Display method, computer program product, controller and vehicle for showing a surrounding model of a vehicle

Abstract

A display method for displaying a surrounding model (200) of a vehicle (100), the display method comprising the following steps: detecting at least one camera image sequence of at least one partial region of the surrounding (150) of the vehicle by means of at least one camera (110); detecting a position (121) of the vehicle (100); storing at least one camera image (230) of the surrounding (150) of the vehicle (100), wherein each stored camera image (230) is respectively assigned the detected position (121) of the vehicle (100) at the point in time of detection of the stored camera image (230); detecting a distance between the vehicle (100) and an object (160) in the surrounding (150) of the vehicle (100); generating at least one close-up projection plane (210) representing a close-up of the surrounding of the vehicle, wherein the close-up projection plane (210) is three-dimensionally deformed in accordance with the detected distance; and displaying a surrounding model (200) in accordance with the generated close-up projection plane (210), at least one current camera image (220), the stored camera image (230) and the current vehicle position.

Description

TECHNICAL FIELD

[0001] The invention relates to a display method for displaying a model of the surroundings of a vehicle. The invention furthermore relates to a computer program and a controller, which are respectively provided for carrying out the method according to the invention. The invention furthermore relates to a vehicle having a controller according to the invention. BACKGROUND

[0002] The document DE 10 2008 034 594 A1 discloses a method for displaying the environment of a vehicle, in which at least two images are mapped onto a virtually reproduced perspective representation of a virtual lane. Furthermore, the displayed images can be composed by means of a synthesis of images from a camera and from an environment recognition device. For example, the contour of a lane and / or the height of objects on the lane can be detected and displayed by means of a curvature corresponding to the image region. For example, a curbstone is detected using an environment recognition device and the virtual lane plane is deformed at the corresponding location.

[0003] The document EP 2 511 137 A1 discloses a display of a model of the surroundings of a vehicle. SUMMARY

[0004] The task of the invention is to improve the known display of a model of the surroundings of a vehicle.

[0005] The above task is solved according to the invention according to the independent claims 1, 13, 14 and 15.

[0006] The invention relates to a display method for displaying a model of the surroundings of a vehicle. In the method, in one step, at least one camera image sequence of at least one partial region of the surroundings of the vehicle is detected by means of at least one camera. The detection of the camera image sequence is carried out in particular continuously. The camera is arranged on the vehicle, wherein the camera preferably has wide-angle optics. Advantageously, at least four cameras are provided on the vehicle, wherein a first camera having a first viewing direction towards the front, a second camera having a second viewing direction towards the rear, a third camera having a third viewing direction towards the right and a fourth camera having a fourth viewing direction towards the left each detect a different partial region of the surroundings of the vehicle. The detected partial regions can overlap partially. In other words, advantageously, the surroundings around the vehicle are detected by means of at least four cameras on the vehicle, wherein these cameras have different viewing directions from one another. In a further method step, detection of the vehicle position is carried out. The detection of the vehicle position is carried out in particular continuously, whereby the current position of the vehicle and the past position of the vehicle are known. The position is detected by means of at least one position sensor, preferably by means of a position sensor of a global navigation satellite system. The position detection can optionally additionally be carried out in accordance with the detected distance to objects in the surroundings and / or in accordance with map data and / or in accordance with ranging data of the vehicle. Subsequently, at least one detected camera image of the surroundings of the vehicle is stored in an electronic memory, in particular at least for a predefined period of time. To each of these stored camera images, the detected vehicle position at the time of the detection of the stored camera image is respectively assigned. In a further step, the distance between the vehicle and objects in the surroundings of the vehicle is detected. The distance is detected in particular three-dimensionally, for example by means of at least one ultrasonic sensor, stereo camera, radar sensor and / or lidar sensor and / or on the basis of a structure-from-motion analysis of at least one camera. At least one near-projection plane of the model of the surroundings is then generated, wherein at least one partial region of the near-projection plane is spatially or three-dimensionally deformed in accordance with the detected distance. It can be advantageous for the near-projection plane to be extended by a far-projection plane, wherein the far-projection plane is not deformed in accordance with the detected distance and the near-projection plane and the far-projection plane are arranged, for example, seamlessly or directly adjacent to one another or separated from one another. The three-dimensional deformation of the near-projection plane in accordance with the detected distance is advantageously carried out from an at least partially flat grid mesh as near-projection plane. The grid mesh can comprise an arbitrary mesh shape here, for example with a triangular or rectangular mesh. The near-projection plane is curved, for example, in accordance with the detected distance and / or in accordance with objects recognized in the camera image, such that the near-projection plane advantageously represents an envelope surface around the ground and objects in the surroundings in the vicinity of the vehicle.The near-projection plane or rather the envelope is preferably a grid net as mentioned above. Finally, the surrounding model is displayed or rather shown on the basis of the generated near-projection plane, the at least one current camera image and the stored camera images and the current vehicle position. In the course of the display or showing, the current camera image is preferably projected as a texture onto the generated near-projection plane and / or the far-projection plane on the basis of the current position of the vehicle and the stored camera images are projected as a texture onto the generated near-projection plane and / or the far-projection plane on the basis of the current position of the vehicle and the vehicle position which is assigned at the point in time of the detection. Advantageously in the course of the showing, a plurality of current camera images from a plurality of cameras and a plurality of stored camera images are projected onto the near-projection plane and / or the far-projection plane. Here, the current and / or the stored camera images are projected onto the near-projection plane and / or the far-projection plane preferably individually for each grid net mesh or for partial areas of the respective image, wherein advantageously for each assigned mesh an image coordinate transformation is carried out for the partial area of the detected camera image on the basis of the mesh shape and the detected distance of the respective belonging grid net point to the vehicle. By this method the following advantages result: In the surrounding model the user is also shown areas of the surrounding model with actual or stored textures which are not currently able to be seen by means of the cameras on the vehicle because they are at least temporarily obscured for example by other objects such as passing vehicles. The method has the advantage that the user is provided with a more complete, more realistic view of the surroundings during parking.

[0007] It can be provided advantageously that the texture areas of the surrounding model are marked on the basis of the stored camera images or on the basis of non-current camera images, for example can be shown in color distortion or in grey instead of color. The user can thereby recognize at any time which areas of the shown surrounding model are currently detected and which are based on stored camera images.

[0008] Advantageously, at least one far-range projection surface is arranged next to the near-range projection surface, which far-range projection surface defines, in particular at least partially, the edge of the surrounding model. This far-range projection surface is, for example, the inner surface of a cylindrical circumferential surface which is arranged substantially perpendicular to the near-range projection surface. The camera image with the more distant view of the surrounding is preferably shown as a texture on this far-range projection surface. In other words, advantageously, the near-range of the surrounding of the vehicle is shown as a texture on the near-range projection surface after three-dimensional deformation, in particular as an envelope surface, while the far-range of the surrounding is shown on at least one far-range projection surface, wherein this far-range projection surface is preferably arranged substantially perpendicular to the near-range projection surface and is not subjected to three-dimensional deformation. The near-range projection surface and the at least one far-range projection surface can optionally be in contact with each other at the border, resulting in the impression of a continuous projection surface. By means of this expansion, it is possible to generate an actual view of the surrounding as a surrounding model using relatively low computing power.

[0009] In a preferred embodiment of the application, it can be provided that the one or more camera images are stored only for a predefined period of time from the current point in time. In other words, in this embodiment, old camera images are discarded or deleted from the electronic memory or overwritten in the electronic memory. It is also possible alternatively or additionally to store the camera images according to a predefined time interval and / or according to a predefined vehicle position distance. In other words, for example, a new camera image is stored every 5 seconds as a predefined time interval and / or after the vehicle has travelled a road section of, for example, 2 meters as a predefined position distance. This results in the respective advantage of limiting the memory space for storing the camera images and enabling lower computing power to be used to show the surrounding model.

[0010] In another embodiment, each stored camera image is additionally assigned a viewing angle of the corresponding camera at the detection point in time. Furthermore, the stored camera images are projected as textures in the shown surrounding model onto the generated near-range projection surface and / or far-range projection surface according to the assigned viewing angle. This configuration of the application results in a lower computing effort for showing the surrounding model.

[0011] In one embodiment, at least one object in the vehicle's surroundings is identified from the detected camera image before the surrounding model is shown. Advantageously, object mobility is also identified. In the alternative identification of object mobility, it is determined, for example, whether the object is in principle mobile or stationary. The height and / or width of the identified object is then determined. In this embodiment, the near-projection plane is additionally deformed in three dimensions when it is generated, depending on the determined height and / or determined width of the identified object. This embodiment results in a realistic surrounding model being provided for the user. Alternatively, the near-projection plane is adapted or deformed or generated depending on the identified object mobility. In order to achieve better perceptibility of moving objects, moving objects can be shown in the surrounding model in a particularly easily recognizable manner depending on the identified object mobility, for example by making the object higher than the detected height and / or wider than the detected object width and / or by identifying the object by color. Moving objects are displayed, for example, on the near-projection plane with double height and / or double width. This makes moving objects particularly easily recognizable.

[0012] In another embodiment, at least one object in the vehicle's surroundings is also identified from the detected camera image. A standard model for the identified object is then loaded from a database, wherein the database contains a large number of stored objects, in particular. In this further embodiment, the spatial deformation takes place when the near-projection plane is generated, additionally depending on the loaded standard model. In other words, the identified objects, for example a vehicle that is parking and / or a house, are loaded as stored standard models from the database and the near-projection plane is deformed spatially or in three dimensions depending on these loaded standard models. This embodiment makes the shown surrounding model appear more realistic to the observer, since, for example, dimensions and views arranged behind the object on the rear side of the vehicle that cannot be detected by means of sensors on the vehicle can also be shown realistically. In this embodiment, a tree as an identified object in the vehicle's surroundings can be shown more realistically in the surrounding model, for example by deforming the projection plane depending on the standard model of a tree.

[0013] It can be provided that at least one texture region is shown at least partially transparent in the illustrated surroundings model on the near-projection plane. Advantageously, at least one texture region is shown at least partially transparent for which the near-projection plane is spatially or three-dimensionally deformed relative to the flat grid net plane as the near-projection plane according to the detected distance data and / or the loaded standard model. The showing of the texture region to the deformed region of the near-projection plane is advantageously semi-transparent. With this configuration of the application, the observer is able to observe through the deformation of the objects or the surroundings model shown in the surroundings model and thus, for example, is able to better assess the parking spaces in the surroundings of the vehicle independently of the perspective angle of the surroundings model. Furthermore, in this configuration, the user is advantageously given the impression of a significantly expanded perceptibility of the surroundings by the surroundings model.

[0014] In a particularly preferred extended embodiment of the application, texture information is received about at least one unknown region of the near-projection plane and / or the far-projection plane for which neither a current camera image nor a stored camera image is present in the electronic memory of the vehicle, wherein this is carried out from a server device and / or from other vehicles according to the current vehicle position. This is carried out, in particular, by means of a radio connection to the server device and / or the other vehicles. In other words, the received texture information comprises the texture of unknown regions of the nearer and / or the more distant surroundings, which are not currently visible to the vehicle camera. In this extended embodiment, the showing of the surroundings model additionally comprises the projection of at least a portion of the received texture information on the unknown region of the generated near-projection plane and / or the far-projection plane. Alternatively, it can be provided that an estimated texture is projected or placed on the unknown region of the generated near-projection plane and / or the far-projection plane, wherein this comprises, for example, the average or a copy of the texture adjacent on the near-projection plane and / or the far-projection plane. The estimated texture can optionally also be attributed to a standard model loaded on the basis of the recognized objects. With this extended embodiment, the near-projection plane and / or the far-projection plane is advantageously completely covered with actual texture when showing the surroundings model, even if the respective partial region of the projection plane is not currently visible by means of the camera on the vehicle and / or is currently not visible.

[0015] In an extension of the above-mentioned extended embodiment, the received texture information or the estimated texture is abstractly projected onto the near-projection plane and / or the far-projection plane during the representation of the surrounding model. This results in the advantage that it is easy for the user to identify which areas of the near-projection plane and / or the far-projection plane are detected by the camera of the vehicle and which surrounding areas are represented based on the received texture information or by means of the estimated texture. The abstraction can be carried out, for example, by emphasizing edges and / or changing the texture information and / or the estimated texture in terms of color. Furthermore, inaccuracies in the representation of the surrounding model, for example color deviations between the current camera image and the received texture information and / or the estimated texture, are advantageously avoided in this extension so that the user does not notice them, since the abstraction of the received texture information and / or the estimated texture advantageously provides the user with additional information about the real-time property of the texture.

[0016] In another embodiment, a border line between the received texture information and / or the estimated texture and / or the current camera image and / or the stored camera image is highlighted on the near-projection plane and / or the far-projection plane when the surrounding model is represented or is alternatively smoothed. The border line is represented, for example, in color. Thereby, the respective image source is highlighted to the user, in particular, so that the user can well estimate the real-time property of the image source.

[0017] In another embodiment, danger information is received from a server device and / or from other vehicles depending on the current vehicle position, wherein the danger information is in particular assigned to danger position information. In this embodiment, the representation of the surrounding model additionally comprises the received danger information, wherein the received danger information is in particular represented as a texture and / or a symbol on the near-projection plane and / or the far-projection plane depending on the assigned danger position information. By means of this embodiment, the user is advantageously made aware of a danger in the surrounding of the vehicle, even if the danger is located behind an object. The danger information comprises, for example, a road area near a school or a kindergarten or a playground or playing children or a crossing with a high accident risk. Thereby, the user is advantageously made aware of or sensitive to possible dangers in the surrounding. The risk of an accident of the user is thus advantageously reduced.

[0018] It can be provided that the texture in the danger area of the surrounding model is color-coded depending on the danger position information assigned to the received danger information for the received danger information. In particular, the danger area is colored within a predefined distance with respect to the assigned danger position information and / or depending on the danger information. For example, a construction site is colored differently from the area of the surrounding model in order to provide a danger information that children are playing. By means of this configuration, the user can easily divide or identify the danger area.

[0019] It is also preferred to detect an input by a user to activate the method. In particular, the input can be detected by activating a parking assistance function using a button. It is particularly preferred that the input represents a desired navigation route or a desired driving destination or driving target. In other words, the method is advantageously automatically initiated upon reaching the driving target area.

[0020] The invention further relates to a computer program, wherein the computer program is configured to execute the display method according to the invention.

[0021] The present invention further relates to a controller, wherein the controller is configured to execute the display method according to the present invention.

[0022] The invention also relates to a vehicle, wherein the vehicle comprises a controller according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Further advantages will be apparent from the following description of exemplary embodiments with reference to the accompanying drawings.

[0024] Figure 1 :vehicle

[0025] Figure 2 : Schematic diagram of the surrounding environment model

[0026] Figure 3 : A flow chart of the method shown as a block diagram. DETAILED DESCRIPTION

[0027] Figure 1The vehicle 100 with four cameras 110 is schematically shown from above or from a top view or bird's eye perspective. Each of the four cameras 110 has a wide-angle optics. Each camera 110 detects a corresponding detection area or camera image sequence of a surrounding 150 of the vehicle 100. The vehicle 100 furthermore comprises a position sensor 120 which is arranged for determining a current position 121 of the vehicle. The position sensor 120 is preferably a sensor of at least one global navigation satellite system, such as GPS, Galileo, Glonass and / or Beidou. The vehicle 100 furthermore comprises an electronic memory 130 which is arranged for storing the detected camera images 230, wherein the stored camera images 230 are each assigned to a position 121, 122, 123 or 124 of the vehicle 100 at the point in time of the detection, preferably also to the viewing angle of the corresponding camera 110 in which the stored camera image was detected. The vehicle 100 furthermore comprises a controller 140 which is arranged for carrying out the display method according to the application. On the vehicle, furthermore, an ultrasonic sensor 170, a laser radar sensor 180 and a stereo camera 190 are arranged as distance sensors. The ultrasonic sensor 170 is arranged at the front, rear and left and right vehicle sides. In the present embodiment, the laser radar sensor 180 and the stereo camera 190 for detecting distances in different weather conditions have a detection area which is directed in the driving direction of the vehicle 100 or in other words in the forward direction.

[0028] In Figure 2 A surrounding model 200 for illustrating a surrounding 150 of a vehicle 100 is schematically shown in Figure 2The near-projection surface 210 and the far-projection surface 290 can also comprise different partial regions of a basin-shaped surface in the embodiment shown, so that the near-projection surface 210 and the far-projection surface 290 can be arranged directly adjacent to one another, for example, and can have a curvature in part. The far-projection surface 290 represents a far view of the surroundings 150 of the vehicle 100. In the present embodiment, the far-projection surface 290 is configured in one piece as an inner surface of a cylindrical circumferential surface. The far-projection surface 290 can alternatively also be embodied as a portion of a circumferential surface, for example as a half-shell and arranged in the direction of travel, or a plurality of far-projection surfaces 290 can be provided, for example arranged at right angles around the near-projection surface 210. In other words, textures or camera images 220, 230 are shown on the near-projection surface 210 in the surroundings model, which depict or represent a near view of the surroundings 150 of the vehicle 100. Conversely, textures or camera images 220, 230 are shown on the far-projection surface 290, which depict or represent a far view or a more distant surroundings region of the surroundings 150. The near-projection surface 210 occurs spatially or three-dimensionally depending on the detected distances to the objects 240, 241 and 242 and / or depending on the standard models loaded for the recognized objects 240, 241 and / or 242. The near-projection surface 210 thus advantageously forms an envelope curve around the objects 240, 241 and 242 and the ground in the near view of the surroundings 150 of the vehicle 100. In the present embodiment, the vehicle 100 is in motion, for example. In other words, the surroundings model changes continuously, since the textures on the near-projection surface 210 and the far-projection surface 290, for example, move in correspondence with the current vehicle position or new objects appear in the near-projection surface 210 or recognized objects 240, 241 and / or 242 disappear from the near-projection surface 210. For example, within a predetermined time period before the current point in time, the vehicle has moved from the first vehicle position 124 via the penultimate vehicle position 123 and the last vehicle position 122 to the current vehicle position 121. During the movement from the first vehicle position 124 to the current vehicle position 121, a sequence of camera images 220 is continuously detected by means of each camera 110 on the vehicle and the individual camera images 230 are stored, wherein each stored camera image 230 is assigned a corresponding vehicle position 124, 123, 122 or 121 of the vehicle 100 at the point in time of detection of the corresponding camera image 230. The frequency of storing the camera images or the number of stored camera images 230 and / or the predetermined time period for storing the camera images 230 can be determined or set in each case depending on the vehicle speed and / or the vehicle position.The time period for storing camera images 230 and the frequency of storing camera images 230 are preferably set such that a texture can be projected onto the near-projection plane 210 and / or the far-projection plane 290 of the surrounding model 200 for all surrounding regions that can be seen by means of the camera 110 during the movement of the vehicle 100. In other words, camera images 230 stored or saved in the electronic memory 120 for the old view range 270 that can no longer be seen at the current vehicle position 121, so that the surrounding model can be shown more realistically than with only the current camera images 220 as texture. The surrounding model 200 is thus shown from the current camera images 220 and the stored camera images 230, so that for surrounding regions that cannot be seen by means of the camera 110 from the current vehicle position, or in other words for the old view range 270, a realistic texture can also be shown in the surrounding model 200. The user is given the impression that the representation of the surrounding model 200 significantly expands the possible perception of the user. On the near-projection plane 210 and / or on the far-projection plane 290 there can also be unknown regions 280, 281 that cannot be seen by means of the camera 110 of the vehicle 100 during the driving of the vehicle 100 and are also not currently visible, for example because these unknown regions 280, 281 are obscured by large objects 240, 241, 242. The texture information of these unknown regions 280, 281 is preferably received from a server device and / or from other vehicles. Alternatively or additionally, the texture of the respective unknown region 280, 281 is estimated. The estimation of the texture of the unknown regions 280, 281 can be made from the recognized objects 240, 241 or 242 in this region 280, 281 and / or by means of a copy of the texture of the adjacent projection in the surrounding model. The texture information for the unknown region 280 is received, for example from a server device, and projected onto the region 280. A blurred copy or an abstractly shown copy of the texture adjacent to the unknown region 281 in the surrounding model 200 can be projected or shown onto the not visible or unknown region 281 of the far-projection plane 290.

[0029] Figure 3is a flow chart of the display method, which is illustrated as a block diagram. In an optional first step 310, an input by a user for activating the method is detected. The input in step 310 can be made, for example, by activating a parking assistance function by means of a button. Alternatively, an input of a target position or a driving target by the user is made, wherein the activation 310 is performed automatically when the vehicle 100 reaches an area around the driving target. In a step 320 of the method, the surroundings 150 of the vehicle 100 are detected by means of at least one camera 110. In a further step 330, the position 121 of the vehicle 100 is detected. Subsequently, in a step 340, at least one camera image 230 of the surroundings 150 of the vehicle is stored in an electronic memory 130, each stored camera image 230 being assigned the vehicle position 121 detected at the point in time of the detection of the camera image 230. Preferably, each stored camera image is additionally assigned the viewing angle of the corresponding camera 110 at the point in time of the detection. Furthermore, the storage 340 of the camera images 230 is advantageously performed in accordance with a predefined time period, in accordance with a predefined time interval and / or in accordance with a predefined vehicle position distance. In a further step 350 of the method, the distance between the vehicle 100 and an object 240, 241, 242 in the surroundings 150 of the vehicle 100 is detected, wherein the detection of the distance is preferably performed three-dimensionally. In an optional step 360, at least one object 240, 241, 242 in the surroundings 150 of the vehicle 100 is object-identified in accordance with the detected and / or stored camera images 220, 230. In a further optional step 361, it can be provided that the height and / or the width of the identified object 240, 241, 242 is determined. In a further optional step 362, it can be provided that a standard model for the identified object 240, 241, 242 is loaded from the electronic memory. Subsequently, in a method step 370, at least one near-range projection plane 210 is generated. The near-range projection plane 210 represents a near-range of the surroundings 150 of the vehicle 100. The near-range projection plane 210 is generated in step 370 three-dimensionally deformed in accordance with the detected distances. In step 370, it is optionally provided that the near-range projection plane 210 is additionally deformed spatially or three-dimensionally in accordance with the determined height and / or the determined width of the identified object 240, 241, 242 and / or in accordance with the loaded standard model for the identified object 240, 241, 242. In step 370, it can further be provided that the near-range projection plane 210 is additionally three-dimensionally deformed in accordance with the determined object mobility. In an optional step 380, it can be provided that texture information is received about the near-range projection plane 210 and / or about at least one unknown area 280 of the far-range projection plane 290, for which neither a current camera image 220 nor a stored camera image 230 is present in the electronic memory 130 of the vehicle 100.The texture information is received in particular from a server device and / or from other vehicles depending on the current vehicle position 121 and advantageously after a request for texture information is transmitted depending on the current vehicle position 121 or the position or the location of the unknown region 280. In an optional step 386 it can be provided that hazard information is received from a server device and / or from other vehicles depending on the current vehicle position, wherein the hazard information is in particular attributed with position information. In a step 390 the surrounding model 200 is displayed or shown depending on the generated near-projection plane 210, the at least one current camera image 220, the stored camera image 230 and the current vehicle position 121. The showing 390 of the surrounding model 200 optionally additionally comprises a projection of at least a part of the received texture information onto the near-projection plane 210 and / or the far-projection plane 290 on the unknown region 280. Optionally, in the method step 390 the received texture information or the estimated texture in the surrounding model is abstractly projected onto the near-projection plane 210 and / or the far-projection plane 290. Furthermore, in the showing 390 of the surrounding model 200 optionally a border line between the received texture information or the estimated texture and the current camera image 220 or the stored camera image 230 can be highlighted on the near-projection plane 210 and / or the far-projection plane 290. The showing 390 of the surrounding model 200 optionally can additionally comprise the received hazard information, wherein the received hazard information is in particular shown on the near-projection plane and / or the far-projection plane depending on the attributed position information. In the showing 390 of the surrounding model 200 for the received hazard information, the texture in the hazard region of the surrounding model 200 can be colorized depending on the position information attributed to the received hazard information. For example, the hazard region is colored within a predefined distance with respect to the position information of the hazard information and / or depending on the hazard information. In the step 290 additionally it can be provided that a part region of the near-projection plane representing a reflective surrounding region is identified by a trained neural network or by an automated trained recognition method. A reflective surrounding region is for example a window glass or an exterior mirror of another vehicle in the surrounding of the vehicle or a mirror facade or a glass facade of a building in the surrounding of the vehicle. The showing 390 of the surrounding model 200 optionally can comprise at least one projection of at least a part of the current camera image 220, a part of the stored camera image 230, a part of the received texture information or a part of the estimated texture on an identified part region representing an identified reflective surrounding region.

Claims

1. A method for displaying a surrounding environment model of a vehicle, the method comprising the following steps: capturing at least one camera image sequence of at least one subregion of the vehicle's surroundings by means of at least one camera arranged on the vehicle; Detecting the position of the vehicle; Storing at least one camera image of the vehicle's surroundings in an electronic memory, wherein a position of the vehicle detected at the time of the detection of the stored camera image is assigned to each stored camera image; Detecting the distance between the vehicle and objects in the vehicle's surroundings; generating at least one near-view projection surface representing a near view of the surrounding environment around the vehicle, wherein the near-view projection surface is deformed three-dimensionally according to the detected distance; and displaying the surroundings model based on the generated near-view projection surface, at least one current camera image, stored camera images, and the current vehicle position, wherein a plurality of current camera images and a plurality of stored camera images from a plurality of cameras are projected onto a near-view projection surface and / or a far-view projection surface, wherein regions of the surroundings model with the actual or stored texture are shown to the user, said regions being no longer visible by the cameras on the vehicle because they are at least temporarily obscured by other objects, Among them, the following steps are performed: receiving texture information about at least one unknown area of ​​the near-view projection surface and / or the far-view projection surface, for which at least one unknown area neither a current camera image nor a stored camera image is present in the electronic memory of the vehicle, wherein the receiving is performed from a server device and / or from another vehicle based on the current vehicle position; and showing the surrounding environment model, wherein the surrounding environment model additionally includes a projection of at least part of the received texture information onto the unknown area of ​​the near-view projection surface and / or the far-view projection surface, Wherein, when the surrounding environment model is shown, the received texture information is abstractly projected onto the near-view projection surface and / or the far-view projection surface.

2. The method according to claim 1, wherein The storage of the camera images is carried out as a function of a predefined time period, as a function of a predefined time interval, and / or as a function of a predefined position distance of the vehicle.

3. The method according to claim 1 or 2, wherein: In addition, each stored camera image is assigned a viewing angle of the corresponding camera at the detection time point, and when the surrounding environment model is displayed, the stored camera image is additionally projected as a texture onto the generated near-view projection surface and / or far-view projection surface according to the assigned viewing angle.

4. The method according to claim 1 or 2, wherein: Before displaying the surrounding environment model, the following steps are performed: identifying at least one object in the surroundings of the vehicle based on the detected camera image; Find the height and / or width of the identified object, and Additionally, the near-view projection surface is generated as a function of the ascertained height and / or ascertained width of the detected object.

5. The method according to claim 1 or 2, wherein: Before showing the surrounding environment model, the following steps are performed: Identifying at least one object in the vehicle's surroundings based on the detected camera image; Loading a standard model for the identified object; and Additionally, the near-view projection surface is generated based on a loaded standard model for the detected object.

6. The method according to claim 5, wherein: At least one texture area is at least partially transparently displayed on the near-view projection surface in the surroundings model.

7. The method according to claim 1 or 2, wherein: When the surrounding environment model is shown, the received texture information and / or the estimated texture and / or the current camera image and / or the boundary line between the stored camera images is highlighted on the near-view projection surface and / or the far-view projection surface.

8. The method according to claim 1 or 2, wherein: Perform the following steps: Receiving hazard information from a server device and / or from other vehicles based on the current vehicle position, wherein the hazard information is associated with position information; and Displaying the surroundings model, wherein the surroundings model additionally includes the received danger information, wherein the received danger information is displayed on the near-view projection surface and / or the far-view projection surface as a function of the associated position information.

9. The method according to claim 8, wherein When the surrounding environment model is displayed for the received danger information, the texture in the danger area of ​​the surrounding environment model is marked with color according to the position information assigned to the received danger information, and the danger area is colored within a predetermined distance relative to the assigned position information and / or according to the danger information.

10. The method according to claim 1 or 2, wherein: Before displaying the surrounding environment model, the following steps are performed: - detecting an input by a user for activating the method, wherein the input represents a desired driving destination for the user.

11. A computer program product, wherein: The computer program product comprises a computer program which is configured to carry out the method according to claim 1 .

12. A controller, wherein: The controller is configured to perform the method according to any one of claims 1 to 10 .

13. A vehicle comprising a controller according to claim 12.

Images