Method for operating a driver assistance device for a motor vehicle, corresponding driver assistance device and computer program product

Abstract

The invention relates to a method for operating a driver assistance system for a motor vehicle (1) located on a surface, wherein an image sensor arrangement captures an image of the surface in the environment (10) of the motor vehicle (1), and a reflection sensor arrangement captures a height profile of the surface in the environment (10), and the image and the height profile are combined in a textured surface model of the surface, which is displayed to a user of the motor vehicle (1) by means of a display device. It is provided that, prior to combining the image and the height profile, the height profile is examined for an object moving relative to the surface based on a time-dependent elevation profile progression, and if such an object is detected, it is removed.The invention further relates to a driver assistance device for a motor vehicle (1) and a computer program product.

Description

[0001] The invention relates to a method for operating a driver assistance system for a motor vehicle located on a surface, wherein an image sensor arrangement captures an image of the surface in the vicinity of the motor vehicle and a reflection sensor arrangement captures a height profile of the surface in the vicinity, and the image and height profile are combined in a textured surface model of the surface, which is displayed to a user of the motor vehicle by means of a display device. The invention further relates to a driver assistance system for a motor vehicle located on a surface and to a computer program product.

[0002] For example, prior art includes US patent 2021 / 0086695 A1. This patent describes a method and device for generating a graphical user interface displaying a vehicle underbody view, comprising a lidar that generates a depth map of a terrain surface, a camera for capturing an image of the terrain surface, a suspension sensor that detects the orientation of a vehicle, a processor for generating an augmented image in response to the depth map, the image, and the orientation. The augmented image represents an underbody view of the vehicle and a graphic depicting a vehicle suspension system. A display for showing the augmented image to a vehicle user is also included. A static and dynamic model of the vehicle underbody is compared with the 3D terrain model to highlight contact points between the underbody and the terrain.

[0003] Furthermore, publication WO 2015 / 154 826 A1 discloses a display method for use in a motor vehicle, comprising: obtaining information or image data associated with a motor vehicle for an area in front of the motor vehicle, and displaying one or more graphic representations of at least one component of the motor vehicle with one or more properties based on the information associated with the motor vehicle or a representation of the image data, wherein the one or more displayed representations are arranged to overlay a part of the motor vehicle in order to indicate that a part of the motor vehicle is at least partially transparent.

[0004] German patent application DE 10 2008 034 594 A1 relates to a method for providing information to a vehicle occupant, in which at least two images are generated by the vehicle's recording devices, each containing different sections of the roadway in the vicinity of the vehicle, and in which the at least two images are processed by an image processing unit and displayed on a display unit in the vehicle interior. The method provides for the generation of a representation in which the at least two images are mapped onto a virtual roadway, with the virtual roadway being displayed in perspective.

[0005] The prior art also includes the publication DE 11 2021 004 501 T5.

[0006] The object of the invention is to propose a method for operating a driver assistance device which has advantages over known methods, in particular providing an extremely precise representation of the surroundings, preferably in the form of an underbody view without an additional camera.

[0007] According to the invention, this is achieved by a method for operating a driver assistance device with the features of claim 1. It is provided that, prior to merging the image display and the elevation profile, the elevation profile is examined for an object moving relative to the ground based on a temporal elevation profile progression and, if the object is detected, it is removed. Furthermore, a chassis parameter of a vehicle chassis is detected by means of at least one sensor and taken into account when displaying the surface model by means of the display device.

[0008] Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims. It should be noted that the exemplary embodiments described in the description are not limiting; rather, any variations of the features disclosed in the description, the claims, and the figures are possible.

[0009] The method serves to operate the driver assistance system or a control unit of the driver assistance system, which in this respect serves to implement the method. The driver assistance system or the control unit is preferably a component of the motor vehicle, but can of course also exist separately from the motor vehicle, particularly until the driver assistance system or the control unit is mounted on or in the motor vehicle. The method can also be used to operate the motor vehicle itself, of which the driver assistance system is a component.

[0010] The driver assistance system receives environmental data acquired using the vehicle's environmental sensing system. This system detects the vehicle's surroundings, primarily through the use of an image sensor array and a reflection sensor array. The system may also include one or more additional sensors. These additional sensors include, in particular, one or more of the following: radar sensor, sonar sensor or ultrasonic sensor, laser sensor or laser scanner, lidar sensor, infrared sensor, and image sensor or camera.

[0011] The image sensor arrangement comprises at least one image sensor, i.e., exactly one image sensor, or multiple image sensors. The image sensor, or at least one of the image sensors, is preferably oriented in the direction of travel of the vehicle, particularly in the direction of travel forward. The field of view of the image sensor is, for example, oriented symmetrically to a longitudinal axis of the vehicle. Particularly preferably, multiple image sensors are used, which are oriented in opposite directions, particularly with respect to the longitudinal axis of the vehicle. This means that the surroundings of the vehicle, or the surface on which the vehicle is located, are captured on both sides of the vehicle with respect to the longitudinal axis, i.e., both in front of and behind the vehicle.

[0012] The image sensor arrangement preferably comprises a plurality of image sensors that together completely and continuously capture the area surrounding the vehicle. For this purpose, the fields of view of the image sensors are arranged adjacent to or overlapping each other, thus achieving 360° coverage of the area around the vehicle. For example, the image sensors each have viewing angles of at least 140°, at least 160°, or at least 180°. The fields of view of the image sensors are oriented such that the ground, which forms part of the vehicle's surroundings, is always captured. The image sensor arrangement provides the image representation of the surroundings or the ground within the area.The image display, for example, creates a bird's-eye view of the surroundings, preferably supplemented by a schematic representation of the distances between the vehicle and obstacles in the environment. Such a display is also referred to as a "top view".

[0013] The reflection sensor array provides the elevation profile of the subsurface in the area where the image sensor array also captures the surroundings. The image display and the elevation profile are thus available, at least partially, for the same area of ​​the subsurface. The reflection sensor array has at least one reflection sensor, for example, exactly one reflection sensor or several reflection sensors. A reflection sensor is an active sensor that emits an output signal into the surroundings and receives the reflected output signal as an input signal. Examples of reflection sensors include radar sensors, sonar sensors, and lidar sensors.

[0014] The radar sensor uses electromagnetic waves, the sonar sensor uses sound waves, and the lidar sensor uses light to detect the surroundings, particularly to determine the elevation profile and / or to detect obstacles. The sonar sensor, for example, is designed as an ultrasonic sensor, meaning it uses sound waves in the ultrasonic range. The reflector sensor provides environmental data describing the vehicle's surroundings. Specifically, this environmental data includes information about the obstacle(s) present in the environment. For example, the reflector sensor reliably and accurately determines the distance between the vehicle and at least one obstacle. This distance can then be used to generate the schematic representation mentioned earlier.

[0015] According to the invention, at least one reflection sensor is used to determine the elevation profile of the ground. This means that the reflection sensor is oriented at least temporarily towards the ground. Using the reflection sensor arrangement or the at least one reflection sensor, the elevation profile of the ground is detected with high accuracy. The reflection sensor arrangement or the at least one reflection sensor is preferably oriented such that it detects the elevation profile of the ground in the direction of travel of the vehicle, in particular with respect to a longitudinal axis of the vehicle in front of and / or behind the vehicle. The at least one reflection sensor is preferably oriented symmetrically to the longitudinal axis or has a field of view symmetrically oriented to the longitudinal axis.It is essential that the recorded elevation profile can be correlated with the image representation of the subsurface in terms of its coordinates. For this purpose, for example, the coordinates of an area of ​​the subsurface viewed by the reflection sensor array are stored together with the elevation profile.

[0016] The image representation and the elevation profile of the subsurface are combined into a textured surface model of the subsurface. This means that the image representation is mapped to the elevation profile. The surface model is then created based on the elevation profile, for example, as a wireframe model composed of multiple polygons. This surface model is textured using the image representation of the subsurface; the image representation thus serves as the texture for the surface model, or more precisely, the wireframe model of the subsurface. This textured surface model is displayed to the vehicle user via the display device. The display device is, for example, a screen or similar device.

[0017] It is particularly preferred to display the textured surface model for an area of ​​the ground located beneath the vehicle. The vehicle's surroundings are thus captured away from the vehicle using the image sensor arrangement and the reflection sensor arrangement, specifically for a certain area of ​​the surroundings or the ground. When the vehicle passes over this area, the textured surface model is displayed, which is composed of the image representation and the elevation profile previously acquired, i.e., before the vehicle passed over the area. It is therefore preferably provided that environmental data acquired away from the vehicle, in the form of the image representation and the elevation profile, is only displayed when the vehicle passes over the corresponding area or when the vehicle obscures the area from the user's perspective, thus providing an underbody representation of the vehicle.This allows the user of the motor vehicle to accurately assess the ground beneath the vehicle, thus making off-road driving particularly easier.

[0018] Such an underbody image is usually provided by a camera that captures the area beneath the vehicle. However, the camera is exposed to adverse environmental conditions, particularly stone chips and / or moisture. It therefore requires frequent cleaning and is susceptible to damage. The described procedure effectively addresses these disadvantages.

[0019] However, the described approach still has the disadvantage of being comparatively lacking in detail and offering the vehicle user no way to distinguish between different types of terrain. Therefore, it is planned to clean up the surface model before displaying it. For this purpose, a time-based elevation profile is used, which describes or shows the elevation profile at different times. This elevation profile is then examined for objects that move relative to the terrain. The term "objects" is used here in the plural because an indefinite number of such objects can be found in the vehicle's surroundings. This includes cases in which several objects, only one object, or no such object at all is present or detected in the surroundings.

[0020] If an object moving relative to the ground is detected based on the elevation profile, it is removed from the profile. Only then is the elevation profile merged with the image representation to create the textured surface model. The elevation profile is thus adjusted so that it depicts the ground without the object, or conversely, so that the object is not represented by the elevation profile. This approach achieves extremely high accuracy in the surface model, providing the user with a detailed and precise display of the ground, particularly the surface traversed by a vehicle, even without a camera being present.

[0021] A further development of the invention provides that the elevation profile comprises a first elevation profile, captured at a first time point in time, for which the motor vehicle has a first vehicle position, and a second elevation profile, captured at a second time point different from the first, for which the motor vehicle has a second vehicle position. The moving object is identified based on a difference between the first elevation profile and the second elevation profile, as well as on a difference between the first vehicle position and the second vehicle position. The elevation profile thus includes at least the first elevation profile and the second elevation profile.

[0022] The first elevation profile is recorded at the first time point, and the second elevation profile at the second time point. At the first time point, the vehicle is in its first position, and at the second time point, it is in its second position. The two time points are different; for example, the second time point occurs after the first. The vehicle positions depend on the vehicle's movement. If the vehicle is stationary between the first and second time points, the second position is the same as the first; otherwise, the first and second positions are different.

[0023] The elevation profile is analyzed for the presence of objects that differ from each other based on the difference between the vehicle positions in the first and second elevation profiles. If objects in the elevation profiles have different positions, determined by the vehicle positions and their differences, they are classified as moving objects and identified accordingly. The object(s) are then removed from the elevation profile before it is combined with the image to create the textured surface model. This process ensures a particularly high level of accuracy in the surface model.

[0024] A further development of the invention provides that, based on the elevation profile, the surface model, in particular the cleaned surface model, is divided into unchanging and changing areas, which are taken into account when displaying the surface model by the display device. Unchanging areas are understood to be areas of the subsurface that are static, i.e., do not change over time. Examples of unchanging areas of the subsurface are a roadway, soil, rock, or the like. Changing areas, on the other hand, are areas of the subsurface in which the subsurface changes over time, in particular periodically and / or regularly. Examples of changing areas are moving vegetation, for example, grass, water, in particular flowing water, or similar.

[0025] It goes without saying that the plural areas described encompass an indefinite number of areas. Therefore, when dividing the surface model, any number of unchanging areas and any number of changing areas can be used, including zero or a non-zero number. The division or classification of the surface model into unchanging and changing areas is based on the elevation profile, which reflects changes in elevation over time. The classification of the surface model is assigned to this profile; the surface model is thus supplemented with information on whether and where unchanging or changing areas exist.

[0026] This information about the fixed and variable areas is taken into account when displaying the surface model; fixed areas are displayed differently from variable areas. In particular, the fixed and variable areas are displayed in such a way that the vehicle user can immediately distinguish between them. This enables the user to operate the vehicle with greater safety.

[0027] A further development of the invention provides that the height profile is adjusted based on cast shadows detected in the image display, in particular using an image display progression that contains image displays captured at different settings of a lighting device. The height profile is therefore not solely acquired by the reflection sensor arrangement, but is determined from environmental data provided by the reflection sensor arrangement and the image sensor arrangement. Here, it is provided that the height profile is first acquired using the reflection sensor arrangement and then the acquired height profile is adjusted or corrected using the image display. For this purpose, the image display is examined for cast shadows, i.e., for projections of a shadow onto the ground.

[0028] Based on this cast shadow, it can be concluded that the ground has a rise or a depression, and the elevation profile can be supplemented with this information. The image sequence, which contains images at different times, is particularly preferred for this purpose. For example, the images in the image sequence differ with regard to the vehicle's position and / or the setting of the vehicle's lighting system. The lighting system includes, for example, at least one headlight of the vehicle.

[0029] The lighting system settings include, for example, intensity and / or direction. Thus, the image representations of the image display profile are captured at different lighting system intensities and / or orientations. This allows for targeted evaluation of the cast shadow, particularly regarding its intensity and / or dimensions. The described procedure ensures a particularly accurate determination of the height profile. Adjusting the height profile is preferably performed before it is combined with the image representation to create the textured surface model.

[0030] The invention provides that a chassis parameter of a motor vehicle's chassis is detected by means of at least one sensor and taken into account when displaying the surface model by means of the display device. The chassis of the motor vehicle comprises, in particular, at least one wheel of the motor vehicle, preferably several wheels of the motor vehicle. Insofar as the wheel is discussed in this description, the descriptions are preferably applicable to each of the several wheels.

[0031] The wheel is connected to the body of the motor vehicle by means of a wheel suspension. The wheel suspension comprises, for example, at least one control arm, preferably several control arms. For example, the suspension is a multi-link suspension in which the wheel suspension has four or five control arms. A wheel carrier is movably connected to the body via the control arms. A wheel hub is rotatably mounted on the wheel carrier by means of a wheel bearing, and the wheel hub carries a wheel rim onto which a tire, in particular an air-filled tire, is mounted. The wheel, and in particular the wheel carrier, is also connected to the body via a spring and a shock absorber. The spring and the shock absorber are, for example, in the form of a strut, such as a MacPherson strut.

[0032] Chassis parameters used include, for example, suspension travel and / or tire pressure. Suspension travel refers specifically to the compression of the wheel relative to the vehicle body. For instance, suspension travel is provided directly by a driver assistance system, particularly a vehicle stability control system. Tire pressure refers to the internal pressure within the tire. Additionally, the steering angle can be recorded. At least one of these chassis parameters is considered when displaying the surface model, particularly to represent the distance between the vehicle's underbody and the ground. Alternatively, or in addition, the chassis is displayed when the surface model is shown, taking into account the chassis parameters, specifically the compression, steering angle, and / or tire pressure.This results in a particularly high level of detail in the display.

[0033] A further development of the invention provides that the display of the surface model by means of the display device is dependent on the relative position of the motor vehicle with respect to the ground, whereby at least temporarily both the suspension travel of the chassis and the wheel diameter of at least one wheel of the chassis are taken into account and / or pattern recognition of the image display is used at least temporarily and / or the acceleration of the motor vehicle is evaluated. The relative position of the motor vehicle is to be understood in particular as its distance from the ground, especially the distance of its underbody from the ground. For example, the relative position is determined wheel-specifically, i.e., separately for several of the wheels of the motor vehicle, preferably separately for each wheel.

[0034] To determine the relative position, the suspension travel and wheel diameter are used, at least temporarily. Suspension travel refers specifically to the deflection of the vehicle's wheel from its rest position. The relative position is already known with good accuracy from the suspension travel. However, since the tire pressure is often reduced, especially during off-road driving, the wheel diameter must also be considered to determine the relative position with high accuracy. The wheel diameter describes the instantaneous diameter of the vehicle's wheel, not merely an assumed diameter. The wheel diameter is determined, for example, based on the aforementioned chassis parameter, such as the tire pressure.

[0035] Additionally or alternatively, the relative position of the vehicle with respect to the ground is determined, at least temporarily, using pattern recognition of the image display and / or based on the vehicle's acceleration. In the former case, the aforementioned image display sequence is used, which contains images for different points in time. Reference points, particularly stationary objects, are searched for within the image display sequence. These are then used as reference points to determine the relative position of the vehicle with high accuracy.

[0036] Additionally or alternatively, the vehicle's acceleration is used to determine its relative position. The acceleration is measured, for example, using an accelerometer. Based on the acceleration, a change in the relative position can be determined, and the current relative position can be inferred from this change. For particularly high accuracy, the acceleration is preferably evaluated using a dead reckoning algorithm, such as a pedestrian dead reckoning algorithm.

[0037] All of the aforementioned methods are particularly preferred for determining the relative position of the vehicle with respect to the ground: determination based on suspension travel and wheel diameter, determination based on pattern recognition, and determination using acceleration. If one of these methods is unavailable, the relative position is determined using the available methods. For example, if the suspension travel or wheel diameter cannot be determined with sufficient accuracy, the relative position is determined, at least temporarily, solely based on pattern recognition using the image display and / or acceleration. This ensures that the relative position is known with high accuracy in every driving situation, allowing the driver to see the surface model precisely.

[0038] A further development of the invention provides that the wheel diameter is determined based on the tire inflation pressure. Tire inflation pressure refers to the internal pressure of a tire within the wheel. This pressure directly influences the wheel diameter when the vehicle is unloaded, as well as indirectly via the contact patch between the tire and the road surface. The latter can be determined from a tire inflation pressure-tire smoothing curve, which describes the deformation of the tire at the given inflation pressure due to the vehicle's weight. Using this method, the wheel diameter can be determined with high accuracy.

[0039] A further development of the invention provides that the surface model is displayed using a lighting model that takes into account at least one virtual light source. The textured surface model is thus displayed shaded and / or illuminated to give the vehicle user a particularly good impression of the surface structure of the substrate. Conventional shading methods can be used for this purpose. The display takes into account the at least one virtual light source, which is virtually oriented towards the substrate. For example, the light source is a point light source or a diffuse light source. In the former case, a virtual position and orientation of the light source are selected such that the surface structure or surface contour of the substrate is particularly clearly emphasized for the user.For example, the light source is virtually moved relative to the motor vehicle, at least temporarily, especially when the motor vehicle is stationary, in order to display the surface model with particularly good contours to the user.

[0040] The invention further relates to a driver assistance device for a motor vehicle located on a surface, in particular for carrying out the method according to the descriptions in this document, wherein the driver assistance device is provided and designed to capture an image of the surface in the vicinity of the motor vehicle by means of an image sensor arrangement and a height profile of the surface in the vicinity by means of a reflection sensor arrangement, and to combine the image representation and the height profile in a textured surface model of the surface, which is displayed to a user of the motor vehicle by means of a display device.The driver assistance system is further designed and configured to examine the elevation profile for an object moving relative to the ground, based on a temporal elevation profile progression, before merging the image display and elevation profile, and, if the object is detected, to clean up the object, and to capture a chassis parameter of a vehicle chassis using at least one sensor and to take this into account when displaying the surface model using the display device.

[0041] The advantages of such a design of the driver assistance system and such a procedure have already been mentioned. Both the driver assistance system and the procedure for operating it may be further developed as explained in this description, and reference is made to that description in this respect.

[0042] Furthermore, the invention relates to a computer program product comprising commands that cause the driver assistance system to execute the described method as outlined in this description. For the advantages and possible advantageous further developments, reference is made to the description in its entirety.

[0043] The features and combinations of features described in the description, in particular those described in the following figure description and / or shown in the figures, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention. Thus, embodiments that are not explicitly shown or explained in the description and / or the figures, but which emerge from or can be derived from the explained embodiments, are also to be considered as encompassed by the invention.

[0044] The invention is explained in more detail below with reference to the embodiments shown in the drawing, without limiting the invention. The drawing shows: Fig. 1 a schematic representation of a motor vehicle with a driver assistance system and an environment detection system, as well as Fig. 2 a schematic representation from inside the motor vehicle, wherein a textured surface model of a substrate is displayed by means of a display device.

[0045] The Fig. Figure 1 shows a schematic representation of a motor vehicle 1, which is equipped with a driver assistance system (not shown in detail) and an environmental sensing system 2. The environmental sensing system 2 has several sensors 3, 4, 5, 6, 7, 8, and 9. Sensor 3, for example, is an image sensor, sensor 4 is a radar sensor, sensors 5 are also image sensors, sensors 6 are ultrasonic sensors, sensors 7 are image sensors, sensors 8 are radar sensors, and sensors 9 are ultrasonic sensors. Each of sensors 3 to 9 has a field of view, which is indicated here purely as an example.

[0046] Using the environmental sensing direction 2, the environment 10 of the vehicle 1 is detected, and descriptive environmental data is provided for the environment 10. This environmental data includes an image and a height profile of the surface within the environment 10 on which the vehicle 1 is located. The image is acquired using an image sensor array, which includes, for example, one or more of the sensors 3, 5, and 7. The height profile is acquired using a reflection sensor array, which includes at least one reflection sensor, for example, one or more sensors from sensor 4, sensors 6, sensors 8, and / or sensors 9. In each case, the image and the height profile are combined to obtain a textured surface model of the surface. This surface model is displayed to a user of the vehicle 1 using a display device.

[0047] The Fig.Figure 2 shows, purely schematically and by way of example, a view from the interior of the vehicle 1 into the surroundings 10, namely through a windshield. The dashboard 11 and the hood 12 of the vehicle 1 are shown. A steering wheel 13 of the vehicle 1 is attached to the dashboard. The surface model is displayed by the display device in such a way that the surface model of the hood 12 is superimposed, so that it appears transparent and seemingly allows a view of the ground through the vehicle 1. In addition to the surface model, the wheels 14 of the vehicle 1 are also shown. It may be possible to display the surface model in such a way that it is also visible away from the hood 12, in particular away from the vehicle 1.This achieves a highlighting of the actual subsurface present in the environment 10 of vehicle 1 using the display device. REFERENCE MARK LIST: 1 motor vehicle 2. Environmental sensing device 3 Sensor 4 Sensor 5 Sensor 6 Sensor 7 Sensor 8 Sensor 9 Sensor 10 Environment 11 Dashboard 12 Front hood 13 Steering wheel 14-inch wheel

Claims

[1] Method for operating a driver assistance device for a motor vehicle (1) located on a surface, wherein an image sensor arrangement captures an image representation of the surface in an environment (10) of the motor vehicle (1) and a reflection sensor arrangement captures a height profile of the surface in the environment (10), and the image representation and the height profile are combined in a textured surface model of the surface, which is displayed to a user of the motor vehicle (1) by means of a display device, characterized by, that before combining the image display and the elevation profile, the elevation profile is examined for an object moving relative to the ground based on a temporal elevation profile progression of the elevation profile and, if the object is detected, is cleared of the object, and that a chassis parameter of a chassis of the motor vehicle (1) is recorded by means of at least one sensor and is taken into account when displaying the surface model by means of the display device. [2] Method according to claim 1, characterized by, that the elevation profile includes a first elevation profile recorded at a first time point, for which the motor vehicle (1) has a first vehicle position, and a second elevation profile recorded at a second time point different from the first time point, for which the motor vehicle (1) has a second vehicle position, and is used to identify the moving object based on a difference between the first elevation profile and the second elevation profile, as well as on a difference between the first vehicle position and the second vehicle position. [3] Method according to any one of the preceding claims, characterized by , that the surface model is divided into unchanging areas and changing areas based on the elevation profile, which are taken into account when displaying the surface model using the display device. [4] Method according to any one of the preceding claims, characterized by, that the elevation profile is adjusted based on cast shadows detected in the image display. [5] Method according to any one of the preceding claims, characterized by , that the display of the surface model by means of the display device is dependent on a relative position of the motor vehicle (1) with respect to the ground, whereby at least temporarily both a suspension travel of a suspension of the chassis and a wheel diameter of at least one wheel of the chassis are taken into account and / or at least temporarily a pattern recognition of the image display is used and / or an acceleration of the motor vehicle (1) is evaluated. [6] Method according to claim 5, characterized by that the wheel diameter is determined based on the tire's internal pressure. [7] Method according to any one of the preceding claims, characterized by, that the display of the surface model is carried out using a lighting model, taking into account at least one virtual light source. [8] Driver assistance device for a motor vehicle (1) located on a surface, in particular for carrying out the method according to one or more of the preceding claims, wherein the driver assistance device is provided and configured to capture an image representation of the surface in an environment (10) of the motor vehicle (1) by means of an image sensor arrangement and a height profile of the surface in the environment (10) by means of a reflection sensor arrangement, and to combine the image representation and the height profile in a textured surface model of the surface, which is displayed to a user of the motor vehicle (1) by means of a display device, characterized by, that the driver assistance device is further designed and configured to examine the elevation profile for an object moving relative to the ground before merging the image display and elevation profile, based on a temporal elevation profile progression of the elevation profile, and, if the object is detected, to clean up the object, and to record a chassis parameter of a chassis of the motor vehicle (1) by means of at least one sensor and to take it into account when displaying the surface model by means of the display device. [9] Computer program product comprising commands that cause the driver assistance device according to claim 8 to execute the method according to one or more of claims 1 to 7.

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