WO2024068367A1 - Conduite d'un véhicule à moteur dans un environnement virtuel - Google Patents

Conduite d'un véhicule à moteur dans un environnement virtuel Download PDF

Info

Publication number
WO2024068367A1
WO2024068367A1 PCT/EP2023/075826 EP2023075826W WO2024068367A1 WO 2024068367 A1 WO2024068367 A1 WO 2024068367A1 EP 2023075826 W EP2023075826 W EP 2023075826W WO 2024068367 A1 WO2024068367 A1 WO 2024068367A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
driver
view
pose
interior
Prior art date
Application number
PCT/EP2023/075826
Other languages
German (de)
English (en)
Inventor
Alexander Kuttner
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2024068367A1 publication Critical patent/WO2024068367A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304—Detection arrangements using opto-electronic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/176—Camera images
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted

Definitions

  • a motor vehicle can be controlled by a driver in a predetermined environment.
  • the motor vehicle can be moved on a test route away from public roads in order to train the driver in controlling the motor vehicle.
  • the test route can include devices to dynamically bring the driver into a predetermined driving situation so that he can learn how to cope with it in an improved manner. This allows the driver to be trained without exposing the motor vehicle, the driver or another person to undue danger.
  • a training facility on the test track is usually designed in such a way that even if the driver cannot complete a task given to him or even loses control of the vehicle, no damage occurs.
  • a series of vertical water fountains can be provided which the vehicle can drive towards. Once it has reached a predetermined distance, some of the fountains can be turned off, leaving a gap through which the driver can steer the vehicle. If he misses the gap, the vehicle is hit by a water fountain but does not hit a solid object.
  • Such a training facility is complex to set up and operate. Not all driving maneuvers that are possible with a motor vehicle can be trained with a single training facility.
  • the said series of water fountains is usually permanently installed and cannot be changed to limit a predetermined curve.
  • a test track can also be used to check the function of a motor vehicle in a predetermined driving situation.
  • important aspects of a chassis, a braking system or a steering system can be experienced practically.
  • even a well-equipped test track only has limited flexibility and it is not possible to carry out any number of different tests on a predetermined, limited area.
  • a driver can sit in a simulator that is modeled on the interior of the motor vehicle.
  • the outside area of the motor vehicle can be conveyed by an appropriate display, for example a projector system.
  • the simulator can be tilted to simulate longitudinal or transverse forces acting on the driver.
  • any number of different driving situations can be simulated using the simulator.
  • the simulator can only convey partial aspects of a real journey to the driver. For example, acceleration with a force that exceeds the acceleration due to gravity cannot be generated. Cornering, acceleration and deceleration at the vehicle's limits cannot always be conveyed realistically. The driver's training in the simulator can therefore be incomplete.
  • the simulator can also only be used to a limited extent for testing a motor vehicle, as its actual driving behavior is usually not known precisely enough and therefore cannot be simulated correctly under certain circumstances.
  • An object underlying the present invention is to provide a technique for driving a motor vehicle in a virtual environment with improved realism.
  • the invention solves this problem by means of the subject matter of the independent claims. Subclaims reflect preferred embodiments.
  • a system comprises a headset which is designed to be attached to a head of a driver of a motor vehicle.
  • the headset includes a camera for providing a first view of an interior of the motor vehicle and a visual display for the driver.
  • the system further comprises a model for providing a view of a virtual environment of the motor vehicle with respect to a predetermined pose; a device for determining a pose of the driver's head with respect to the real surroundings of the motor vehicle and a processing device.
  • the processing device is set up to overlay the first view of the interior with a second view of the virtual environment with respect to the specific pose and to provide it to the driver.
  • the driver can experience a convincing and consistent sensory impression. He can fully control the vehicle and use all the systems on board the vehicle.
  • Such systems can include, for example, a driver assistance system, an entertainment system or a comfort system.
  • the virtual environment can be controlled in such a way that the driver can experience a predetermined driving situation and learn how to control the vehicle in that situation.
  • a driving technique such as drifting along a predetermined curve can be taught safely in this way.
  • a boundary of the curve can only exist in the virtual environment, while in the real environment there is neither a boundary nor an obstacle. If the motor vehicle leaves the virtual curve, no real damage to the motor vehicle can occur. In this way, any curves or sequences of curves can be created in the virtual environment that the driver can actually drive through with the motor vehicle.
  • the curves can be provided in a space-saving and delay-free manner over a relatively small real area. There is no need to create or set up a real infrastructure in the real environment.
  • the motor vehicle can be observed in an improved manner in a predetermined driving situation, which is determined by the driver in the virtual world. tual environment can be brought about. In this way, the motor vehicle can be tested in an improved, targeted manner.
  • the interior of the motor vehicle can be limited by a window.
  • the overlay is preferably provided in such a way that the virtual environment is only visible to the driver in the area of the window.
  • the remaining interior which can include, for example, a vehicle headliner, a vehicle pillar, a dashboard, a steering wheel, a vehicle seat, a control element, a side door, a vehicle floor or a center console, is preferably displayed to the driver from the perspective that his head has in relation to the motor vehicle takes.
  • disks can also be provided which can be treated in the same way.
  • the window of the motor vehicle is transparent and allows a person on board the motor vehicle who is not wearing a headset to see the real surroundings of the motor vehicle.
  • a predetermined optical marking can be applied to a pane.
  • the processing device can be configured to determine the position of the pane in the first view of the interior with respect to the marking.
  • the optical marking can be easier to automatically detect than a border of the window on a scan of the interior. This can prevent a section of the virtual environment that the driver sees in the area of the window from being of an incorrect size or orientation compared to the view of the interior. In addition, it can be better prevented that the detected position of the window in the first view shifts, for example during a dynamic maneuver of the motor vehicle. Shifting the views against each other could otherwise lead to an unrealistic impression for the driver, which could lead to side effects such as orientation difficulties or nausea.
  • the marking can be assigned a shape of the disk.
  • the marking can comprise a two-dimensional binary optical code. sen, for example in the form of a QR code, and the shape can be assigned to the code. Furthermore, a size or position can also be assigned to the marking or to the code expressed by it.
  • the system can be set up for use on different motor vehicles, whereby motor vehicles that include differently shaped windows can have different markings. Based on a recognized marking, the system can better determine which type of motor vehicle it is on board, or which shape of the window is correct.
  • the device can comprise a first sensor for determining a pose of the motor vehicle in the real environment and a second sensor for determining a pose of the driver's head in the motor vehicle.
  • the pose of the driver's head in relation to the real environment can be determined on the basis of the two poses determined using the sensors. It has been shown that a realistic driving impression can only be achieved if the real and virtual environments are coordinated with one another with high quality. Using the two sensors, the pose of the driver's head in relation to the real environment can be determined more accurately. As a result, the first and second views can be coordinated with one another with increased precision.
  • one or more other sensors or information sources are used on board the motor vehicle to better determine the pose of the driver's head or the pose of the motor vehicle in the virtual environment.
  • a sensor can be set up to determine a position or an orientation or alignment or both together in the form of a pose.
  • the device can include an absolute positioning device. This can in particular be formed by a receiver for a satellite-based navigation system (GNSS).
  • GNSS satellite-based navigation system
  • the positioning device can additionally be set up to determine and provide a direction of movement and speed of movement.
  • the device can comprise a relative positioning device.
  • This can be formed in particular by an odometer.
  • the odometer can be based on rotation sensors on the wheels of the motor vehicle.
  • a steering angle or a driving speed of the motor vehicle can also be used to determine the relative position of the motor vehicle.
  • a camera-based odometer can be provided, in which a position of the motor vehicle is determined with respect to apparent positions of landmarks in the real environment of the motor vehicle and known absolute positions associated with the landmarks.
  • the device can also comprise an acceleration sensor.
  • the acceleration sensor is preferably designed to determine an acceleration along or around a longitudinal axis, a vertical axis or a transverse axis of the motor vehicle. In particular, a pitching, rolling or yawing of the motor vehicle can be taken into account.
  • the acceleration sensor can also be used to determine a vibration of the motor vehicle.
  • the system may include a device for limiting a position of the motor vehicle to a predetermined area of the real environment.
  • a device for limiting a position of the motor vehicle to a predetermined area of the real environment.
  • Such a technique is known as geofencing. If the motor vehicle exceeds the predetermined area or there is a prospect of doing so, the motor vehicle can be controlled in the longitudinal direction and/or transverse direction in order to counteract this.
  • the area can be chosen so that obstacles or vulnerable objects are located outside the area. Safety inside and outside the motor vehicle can thus be improved.
  • Another measure to ensure safety can include an additional operating device for longitudinal or transverse control of the motor vehicle for another person on board.
  • an additional brake pedal can be provided for a passenger, who preferably does not wear a headset. The passenger can take control of the motor vehicle if a predetermined, controllable driving state is left.
  • the system correctly reproduces a display in an interior or exterior mirror. If the interior of the motor vehicle is limited by a window on the outside of which a rear-view mirror is attached, so A further view of the virtual environment can be determined with respect to the rear-view mirror and superimposed on the first view in such a way that it is visible to the driver in the rear-view mirror. In a corresponding manner, a further view of the virtual environment can be determined with respect to an interior mirror mounted in the interior and superimposed on the first view at the corresponding location. This allows the driver to see an area of the virtual environment behind him in an improved manner and in the usual way.
  • a motor vehicle comprises a system as described herein.
  • the motor vehicle can be used to train a driver to drive the motor vehicle or to instruct him to bring the motor vehicle into a predetermined driving situation, for example to study driving behavior.
  • a method includes steps of determining a pose of a head of a driver of a motor vehicle with respect to a real environment of the motor vehicle; determining a first view of an interior of the motor vehicle from the driver's head; determining a second view of a virtual environment of the motor vehicle with respect to the determined pose; overlaying the first view of the interior with the second view of the virtual environment; and providing the overlay to the driver.
  • the method may be carried out in part or in whole using a system described herein.
  • at least part of the method can be carried out using a processing device included in the system.
  • This can in particular be designed electronically and include, for example, a programmable microcomputer or microcontroller.
  • the method can be in the form of a computer program product with program code means.
  • the computer program product can be stored on a computer-readable data carrier.
  • the virtual environment can be adapted depending on a movement of the motor vehicle.
  • the driver can be instructed dynamically, i.e. depending on the control he or she is issuing, to control the motor vehicle to control in a predetermined way.
  • a message can be given to change a steering angle or an ideal line on which the vehicle should be kept can be displayed.
  • Learning a predetermined driving technique, for example drifting, or driving the motor vehicle into a predetermined driving state can thus be done in a playful manner. The training of the driver or carrying out a predetermined test of the motor vehicle can thereby be accelerated.
  • the method can be applied to two systems on board two motor vehicles. More motor vehicles can also take part in the process, each carrying a system described herein on board.
  • the motor vehicles are located in real, but separate environments. Virtual environments for the systems or motor vehicles are identical to one another. In this way, an interaction between the motor vehicles can be recreated more realistically but safely.
  • the model can include an avatar for each of the motor vehicles, whereby the avatar can be updated depending on a movement of the respective motor vehicle. For example, a collision between the avatars can be determined without a collision between the motor vehicles taking place.
  • a visual reference to the avatar of the other motor vehicle can be displayed on board a motor vehicle. This can give a driver on board one of the motor vehicles the impression that he sees the other motor vehicle in the vicinity of his own motor vehicle. A collision between two motor vehicles can be displayed accordingly on board other motor vehicles.
  • This continuation can be used to represent complex scenarios or to pit drivers against each other on a predetermined task.
  • a driving situation that requires more than one vehicle can be brought about by the concerted driving of the drivers of several vehicles.
  • Figure 1 shows a system on board a motor vehicle
  • Figure 2 shows an overlay of views
  • Figure 3 shows a driver on board a motor vehicle
  • Figure 4 illustrates a flow chart of a process.
  • Figure 1 shows a system 100 on board a motor vehicle 105.
  • the system 100 shown includes a processing device 110 which is connected to a headset 115.
  • the headset 115 is designed to be attached to the head of a driver 120 of the motor vehicle 105.
  • the driver 120 is located in an interior on board the motor vehicle 105 and can control a longitudinal or transverse movement of the motor vehicle 105. In addition, he can use other systems or devices on board the motor vehicle 105.
  • the headset 115 includes at least one optical display 125 for the driver 120.
  • the headset 115 is preferably designed in such a way that the display 125 is total for the driver 120, that is to say that he can only visually perceive the content that is available to him via the display 125 are provided.
  • a display 125 is provided for each eye of the driver 120.
  • a camera 130 is attached to the headset 115 and is designed to provide a view of at least the interior of the motor vehicle 105.
  • Imaging properties of the camera 130 are preferably adapted to the optical properties of the visual apparatus of the driver 120, so that a view provided by the camera 130 can be output on a display 125 and the driver 120 has a visual impression that is as close as possible to that which he would receive without the headset 115. If necessary, the view can be adapted in this sense by means of the processing device 110. It should be noted that several cameras 130 can also be included in the headset 115 or attached to it.
  • a marker 135 can be attached to the headset 115 and can be used as an optical reference pattern.
  • the marker 135 is preferably shaped and attached to the headset 115 in such a way that it visually indicates a position and/or orientation of the headset 115.
  • a further Tere camera 130 can be attached to a structural element of the motor vehicle 105 and set up to optically scan the headset 115.
  • the marker 135 can be easily recognized on the scan so that a position or orientation of the headset 115 can be determined.
  • a marker 135 can be attached to a structural element of the motor vehicle 105 and a position or orientation of the headset 115 can be determined with respect to an optical scanning of the marker 135 by means of the camera 130 attached to the headset 115.
  • a frame 140 of a window 145 that delimits the interior of the motor vehicle 105 is selected as the structural element in Figure 1.
  • a marker 135 can be attached, for example, to an upper edge of the frame 140 in the area of an interior mirror 150.
  • the camera 130 is arranged, for example, at the lower edge of the frame 140.
  • an optical marking 155 is attached to the disk 145, which is preferably one-dimensional or two-dimensional.
  • the marker 155 may be binary encoded, comprising light and dark portions, the arrangement and extents of which may be automatically processed to decode a message encoded thereby.
  • the message can indicate a geometry of the disk 145.
  • the geometry can in particular relate to a size or shape of the disk 145.
  • the message 155 includes a reference to an entry in a data memory, with the entry being associated with information about the geometry of the disk 145.
  • the data storage may include a variety of entries and associated geometries.
  • the system 100 further includes a receiver 160 for signals from a global satellite-based navigation system (GNSS). Based on received signals, the receiver 160 can determine a geographical position of the motor vehicle 105 and optionally a direction of movement and speed of movement of the motor vehicle 105.
  • GNSS global satellite-based navigation system
  • An acceleration sensor 165 may be provided to detect an acceleration or rotational acceleration of the motor vehicle 105 by one or more spatial axes.
  • the acceleration sensor 165 is set up for determination with respect to a longitudinal axis, a vertical axis and a transverse axis of the motor vehicle 105. In this case, an acceleration along one of the axes (translation) or about one of the axes (rotation) can be determined.
  • a corresponding acceleration sensor 165 can also be attached to the headset 115 and connected to the processing device 110.
  • the system 100 further includes a model 170 configured to recreate a virtual environment.
  • the virtual environment is matched to the real environment of the motor vehicle 105.
  • a position of the virtual environment with respect to the real environment is predetermined. If the motor vehicle 105 moves in the real environment, it moves in the virtual environment in the same way. If the motor vehicle 105 follows a predetermined trajectory, it assumes a series of poses, with respect to which views of the virtual environment can be determined using the model 170. The series of views provided corresponds to the impression of a journey along the trajectory through the virtual environment.
  • the course of a subsurface in the real environment of the motor vehicle 105 is preferably modeled in the virtual environment.
  • a gradient, a road, an object or a landmark in the real environment can be reflected in the virtual environment.
  • an interface 175 is provided for connection to a device on board the motor vehicle 105.
  • a position, orientation or movement parameter of the motor vehicle 105 can be obtained via the interface 175.
  • Example devices onboard the motor vehicle 105 that may provide such information include an ABS system, an electronic chassis control, an engine controller for a drive motor, or a navigation system.
  • a sensor on board the motor vehicle 105 can also be used for the system 100.
  • an existing interior camera 130 can be used to scan the headset 115.
  • a wireless communication device 180 is provided, which can be set up to communicate with a central location or another system 100 on board another motor vehicle 105.
  • Figure 2 shows an overlay 200 that can be displayed to a driver 120 on board a motor vehicle 105 when looking through a headset 115.
  • the overlay 200 comprises portions of a first view 205 and a second view 210.
  • the first view 205 is provided by means of a camera 130 attached to the headset 115 of the driver 120.
  • the second view 210 is determined with respect to a view of the virtual environment of the motor vehicle 105 with respect to a pose of the head of the driver 120.
  • the first view 205 relates to the interior of the motor vehicle 105 and reflects what the driver 120 could also see without the headset 115 with the appropriate head position. This includes all equipment and functional components of the motor vehicle 105, in particular a steering wheel and a cockpit. The driver 120 also sees himself, as can be seen, for example, in FIG. 2 by the hands of the driver 120 on the steering wheel.
  • a section of the second view 210 is superimposed on the first view 205 where the interior of the motor vehicle 105 is delimited by a window 145.
  • a transition between the first view 205 and the second view 210 is highlighted in Figure 2 by broken lines. These lines are generally not part of the views 205, 210 and are not recognizable by the driver 120.
  • a windshield and a side window are provided, with an outside mirror 215 being visible through the side window.
  • a section of a third view 220 can be shown on a mirror surface of the outside mirror 215, which is determined by means of the model 170 in the virtual environment with respect to a pose of the outside mirror 215.
  • An opposite outside mirror or an inside mirror can be treated in a corresponding manner.
  • two adjacent gates 225 are shown in Figure 2 in the virtual environment of the motor vehicle 105.
  • the driver 120 may have the task of driving through the gate 225 that is displayed to him in a certain way, for example in a predetermined color, and avoiding the other one that can be displayed to him in a different predetermined color.
  • the colors of the gates 225 can change, for example, according to a predetermined pattern or randomly. In particular, the colors can only be displayed late depending on a driving speed and a distance of the motor vehicle 105 from the gates 225.
  • the driver 120's ability to react and drive the motor vehicle 105 through the correct gate 225 in a controlled manner, even at high speed, can be trained in this way.
  • Figure 3 shows an example view of a driver 120 on board a motor vehicle 105 with a system 100.
  • the headset 115 is attached to the head of the driver 120.
  • the headset 115 is preferably relatively small and light so that it does not hinder the driver 120 and does not interfere with the movement of his head.
  • Two cameras 130 are attached in an area that is close to the eyes of the driver 120.
  • Elements of a marker 135 are distributed on a frame of the headset 115.
  • Sections of a real environment of the motor vehicle 105 can be seen through a side window and a rear window.
  • the driver 120 cannot see the real environment and sections of the virtual environment of the motor vehicle 105 are displayed to him via the headset 115 in the area of the windows 145.
  • Figure 4 shows a flow chart of a method 400.
  • the method 400 can be carried out in particular by means of a system 100.
  • the headset 115 can be captured from the vehicle 105.
  • the headset 115 can be scanned using a permanently attached camera 130.
  • a pose of the head of the driver 120 in the vehicle 105 can be determined.
  • the pose of the headset 115 can be determined, for example with regard to the position of the marker 135 on the optical scan.
  • the interior of the vehicle 105 can be scanned from the headset 115.
  • the camera 130 attached to the headset 115 can be used for this purpose.
  • the pose of the head of the driver 120 can also be determined on the basis of this scanning.
  • the position of a marker 135, which is permanently attached to the motor vehicle 105 can be determined in the scanning.
  • an absolute position of the motor vehicle 105 can be determined in a step 420.
  • the GNSS receiver 160 or a camera-based position detection can be used, which can be connected to the system 100 via the interface 175.
  • an acceleration of the motor vehicle 105 can be determined.
  • the acceleration can be determined by means of an acceleration sensor 165 or on the basis of a system on board the motor vehicle 105, for example a drive or braking system.
  • a relative position of the motor vehicle 105 can be determined in a step 430.
  • the relative position can be determined in particular with regard to movement or speed information of the motor vehicle 105.
  • signals from an odometer of the motor vehicle 105 can be evaluated, which can be obtained via the interface 175.
  • the pose of the motor vehicle 105 in the real environment can be determined in a step 435.
  • the pose of the head of the driver 120 in the real environment can be determined based on the pose of his head in the motor vehicle 105 and the pose of the motor vehicle 105 in the real environment.
  • the pose of the head in step 440 should be determined with the highest possible accuracy and, in the dynamic case, with the lowest possible time delay. Intermediate results can be improved on the basis of further information.
  • a view of the virtual environment can be determined on the basis of the determined pose. This view is also referred to herein as the second view.
  • a view of the interior may be determined, also referred to herein as the first view.
  • the position of a disk 145 can be determined in the first view.
  • a boundary of the disk 145 can be determined in the first view, or geometric information about the shape or extent of the disk 145 can be applied accordingly.
  • a step 455 the first and second views can be superimposed.
  • sections of the first view that lie in the area of a disk 145 are preferably replaced by corresponding sections of the second view.
  • the overlay can be output to the driver 120 via the at least one display 125 of the headset 115.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

Un système (100) comprend : un casque qui est configuré pour être placé sur la tête d'un conducteur (120) d'un véhicule à moteur (105), le casque comprenant une caméra (130) destinée à fournir une première vue (205) d'un intérieur du véhicule à moteur (105) et un affichage optique pour le conducteur (120) ; un modèle (170) pour fournir une vue d'un environnement virtuel du véhicule à moteur (105) par rapport à une pose prédéterminée ; un dispositif pour déterminer une pose de la tête du conducteur (120) par rapport à l'environnement réel du véhicule à moteur (105) et un dispositif de traitement (110). Le dispositif de traitement (110) est configuré pour superposer la première vue (205) de l'intérieur avec une seconde vue (210) de l'environnement virtuel relativement à la pose déterminée et la fournir au conducteur (120).
PCT/EP2023/075826 2022-09-26 2023-09-19 Conduite d'un véhicule à moteur dans un environnement virtuel WO2024068367A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022124717.1A DE102022124717A1 (de) 2022-09-26 2022-09-26 Fahren eines Kraftfahrzeugs in einer virtuellen Umgebung
DE102022124717.1 2022-09-26

Publications (1)

Publication Number Publication Date
WO2024068367A1 true WO2024068367A1 (fr) 2024-04-04

Family

ID=88143914

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/075826 WO2024068367A1 (fr) 2022-09-26 2023-09-19 Conduite d'un véhicule à moteur dans un environnement virtuel

Country Status (2)

Country Link
DE (1) DE102022124717A1 (fr)
WO (1) WO2024068367A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008042397A1 (de) * 2008-09-26 2010-04-01 Robert Bosch Gmbh Navigationssystem mit kontaktanaloger Anzeige
DE102014202712A1 (de) * 2014-02-14 2015-08-20 Bayerische Motoren Werke Aktiengesellschaft Bildanpassung für kontaktanaloge Darstellungen auf Datenbrillen
DE102014213020A1 (de) * 2014-07-04 2016-01-07 Bayerische Motoren Werke Aktiengesellschaft Übernahmeaufforderung bei hochautomatisierter Fahrt auf Datenbrille
DE102017221317A1 (de) * 2017-11-28 2019-05-29 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Betreiben einer Datenbrille in einem Kraftfahrzeug
DE102018201509A1 (de) * 2018-02-01 2019-08-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Betreiben eines Anzeigesystems mit einer Datenbrille
WO2022133219A1 (fr) * 2020-12-20 2022-06-23 Wael Zohni Visière à réalité mixte pour formation in situ d'opérations de véhicule

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008042397A1 (de) * 2008-09-26 2010-04-01 Robert Bosch Gmbh Navigationssystem mit kontaktanaloger Anzeige
DE102014202712A1 (de) * 2014-02-14 2015-08-20 Bayerische Motoren Werke Aktiengesellschaft Bildanpassung für kontaktanaloge Darstellungen auf Datenbrillen
DE102014213020A1 (de) * 2014-07-04 2016-01-07 Bayerische Motoren Werke Aktiengesellschaft Übernahmeaufforderung bei hochautomatisierter Fahrt auf Datenbrille
DE102017221317A1 (de) * 2017-11-28 2019-05-29 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Betreiben einer Datenbrille in einem Kraftfahrzeug
DE102018201509A1 (de) * 2018-02-01 2019-08-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Betreiben eines Anzeigesystems mit einer Datenbrille
WO2022133219A1 (fr) * 2020-12-20 2022-06-23 Wael Zohni Visière à réalité mixte pour formation in situ d'opérations de véhicule

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
GUY BERG: "Das Vehicle in the Loop - Ein Werkzeug für die Entwicklung und Evaluation von sicherheitskritischen Fahrerassistenzsystemen", 10 April 2014 (2014-04-10), XP055694645, Retrieved from the Internet <URL:http://athene-forschung.unibw.de/download/97267/97267.pdf> [retrieved on 20200513] *

Also Published As

Publication number Publication date
DE102022124717A1 (de) 2024-03-28

Similar Documents

Publication Publication Date Title
DE102017200149B4 (de) Verfahren zum Erlernen und Überprüfen eines Fahrverhaltens eines Fahrzeugführers sowie Fahrzeug
DE102012015002B4 (de) Verfahren und Vorrichtung zum unterstützten Einparken
WO2019120381A1 (fr) Système et procédé de réduction de symptômes de la cinétose
DE102004057947B4 (de) Verfahren zur Funktionsprüfung eines kraftfahrzeugseitig integrierten Fahrerassistenzsystems
DE112017007631B4 (de) Anzeigesystem und Anzeigeverfahren
WO2014161691A1 (fr) Procédé et dispositif de guidage d&#39;un véhicule dans l&#39;environnement d&#39;un objet
DE10256612B3 (de) Verfahren und Vorrichtung zum Fahrertraining
DE102016014712B4 (de) Fahrzeug und Verfahren zur Ausgabe von Informationen an eine Fahrzeugumgebung
DE102008059269A1 (de) Verfahren zur Verbesserung der Rundumsicht bei einem Fahrzeug sowie Fahrzeug mit verbesserter Rundumsicht
DE102016224122A1 (de) Verfahren zum Betreiben einer VR-Brille in einem Innenraum eines Kraftfahrzeugs sowie Steuervorrichtung und Kraftfahrzeug
EP3123450A2 (fr) Procédé et dispositif de visualisation d&#39;objets sur un affichage de véhicule
EP3318441A1 (fr) Dispositif d&#39;aide à la conduite d&#39;un véhicule pourvu d&#39;un dispositif de projection
DE10309934B4 (de) Fahrsimulator und Verfahren zum Simulieren des Fahrzustands eines Fahrzeugs
DE102015207337A1 (de) Verfahren und Vorrichtung zur Unterhaltung mindestens eines Insassen eines Kraftfahrzeugs
EP3566925B1 (fr) Véhicule automobile (partiellement) autonome et procédé de fonctionnement d&#39;un tel véhicule automobile
EP2936473A1 (fr) Dispositif de représentation élargie d&#39;une zone de l&#39;environnement d&#39;un véhicule
DE102016117743A1 (de) Verfahren zum Bewerten eines Fahrverhaltens eines Fahrers eines Kraftfahrzeug während eines Parkmanövers, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102015007246B4 (de) Verfahren zum Betreiben eines Anzeigesystems und Anzeigesystem für ein Kraftfahrzeug
WO2024068367A1 (fr) Conduite d&#39;un véhicule à moteur dans un environnement virtuel
DE102017006231A1 (de) Mit einer Virtual-Reality-Einrichtung versehene nicht-schienengebundene Fahrvorrichtung
DE102006030278A1 (de) Generierung einer Fahrsituation
DE202018005409U1 (de) Automatisches Fahrzeugrückspiegel Steuerungssystem
DE102015007131B4 (de) Verfahren zum Betreiben eines Anzeigesystems und Anzeigesystem
EP3847050B1 (fr) Procédé et dispositif de commande pour faire fonctionner un dispositif d&#39;affichage portable sur la tête dans un véhicule automobile
DE102017221202B3 (de) Fahrzeugsteuersystem für autonom fahrendes Kraftfahrzeug