of a vehicle (1), a characteristic of a vehicle (2) to be sensed which is in a vehicle environment of the vehicle (1), comprising: - determining spatially resolved environment data by means of at least one sensor device (20) for sensing a vehicle environment, the vehicle (2) to be sensed being at least partly in the vehicle environment sensed by the at least one sensor device (20); - determining, on the basis of the determined environment data, at least one individual characteristic of the vehicle (2) to be sensed; - providing an output signal for optically outputting the individual characteristic to the user by means of the optical output device (20), more particularly in the context of the control of at least one vehicle function of the vehicle (1).

Description

description

Method and optical output system for a vehicle for the optical output of a feature of a vehicle to be detected located in a vehicle environment

The present invention relates to a method and an optical output system for a vehicle for the optical output of a feature of a vehicle to be detected that is located in a vehicle environment of a vehicle to a user of the vehicle.

It is known from the prior art that when using, for example, the driver assistance system ACC (abbreviation for Adaptive Cruise Control, adaptive cruise control) or the “Travel Assist” in infotainment, the projected rear view of the vehicle driving in front or to the side is displayed. Unfortunately, this representation only varies between cars and trucks. This causes irritation for many users, since the infotainment usually shows a different vehicle than the one actually driving in front of or to the side of the vehicle.

US 2020/0327343 A1 describes a method for determining position information of a target vehicle in relation to an ego vehicle. This method includes capturing an image of the target vehicle and classifying the target vehicle based on the image. Based on the classification, vehicle characteristics and position information relative to the ego vehicle can be derived.

An image processing device and an image processing method are known from US 2020/01993626 A1, in which a stereo camera records a stereo image with a target area in front of a vehicle as the angle of view.

US 2018/0072320 A1 describes a vehicle monitoring method that uses a 3D scanner to scan an area on the vehicle and to provide a 3D model with a local configuration of the objects within the scanned area. The object of the present invention is to overcome the disadvantages known from the prior art and to provide an improved display of a (surrounding) vehicle located (to be detected) in the vicinity of the vehicle.

The object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments and developments of the invention are the subject matter of the dependent claims.

A method according to the invention for optically outputting a feature of a (surrounding) vehicle located in the vehicle surroundings of a (host) vehicle to be detected to a user of the (host) vehicle comprises determining spatially resolved surroundings data using at least one sensor device for detecting a vehicle surroundings , wherein the (surrounding) vehicle to be detected is at least partially and/or at least temporarily (in particular at least at the time of recording the (raw) sensor data, which are recorded and/or recorded by means of the sensor device for determining the surroundings data) in the area of the at least a sensor device detected vehicle environment is located. In particular, the vehicle environment is the vehicle environment of the (ego) vehicle (of the user).

The user is preferably located within the (ego) vehicle and/or controls the (ego) vehicle at least temporarily, in the vehicle environment of which the (environment vehicle) to be detected is located.

The sensor device for detecting a vehicle environment preferably detects a vehicle environment of the user's (ego) vehicle and in particular generates (raw) sensor data and/or environment data, the environment data being the (raw) sensor data and/or data derived therefrom can trade data.

According to the invention, at least one individual feature (and preferably a large number of individual features) of the (surrounding) vehicle to be detected is determined on the basis of the determined environmental data, preferably by an evaluation device (in particular of the (ego vehicle). The evaluation device can use the determined Receive environmental data (e.g. by transmission from the sensor device and/or by retrieval and/or transmission from a storage device). Furthermore, an output signal for optically outputting the (at least one) individual feature (and preferably the plurality of individual features) to the user by means of an optical output device, in particular as part of controlling at least one vehicle function of the (ego) vehicle (preferably by a control device of the (User's ego vehicle).

The at least one individual feature (and preferably the multiplicity of individual features) is preferably output by the at least one optical output device and preferably by a plurality of optical output devices (different from one another).

In particular, the invention relates to automatic generation of a vehicle silhouette (as an individual feature of the (surrounding) vehicle to be detected), in particular for display by a display device of the vehicle and/or in particular for the infotainment (system) and/or a driver information system (of the ( ego) vehicle of the user).

In the following, the vehicle (to be detected) that is in the vehicle environment of the (ego) vehicle of the user is also referred to as the environment vehicle and/or as the detected vehicle.

In particular, the vehicle ahead is photographed using a camera (for example using the built-in stereo camera in the windscreen). The recorded image is preferably analyzed with the aid of a computer algorithm (the available computing power of the control units can be used). The algorithm preferably converts the recorded image into a contour and displays the calculated display directly in the infotainment system.

The vehicle environment can be a vehicle environment of the (ego) vehicle on the side and/or viewed in the (forward) direction of travel at the front and/or rear of the (ego) vehicle. The (surrounding) vehicle to be detected (at the time of detection) in the detected vehicle environment can be (at the time of detection) in the direction of travel of the (ego) vehicle in front of and/or to the side, or behind and/or to the side of the (ego) vehicle .

The (surrounding) vehicle to be detected (at the time of detection) in the detected vehicle environment can be one that is adjacent to and/or directly behind or in front of and/or next to the (ego) vehicle (of the user). Act vehicle, in particular in a direct connection between the (ego ) Vehicle (of the user) and the (surrounding) vehicle no other vehicle (at least at the time of detection) is arranged.

The (surrounding) vehicle to be detected in the vehicle surroundings of the vehicle is preferably a (surrounding) vehicle to be detected (in relation to the (ego) vehicle), in particular driving directly ahead.

The individual feature is preferably used to determine a feature that individualizes the (surrounding) vehicle to be detected in the vehicle surroundings, which distinguishes this vehicle from at least one other vehicle, preferably from every vehicle of a different vehicle type and particularly preferably from every vehicle of a different vehicle type and another vehicle colour. However, the individual feature can also be another feature that is perceived as conspicuous, such as a sticker or the like.

The proposed method offers the advantage that the user can establish a quickly detectable relationship between the individual feature output by the optical display device and the real (surrounding) vehicle to be detected in the vehicle environment. In particular, the direct association of the individual feature shown (the surrounding vehicle) and the real one to be detected (surrounding vehicle) is intuitively understandable and does not have to be learned by the user.

The sensor device for detecting a vehicle environment (a vehicle and in particular the vehicle) is preferably selected from a group of sensors which include a (color camera, a stereo camera, a front camera, a rear camera, a radar sensor, an ultrasonic sensor, a lidar sensor, a thermal sensor and the like as well as combinations thereof A camera preferably comprises at least one CCD chip.

The sensor device for detecting a vehicle environment preferably generates locally resolved (in particular 2D and/or 3D) sensor data (from a vehicle environment of the respective (ego) vehicle).

The sensor device for detecting a vehicle environment can be a sensor device of a vehicle. This sensor device can preferably be a sensor device of the (personal) vehicle of the user to whom the individual feature should and/or will be optically output. The optical output device is preferably an optical and in particular graphic output device of the (ego) vehicle (of the user), which is preferably installed permanently (in particular not detachably non-destructively) in the vehicle and which preferably forms a structural unit with the vehicle. It is preferably a (graphic) display, which is preferably arranged in the instrument cluster and/or in the center console. However, it is also conceivable that the optical output device is a (in particular augmented reality) head-up display (HUD) and the individual feature is preferably displayed as a virtual image component.

The individual feature is preferred for a (in particular schematic) representation, in particular a contour representation and/or dashed line representation, in particular for a rear representation and/or a projected rear and/or side and/or front and/or rear view of the (environment -)Vehicle characteristic.

The output device preferably displays a rear view and/or displays a projected (rear and/or side and/or front and/or rear) view of the (surrounding) vehicle. The individual feature is preferably output as a two-dimensional and/or three-dimensional image element and/or vector graphic element.

Preferably, the output of the individual feature and preferably (solely) the output of the individual features by the output device results in an essentially true-to-scale representation of the (surrounding) vehicle to be detected.

In other words, an (external) contour of a (perspective) view of the (surrounding) vehicle to be detected and/or detected (in particular by the user) can be derived from the individual feature output (by the output device) and/or the detecting and/or detected (real) (surrounding) vehicle, in particular from a large number of other (real) (surrounding) vehicles, can preferably be assigned clearly and particularly preferably one-to-one.

It is conceivable that the determination of the individual feature or the plurality of individual features takes place depending on the viewing direction and/or perspective of the user and/or arrangement of the (surrounding) vehicle in relation to the (ego) vehicle of the user. In a preferred method, the individual feature is a geometric feature of the vehicle (to be detected). This offers the advantage that the user can use the geometric feature of the vehicle (to be detected) to produce an individual and/or unambiguous assignment to one (of several) vehicles located in the vehicle environment.

The geometric feature can be a characteristic variable for a width and/or a height of the (surrounding) vehicle to be detected. The geometric feature can be a vehicle silhouette and/or a representation of a vehicle in which the represented geometric dimensions (substantially) correspond to those of the detected (surrounding) vehicle. The geometric feature is preferably a contour of an object and in particular of the (surrounding) vehicle (to be detected).

The preceding vehicle and/or surrounding vehicle to be detected is preferably recorded, in particular by means of a stereo camera of the user's vehicle. The recording is preferably converted into a (simple) vehicle contour. The actual preceding vehicle contour is preferably displayed in the infotainment system.

In a further preferred method, the geometric feature of the vehicle is a silhouette and/or a vehicle contour and/or a geometric shape of at least one area of the (surrounding) vehicle (to be detected) and/or an outer contour of the (to be detected ) (surrounding) vehicle and/or an interesting object of the (surrounding) vehicle (to be detected). This offers the advantage that a contour of the (surrounding) vehicle (to be detected) and/or the object can be detected quickly and can be determined with comparatively little computing power.

At the same time, vehicles with attachments (roof boxes, wheel carriers, trailers and the like) can also be detected using this procedure and preferably displayed in the infotainment system and/or using the optical output device.

In a further preferred method, the individual feature of the (surrounding) vehicle (to be detected) is an, in particular individual, feature of an object of interest of the (surrounding) vehicle (to be detected). The object of interest is preferably arranged in a detachable manner on the (surrounding) vehicle (to be detected). The vehicle object of interest is preferably selected from a group of objects that includes a vehicle roof rack, a roof rack box, a wheel carrier, truck attachments, in particular a forklift, a trailer of the vehicle, an object that is detachably arranged on the vehicle, and the like.

The representation and/or output of the individual feature or the individual features preferably takes place in broken line form and/or in (rough) schematic (image) form and/or (exclusively) by representation of different (uniform) segments (with in particular each uniform coloring and/or intensity).

At least one individual feature preferably has a contour or a variable that is characteristic of a contour, which is output to the user as a contour by the output device, with the contour preferably being a closed contour.

The evaluation device preferably performs (computer-implemented) edge detection and/or a division of the surroundings data into a foreground area (of an object and in particular the (to be detected) (surrounding) vehicle) and a background area (of the object and in particular to the (to be detected) (Area) vehicle) through. At least one individual feature and in particular a multiplicity of individual features, which preferably have a contour, preferably corresponds to a recognized edge of the (surrounding) vehicle (to be detected).

A silhouette (as an individual feature) and/or a contour preferably corresponds to a geometric shape and/or an outer contour of the (surrounding) vehicle (to be detected).

In a further preferred method, the surroundings data, in particular the surroundings data assigned to an area of interest of the surroundings data, in particular to the (surrounding) vehicle detected and/or to be detected, are divided at least partially and preferably completely into a large number of segments. This offers the advantage that individual segments can be displayed separately from one another by contour lines, as a result of which the shape of the vehicle can be more easily recognized by the user.

In a further advantageous manner, different segments can be output by the output device to the user in different ways, for example in different colors, which further facilitates the detection of the displayed object or vehicle. Preferred mutually adjacent segments are displayed and/or output in a different manner from one another, for example a different color design and/or a different intensity. Individual segments are preferably separated from one another by at least one (illustrated and/or) line, for example a contour line.

A plurality of segments and in particular each segment of the output (graphic) representation of the (surrounding vehicle) to be detected and/or detected is preferably surrounded and/or bordered and/or limited by a (encircling and/or closed) contour line Contour lines at least one segment each.

At least two different segments are preferably displayed and/or output in display modes that differ from one another at least at times. The display modes can be a color (in particular uniform within a segment) and/or intensity and/or a time-variable display setting (such as a flashing display).

At least two, preferably at least three, preferably at least four segments are preferably colored (artificially) in different colors and/or hatched. The selection of the color can correspond to and/or depend on an (average) color value of the detected area of the vehicle corresponding to this segment and/or of the surroundings data. Coloring and/or hatching offers the advantage that the displayed and/or output object or vehicle can be detected more quickly and allows faster assignment to the real object or vehicle.

The segments (determined by the evaluation device on the basis of the environmental data) can preferably be assigned to different classes for classifying the segments. Such classes can identify (different) functional elements of the (surrounding) vehicle to be detected and/or detected (in the respective segment or in the surrounding data assigned to the respective segment) and, for example, (at least or exactly one) item from a group which vehicle windows, light elements, signs, warning signs, information signs, vehicle lighting, light elements, brake lights, rear lights, tail lights, direction indicators, reflectors, rear fog lights, reflectors with retroreflection, rear fog lights, reversing lights in white, marker lights, side marker lights and/or special signals from emergency services (fire brigade , police). Preference is given to segments which are and/or are assigned to the class of brake lights and/or reflectors and/or rear fog lights and/or reflectors with retroreflection, in a signal color and/or a conspicuous color, in particular red, and/or or displayed and/or output in a color that forms a (high) contrast to the color design or reproduction, in particular of the surrounding and/or neighboring colors.

Segments that are assigned to the class of turn signal indicators are preferably displayed and/or output in orange. Segments that are assigned to the class of side marker lights are preferably displayed and/or output in yellow.

In a further preferred method, elements and/or objects of the (surrounding) vehicle (to be detected) are determined on the basis of the surroundings data, which indicate a particularly potential and/or current dangerous situation for the user and/or the vehicle (of the user). can represent.

A (computer-implemented) assessment preferably takes place (by the evaluation device) as to whether a (recognized) element and/or (recognized) object of the (surrounding) vehicle to be detected and/or detected is a potentially dangerous situation for the user and/or the Vehicle of the user represents and / or can trigger.

Element and/or objects determined in this way of the (surrounding) vehicle to be detected and/or detected are preferably displayed and/or output in a highlighted manner (in a predefined display mode). It is also conceivable that a warning tone and/or a haptically perceptible message to the user occurs essentially at the same time or in a temporal context.

In a further preferred method, the elements of the vehicle are selected from a group comprising information relating to overlength, overhanging cargo, swinging tail and the like. A (minimum) distance to the (surrounding vehicle) is preferably determined on the basis of an element of the vehicle determined from this group, which is preferably used to control the vehicle distance to the (surrounding vehicle). In order to calculate the actual vehicle contour more quickly, a database with all images of vehicles that the algorithm recognizes (pattern recognition) and then inserts them into the infotainment system could be stored in the background.

In a further preferred method, there is a comparison (of the surroundings data and/or at least one individual feature determined therefrom) with vehicle data and/or object data and/or element data stored on a storage device on the basis of the surroundings data. Image data and/or individual features of different vehicles (types) are preferably stored on the storage device (in particular in the form of a database) and a comparison is made between the environmental data and/or individual features determined therefrom with the image data and/or individual features stored on the storage device characteristics. This offers the advantage that less computing power is required or a faster assignment to an already existing image can take place and thus a faster display can take place.

The (surrounding) vehicle located (at the time of acquisition) in the detected vehicle environment of the (ego) vehicle of the user can be a vehicle, depending on which at least one vehicle function and/or driving function of the (ego) vehicle of the User, in particular by the control device of the (ego vehicle of the user, executed and / or controlled.

The control device of the user's (ego) vehicle preferably takes into account the (surrounding) vehicle located in the vehicle environment when controlling at least one vehicle function. The vehicle function can be, for example, a driving function of the vehicle, such as (autonomous and/or semi-autonomous) operation of the vehicle and/or a vehicle assistance function and/or route planning and/or a route change. It can be taken into account when determining a control signal for controlling the vehicle function and/or as part of the execution of the vehicle function and/or as part of a (man-machine) interaction with the user for input by the user (to determine the control signal).

The vehicle assistance function can be a distance control system, such as what is known as a distance control cruise control (ACC, Adaptive Cruise Control). The distance control system is preferably suitable and determined for this purpose, a predefined and in particular set (by the user) speed of the vehicle, particularly preferably as a function of at least one in the vehicle environment of the vehicle (surrounding) vehicle located, in particular ahead, to regulate and/or to regulate a distance to the preceding (surrounding) vehicle and in particular to maintain a (specified) minimum distance to the preceding (surrounding) vehicle.

The distance control system is preferably suitable and intended to prevent rear-end collisions with slower vehicles.

The vehicle assistance function can be a so-called "Travel Assist". This is preferably a system which is used to control the speed of the vehicle by controlling the acceleration of the vehicle and/or braking and/or to control stopping and/or changing lanes (depending on a located, in particular preceding, (surrounding) vehicle) and/or is suitable and intended for controlling a maintenance of a distance to a located in the vehicle environment of the vehicle, in particular preceding, (surrounding) vehicle.

The (raw) sensor data and/or the surroundings data are preferably recorded by means of the sensor device for detecting the surroundings of the vehicle while driving and/or operating the vehicle (the user) and/or while driving and/or operating the vehicle (to be recorded). ) (Area) vehicle and in particular generated and / or determined in real time.

In a further preferred method, the sensor device for detecting a vehicle environment, by means of which the previous environment data was determined, is a sensor device of a vehicle and/or object that is different from the (ego) vehicle (of the user).

In other words, the sensor device for detecting a vehicle environment can be a sensor device of a vehicle or object that is different from the (ego) vehicle of the user to which the at least one individual feature is to be optically output.

The different vehicle or object can be (at least temporarily) at least indirectly and preferably directly in communication with the (ego) vehicle (of the user), to which the at least one individual feature is preferably to be output optically (e.g. via Car2Car communication , C2C communication and/or Car2x communication and/or Car2l communication). The Sensor device for detecting a vehicle environment of the different vehicle or object transmits and/or transmits the determined environment data at least indirectly (via other road users or infrastructure) and preferably directly to the (ego) vehicle of the user.

Preferably, the vehicle and/or the object, which includes the sensor device for detecting a vehicle environment (by means of which the environment data was determined), transmits the environment data or data characteristic thereof to a or the storage device and/or provides the environment data or data characteristic thereto Storage device ready. The memory device can be an (internal) memory device of the vehicle.

In a preferred method, the storage device is an external storage device, in particular a cloud-based and/or an external server. An external server is to be understood in particular as an external server in relation to the (ego) vehicle (of the user), in particular a backend server. The external server is, for example, a backend of a vehicle manufacturer or a service provider, which is set up to manage environmental data and/or individual characteristics of a (surrounding) vehicle (in particular with location data assigned to it) in relation to a large number of vehicles. The functions of the backend or the external server can be performed on (external) server farms. The (external) server can be a distributed system. The external server and/or the backend can be cloud-based.

The sensor device for detecting a vehicle environment of the (user's) vehicle preferably determines current environment data (at a current point in time), in particular while the vehicle is driving) by detecting the vehicle environment of the (user's) vehicle.

The environmental data are preferably generated from the sensor data, in particular using a processor device and/or data processing device, by using at least one (computer-implemented) computer vision method in which (computer-implemented) perception and/or detection tasks are carried out, for example ( computer-implemented) 2D and/or 3D object recognition methods and/or (computer-implemented) methods for semantic segmentation and/or (computer-implemented) object classification (“image classification”) and/or (computer-implemented) object localization and/or or (computer-implemented) edge detection. In the object classification, the object detected and/or represented in the sensor data and/or environment data is assigned to a (previously learned and/or predetermined) class. In the case of an object localization, in particular in addition to an object classification, a location of an object recorded and/or represented in the sensor data (in particular with regard to the sensor data) is determined or ascertained, which is marked and/or highlighted in particular by a so-called bounding box. In the case of semantic segmentation, in particular each pixel of the sensor data is assigned a class (for classifying an object) (in particular from a particularly predetermined multiplicity of classes) (class annotation).

The classes can be, for example (among others), different vehicle types and/or elements and/or objects of a vehicle such as roof racks, roof boxes, superstructures and the like and/or can include such objects.

The determination of the at least one individual feature is preferably based and particularly preferably the determination of a large number (or all) of the individual features of a (particularly each) vehicle to be detected (surrounding) and/or the determination of the surroundings data is particularly based on the ( Raw) sensor data or data derived therefrom (and in particular the execution of computer vision methods or perception methods is based) on (computer-implemented) machine learning methods, preferably on at least one (artificial) neural network-based machine learning method. Such a neural network can be designed, for example, as a deep neural network (DNN) and/or a so-called convolutional neural network (CNN) and/or a recurrent neural network (RNN). be.

An individual feature and/or the plurality of individual features and/or the environmental data preferably includes characteristic data for an object determined from the (raw) sensor data and/or a class for classifying the object.

The evaluation device can be arranged in the vehicle or outside the vehicle or externally and can in particular access an (external) storage device described above. The particularly intelligent evaluation device is preferably able to use algorithms (KI, ie artificial intelligence, machine learning (machine learning), deep learning, etc.) to assess the current situation with regard to the Presence or emergence of a potentially dangerous situation (such as an excess length or a swerving of the vehicle in front) on the basis of the environment data. The evaluation device preferably has a processor and/or a memory device.

The present invention is also directed to an optical output system for a vehicle for the optical output of a feature of a (surrounding) vehicle located in the vehicle environment of a (host vehicle) to a user of the (host) vehicle, with an evaluation device which is suitable and intended for receiving and/or retrieving locally resolved surroundings data determined by at least one sensor device for detecting the surroundings of a vehicle. Sensor data by means of the sensor device for detecting a vehicle environment) in the vehicle environment detected by the at least one sensor device.

According to the invention, the evaluation device is suitable and intended for determining at least one individual feature of the (surrounding) vehicle on the basis of the detected and/or determined spatially resolved environmental data, with the optical output system having a control device which is suitable and intended for this purpose, an output signal for the optical output of the individual feature by means of the optical output device to the user, in particular as part of a control of at least one vehicle function of the vehicle.

It is therefore also proposed within the scope of the invention that an individual feature is determined, by means of which an individualized (symbolic and/or schematic) graphical representation of the (surrounding) vehicle (to be detected) is possible.

The optical output system is preferably set up, suitable and/or intended to carry out the method described above and individual or all method steps already described above in connection with the method individually or in combination with one another. Conversely, the method can be equipped with all of the features described in the context of the optical output system, either individually or in combination with one another. The present invention is further directed to a vehicle, in particular a motor vehicle, (at least in part) comprising an optical output system for a vehicle as described above, according to an embodiment.

The vehicle preferably has at least one (preferably fixed and/or non-destructively detachable) sensor device for detecting a vehicle environment of the vehicle (as a fixed component and/or structural unit of the vehicle), in particular a stereo camera, and/or (at least) (in particular, preferably permanently installed) driver assistance system and/or an infotainment system or a user information system.

The vehicle preferably has the evaluation device (described in particular above) and/or the control device (described in particular above) (as a fixed component and/or structural unit of the vehicle that in particular cannot be detached without destroying it).

The vehicle can in particular be a (motorized) road vehicle. A vehicle can be a motor vehicle which, in particular, is a motor vehicle controlled by the driver himself (“driver only”), a semi-autonomous, autonomous (e.g. autonomy level 3 or 4 or 5 (of the SAE J3016 standard)) or self-driving motor vehicle is. Autonomy Level 5 designates fully automated vehicles. The vehicle can also be a driverless transport system. The vehicle can be controlled by a driver or drive autonomously. In addition to a road vehicle, the vehicle can also be an air taxi, an airplane and another means of transportation or another type of vehicle, for example an air vehicle, water vehicle or rail vehicle.

The present invention is also aimed at a computer program or computer program product, comprising program means, in particular a program code, which represents or encodes at least one method step or several of the method steps of the method according to the invention individually or in combination with one another and preferably one of the preferred embodiments described and for execution by a Processor device is formed.

The present invention is also aimed at a data memory on which at least one embodiment of the computer program according to the invention or a preferred embodiment of the computer program is stored. The present invention of the method for the optical output of a feature of a vehicle located in a vehicle environment of a vehicle was described in connection with a feature of a (surrounding vehicle) located in a vehicle environment of the (ego) vehicle. However, the present invention is also applicable to features ( from vehicles of different) located in the vehicle environment of the (ego) vehicle, specific objects of interest, which are often also referred to as points of interest (pole).For example, the specific objects of interest can be traffic control elements, buildings in the vehicle environment , etc. The applicant reserves the right to also claim a method and an authentication device aimed at this.

Further advantages and embodiments result from the attached drawings:

Show in it:

1 shows a schematic representation of a vehicle according to the invention;

FIG. 2 shows a schematic illustration of generating a vehicle silhouette; FIG.

3 shows a representation of the generated vehicle silhouette in a display device of the vehicle;

4 shows three determined vehicle silhouettes of three different detected vehicles;

5 shows an illustration of generating a vehicle silhouette; and

Fig. 6 a, b, c show different vehicles with additional, detectable information.

1 shows a schematic representation of a vehicle 1 according to the invention, which is particularly suitable and intended for carrying out and preferred the method according to the invention for the optical output of a feature of a (surrounding) vehicle 2 located (to be detected) in a vehicle environment of the vehicle 1 to output a determined (individual) characteristic of (surrounding) vehicle 2 to a user of (ego) vehicle 1 . The reference number 1 designates a vehicle with a sensor device embodied here as a stereo camera 10 for (image) capturing a vehicle environment of the vehicle 1. The stereo camera 10 has in particular two cameras and captures the vehicle 2 driving ahead in relation to the vehicle 1. The reference numbers 4, 6, 7 and 8 identify examples of images of preceding (surrounding) vehicles 2 recorded with sensor device 10 for detecting the vehicle surroundings.

Fig. 2 illustrates how from the sensor data recorded by the sensor device 10, in particular from the images 4, 6, 7 and 8 recorded from the stereo camera, which were shown in Fig. 1, preferably by means of a control unit 12 (of the vehicle 1), in each case a vehicle silhouette 14, 16, 17 and 18 (of the respective (surrounding) vehicle 2) is generated.

Fig. 3 shows a representation of the (respectively) generated vehicle silhouette, here the generated or converted vehicle contour 14, in an optical output device (display device) 20, here in the infotainment system of the vehicle 1. Reference number 32 denotes marking lines and/or traffic guidelines of a roadway (of the vehicle 1 and/or the vehicle driving ahead 2), which is also analyzed by an evaluation device (in particular comprising a computer vision device) (of the (ego vehicle) and/or a control unit 12 of the vehicle and/or an image processing device of the vehicle , determined in particular from (locally resolved) sensor data (such as an image) recorded by at least one sensor device for detecting a vehicle environment of the vehicle and/or output by means of the optical output device (display device) 20 .

Fig. 4 shows three determined vehicle silhouettes 16, 17, 18 of three different detected vehicles 2 (driving ahead), which are preferably derived from the images 6, 7, 8 (immediately or neighboring) preceding vehicles 2 are or were generated (in particular by means of an evaluation device and/or computer vision device (of the vehicle) and/or a control unit 12 of the vehicle and/or an image processing device of the vehicle).

5 shows an (automatic) generation of a vehicle silhouette for output to a user by means of an optical output device 20 (of the vehicle), in particular for infotainment. In the illustration on the left of FIG. 5, there is the real object 40, here one Vehicle trailer, shown in particular in the form detected by the sensor device 10 (such as the stereo camera of the vehicle) for detecting a vehicle environment.

In particular, the silhouette 42 of the detected object 40, here the vehicle 2 driving ahead, is determined and/or generated from the sensor data of the sensor device 10 for detecting a vehicle environment. In addition to silhouette 42 of vehicle 2 driving ahead, an object color 45 should preferably also be determined, silhouette 42 should be colored at least in certain areas and preferably at least one segment of silhouette 42, and colored silhouette 42 should be displayed and/or output using display device 20.

The reference number 50 denotes wheels or tires of the vehicle 2 and the reference number 44 a height marking (running in the horizontal direction and/or in the width direction of the vehicle) of the vehicle (here the trailer).

In addition to the silhouette 42 of the vehicle 2, the object color 45 and the light elements 46, 48 (e.g. a brake light) should preferably also be recorded and particularly preferably displayed and/or colored and/or output as (each) individual segments.

In other words, preferably at least one light element 46, 48 (on each side of the vehicle), preferably signal light(s), in particular one brake light and/or one tail light and/or one driving indicator light element, should be determined and/or displayed by means of display device 20 and/or or issued (to the user). The determined light elements 46, 48 are preferably also highlighted in color and/or an area of the silhouette 42 assigned to these light elements is colored and displayed in color by means of the display device 20 and/or output (to the user).

Furthermore, additional information or features of an object detected by the sensor device 10 (in particular a (stereo) camera), in particular a (leading) vehicle 2, can also be recorded and/or determined. The additional information or features can preferably be played into the infotainment system from the camera recording.

6a, b, c show different vehicles with additional, detectable information or (individual) features of a (leading) vehicle. The (additional) information from the (camera) recording is preferably played into the infotainment system. Fig. 6a illustrates a warning sign 60 of the preceding truck 2, which indicates that the truck (lorry) is too long. The excess length is preferably indicated in general (by means of the display device 20) and/or a length (of the excess length) is also indicated.

FIG. 6b shows an information element 62 (such as a flag) for identifying a load overhang (of the vehicle 2 driving in front). This information sign and/or a feature of the overhanging load is preferably detected and/or determined (from the sensor device 10 for detecting a vehicle environment) and/or by the display device 20 (of the vehicle 2) and/or in the infotainment system (of the vehicle 1) issued and/or stated.

6c illustrates a warning sign 64 before the tail swings out, which is arranged on the tail of a (leading) vehicle 2, for example on the tail of buses, for the purpose of spacing. As a feature and/or as (additional) information, the information about the risk of the rear end of the (leading) vehicle 2 swinging out is preferably determined and/or displayed and/or output by means of the display device 20 .

The applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided they are new compared to the prior art, either individually or in combination. It is also pointed out that the individual figures also describe features which can be advantageous in and of themselves. The person skilled in the art recognizes immediately that a specific feature described in a figure can also be advantageous without adopting further features from this figure. Furthermore, the person skilled in the art recognizes that advantages can also result from a combination of several features shown in individual figures or in different figures.

Reference List

Vehicle , 6, 7, 8 recorded images 0 sensor device for detecting a vehicle environment 2 control unit 4, 16, 17, 18 determined silhouettes 0 display device 2 lane marking 0 real object 2 silhouette 4 height marking 5 object color 6, 48 light elements 0 tires 0 excess length warning sign 2 excess load 4 Sign warning of the tail swinging out

Claims

patent claims

1. A method for the optical output of a feature of a vehicle (2) to be detected located in a vehicle environment of a vehicle (1) to a user of the vehicle (1), comprising:

Determination of spatially resolved environment data by means of at least one sensor device (20) for detecting a vehicle environment, the vehicle (2) to be detected being at least partially located in the vehicle environment detected by the at least one sensor device (20);

Determination of at least one individual feature of the vehicle (2) to be detected on the basis of the determined environmental data;

Provision of an output signal for optical output of the individual feature to the user by means of an optical output device (20), in particular as part of controlling at least one vehicle function of the vehicle (1).

2. The method as claimed in claim 1, characterized in that the individual feature is a geometric feature of the vehicle (2) to be detected.

3. The method according to the preceding claim, characterized in that the geometric feature of the vehicle to be detected (2) is a silhouette and/or a vehicle contour and/or a geometric shape of at least one area and/or an outer contour and/or an object of interest of the vehicle (2) to be detected.

4. The method according to any one of the preceding claims, characterized in that the individual feature of the vehicle (2) to be detected is an, in particular individual, feature of an object of interest of the vehicle (2) to be detected, the object of interest of the vehicle (2) to be detected is selected from a group of objects which include a vehicle roof rack, a roof rack box, a wheel carrier, truck attachments, in particular a forklift, a trailer of the vehicle to be detected, an object detachably arranged on the vehicle to be detected and the like.

5. The method according to any one of the preceding claims, characterized in that the environmental data, in particular the environmental data assigned to an area of interest of the environmental data, in particular to the detected vehicle (2), is divided at least partially and preferably completely into a large number of segments and at least two different segments are displayed and/or output in at least temporarily different display modes.

6. The method according to any one of the preceding claims, characterized in that elements and/or objects of the vehicle (2) to be detected are determined on the basis of the environmental data which indicate a particularly potential and/or current dangerous situation for the user and/or the to be detected vehicle (2) can represent.

7. Method according to the preceding claim, characterized in that the elements of the vehicle (2) to be detected are selected from a group which includes information relating to an excess length, an overhanging load, a swinging rear end and the like.

8. The method as claimed in one of the preceding claims, characterized in that a comparison is made with vehicle data and/or object data and/or element data stored on a storage device on the basis of the environment data.

9. Optical output system for a vehicle (1) for the optical output of a feature of a vehicle (2) to be detected located in a vehicle environment of a vehicle (1) to a user of the vehicle (1), with an evaluation device which is suitable and intended for this purpose is to receive spatially resolved environment data determined by at least one sensor device (20) for detecting a vehicle environment, the vehicle (2) to be detected being located at least in certain areas in the vehicle environment detected by the at least one sensor device (20), characterized in that the evaluation device is suitable and intended for determining at least one individual feature of the vehicle (2) to be detected on the basis of the spatially resolved environment data determined, with the optical output system having a control device which is suitable and intended for the purpose of outputting an output signal for the optical output of the individual feature by means of the optical output device (10) to the user, in particular as part of a control of at least one vehicle function of the vehicle (1).

10. Vehicle (1), in particular a motor vehicle, comprising an optical output system according to the preceding claim.