System, method and software for displaying distance markers

Abstract

The invention relates to a system for displaying a distance marker for a driver of a motor vehicle, which is configured to receive speed information relating to the speed of the motor vehicle. A safety distance of the motor vehicle relative to a preceding vehicle is determined from the speed information, image information for displaying the distance marker is generated from the determined safety distance, and the distance marker is displayed at a distance from the motor vehicle in the front traffic situation by means of a display device on the basis of the image information.

Description

TECHNICAL FIELD

[0001] The present invention relates to a system, a method and software for displaying a distance marker for a driver of a motor vehicle, in particular a passenger car. BACKGROUND

[0002] It is often difficult for a driver of a motor vehicle to maintain a recommended safety distance to a road user driving ahead, for example because the driver does not correctly assess the distance to the vehicle driving ahead. This can lead to the risk of a rear-end collision in case the vehicle driving ahead suddenly brakes. SUMMARY

[0003] It is an object of the present invention to provide assistance to the driver so that the driver more easily maintains a safety distance to the vehicle driving ahead.

[0004] This object is achieved by the features of the independent claims. Advantageous embodiments are specified in the dependent claims. It is noted that additional features of claims dependent on an independent claim can constitute a separate invention independent of all combinations of the features of the independent claim, either without the features of the independent claim or only in combination with a subset of the features of the independent claim, which can be the subject of an independent claim, divisional application or subsequent application. The same applies to technical theories described in the specification which can form an invention independent of the features of the independent claim.

[0005] A first aspect of the present invention relates to a system for displaying a distance marker, in particular a distance line, for a driver of a motor vehicle. The system is arranged to perform the different actions described below. This is typically done by means of one or more software-controlled devices, in particular an electronic control unit. Each of the one or more software-controlled devices can comprise one or more programmable processors which work in a program-controlled manner by means of one or more software programs in a manner according to the invention.

[0006] The system is arranged to receive speed information relating to a vehicle speed, i.e. typically a current actual vehicle speed.

[0007] From the speed information, a safety distance of the motor vehicle relative to a vehicle driving ahead is determined. For example, the safety distance is calculated according to an empirical formula, i.e. the distance equals half the speedometer. It can be provided that a fixed safety distance independent of the vehicle speed, for example 15 m, is used in closed areas.

[0008] From the determined safety distance, image information for displaying the distance marker is generated, wherein the distance marker is displayed at a distance from the motor vehicle in front of the traffic situation from the perspective of the driver by means of a display device on the basis of the image information.

[0009] The displayed distance marking assists the driver in estimating the distance to the vehicle in front, so that the driver does not drive too close to the vehicle in front. The display of the distance marking is preferably provided for manually operating the vehicle without automatic longitudinal guidance when the driver predefines the driving speed by manipulating the accelerator pedal. However, it is also conceivable that the distance marking is displayed even in an automated driving mode with at least automatic longitudinal guidance, for example according to SAE level 1, 2 or 3, in order to signal to the driver to maintain a safe distance.

[0010] The distance marking can be part of an AR (Augmented Reality) visualization which comprises further information in addition to the distance marking.

[0011] According to a first embodiment of the application, a head-up display can be used as display device, wherein the distance marking is projected into the field of view of the driver by means of the head-up display on the basis of the image information.

[0012] Alternatively, according to a second embodiment of the application, a screen arranged in the vehicle cabin can be used as display device, wherein an updated image of the traffic situation in front is continuously generated by means of a video camera. Alternatively, a VR headset (VR Virtual Reality) can also be used. On the basis of the image of the traffic situation in front and the image information for displaying the distance marking, the distance marking is displayed in the image of the traffic situation in front on the screen. In the second embodiment, two video streams (video signals) are preferably generated, namely a first video stream with the image of the traffic situation in front and a second video stream with the image information for displaying the distance marking and a transparent background, if necessary with further image information of the AR visualization, for example object markings of the vehicle in front. These video streams are then superimposed and the superimposed video signal is then displayed on the screen.

[0013] In a third embodiment of the application, AR glasses can also be used as display device.

[0014] Advantageously, the distance marking is a distance line which preferably has a depth from the perspective of the driver and which is preferably located on the lane plane from the perspective of the driver (in the video image of the lane in the case of the use of a screen, or on the real lane in the case of the use of a head-up display or AR glasses).

[0015] The distance line, for example, has a shadow and is increasingly transparent to the sides.

[0016] It is generally advantageous to use for the application a 3D environment model of the motor vehicle's environment, in which a distance object corresponding to the distance marking is integrated in the 3D environment model in a distance-correct manner with respect to the assumed position of the motor vehicle in the 3D environment model. The distance object is located, for example, as a two-dimensional graphic object in the ground plane in the 3D environment model. The calculated 3D environment model can then be 2D-projected (i.e. projected on a 2D image plane by a "virtual" taking of the 3D scene), in order to generate image information for displaying the distance marking. The 2D projection can be displayed, for example, from the assumed viewing angle of the video camera in the case of the second embodiment of the application (display of the video image and the distance marking on a screen in the vehicle's cockpit) or from the assumed viewing angle of the driver in the case of the first embodiment of the application (display of the distance marking on a head-up display). The result of the 2D projection corresponds, for example, directly to the image information for displaying the distance information. Alternatively, the result of the 2D projection can also be subjected to further signal processing.

[0017] Preferably, it should be ensured that the distance line is covered by the preceding vehicle in order to better estimate the distance. For this purpose, position information relating to the position of the preceding vehicle of the motor vehicle, for example the distance and the directional angle to the preceding vehicle, can be determined by means of the environment sensors, for example the front radar and / or the front video camera. On the basis of the position information, the image information is generated for displaying the distance line in such a way that the distance line is completely or partially covered by the preceding vehicle. Thus, from the driver's perspective, the displayed distance line is covered by the preceding vehicle (in the video image or real image with a head-up display / AR glasses) along its entire length or a partial length.

[0018] For example, the distance line is covered in such a way that it is not present or at least its visibility is reduced at the position of the preceding vehicle. Furthermore, the distance line can also be covered by the preceding vehicle if the preceding vehicle is located in front of the distance line from the perspective of the own motor vehicle.

[0019] Preferably, the distance line extends laterally beyond the width of the preceding vehicle, in particular on both sides of the preceding vehicle (in the video image or real image), wherein the distance line in the area of the preceding vehicle is interrupted or at least its visibility is reduced (for example displayed transparently).

[0020] As soon as the above-mentioned 3D environment model is used, the 3D model of the preceding vehicle can also be set in a position-correct manner with respect to the assumed position of the motor vehicle in the 3D environment model on the basis of the position information in order to achieve the covering of the distance line by the preceding vehicle in the 3D environment model. The 3D model of the vehicle is, for example, a cuboid which is placed in the 3D model on the basis of the detected position of the preceding vehicle.

[0021] In the 2D projection of the 3D environment model described above, the distance line is partially or completely covered by the preceding vehicle as long as the preceding vehicle is located in a position in which the coverage is achieved.

[0022] For example, coverage can occur when a distance object or a part thereof corresponding to the distance line is located

[0023] - below the 3D model or in the 3D model, or

[0024] - behind the 3D model.

[0025] According to the 2D projection, the image parts belonging to the preceding vehicle (resulting from the projection of the 3D model) are preferably removed in the result of the 2D projection, in particular by making these image parts transparent. The parts of the distance line that are covered by the 3D model are thus also made transparent and thus not visible to the driver in the displayed image.

[0026] The image of the traffic situation ahead can be generated by means of a camera, and the image of the traffic situation ahead can be semantically segmented in order to determine the image parts of the preceding vehicle. On the basis of the determined image parts, the image information for displaying the distance marking can be generated. By using semantic image segmentation, the coverage of the distance line by the preceding vehicle can be displayed more realistically, for example by interrupting the distance line according to the precise contours of the preceding vehicle. For example, on the basis of the determined image parts of the preceding vehicle, a detailed 3D model different from a simple cuboid can be generated, so that the coverage takes place as far as possible without disturbing artefacts.

[0027] It is advantageous if the distance marking moves in accordance with the driving direction predetermined by the steering in order to display the driving direction to the driver. To this end, a variable characterizing the driving direction, in particular the curvature of the motor vehicle's driving trajectory, is used to generate the image information for displaying the distance marking such that the displayed distance marking moves horizontally in order to display the current driving direction when the driving direction changes.

[0028] It is advantageous in this case if the curvature circle of the driving trajectory or a part of the curvature circle, i.e. an arc, is determined from the variable characterizing the driving direction, in particular the curvature of the driving trajectory. To this end, for example, the radius of curvature is first determined from the curvature. Then, the horizontal position of the distance marking is determined from the curvature circle or the curvature circle arc and the determined safety distance. This results, for example, from the intersection between the curvature circle or the curvature circle arc and the safety distance, if necessary offset by a certain deviation.

[0029] As soon as a 3D environment model is used, the travel direction object, in particular the curvature circle or a part of the curvature circle, corresponding to the travel direction can be set in a position-correct manner with respect to the position of the vehicle assumed in the 3D environment model of the motor vehicle in accordance with the variable characterizing the travel direction in the 3D environment model. The travel direction object is preferably placed on the ground plane in the 3D environment object. In the 3D environment model, the distance object is preferably placed on the curvature circle or the circular arc in accordance with the position of the curvature circle or the circular arc.

[0030] The distance object is preferably located at a position of the travel direction object such that this position has a safety distance or a safety distance offset by a certain deviation from the position of the circular path along the curvature circle assumed in the 3D environment model.

[0031] If the safety distance with respect to the vehicle front is determined, but the reference point of the vehicle position in the 3D environment model is located in the middle of the rear axle (then the deviation corresponds to the distance between the rear axle and the vehicle front), then the deviation needs to be used if necessary.

[0032] In other words, the curvature circle or the curvature circular arc is preferably located at the bottom of the 3D environment model. Then, the center of the distance line can be placed on the curvature circle seen from the vehicle position with a safety distance, if necessary offset by a certain deviation, in the 3D environment model.

[0033] It can be provided that the distance to the vehicle in front is determined by means of the environment sensors and that the distance marker is displayed in a highlighted manner, in particular in a color-highlighted manner (for example red), as soon as the determined distance to the vehicle in front is less than or less than or equal to a threshold value. For example, the determined safety distance or a variable depending on the safety distance, for example 90% of the safety distance, is suitable as a threshold value. Here, different threshold values can be used, which are respectively highlighted differently for the distance marker, for example a yellow distance marker below the safety distance and a red distance marker below 90% of the safety distance.

[0034] If the distance threshold value is undershot, the vehicle in front can also be displayed in color, for example yellow or red, as an alternative to the distance marker, in particular the distance line.

[0035] It is furthermore advantageous to use distance regulation cruise control preset information about a driver-side distance preset of a distance regulation cruise control integrated in the motor vehicle, also called ACC system, ACC - adaptive cruise control, for calculating the safety distance. For example, for the distance regulation cruise control, the driver can select one of three presets "long distance", "medium distance" or "short distance" to the vehicle in front, whereby the distance regulation cruise control adjusts the distance to the vehicle in front according to the selected preset. This preset of the distance regulation cruise control can also be used for the display system according to the invention, and the display of the distance marker is influenced according to the preset of the distance regulation cruise control, for example:

[0036] - in the case of the ACC preset "short distance", the distance marker is displayed at a distance of 80% of the calculated safety distance,

[0037] - in the case of the ACC preset "medium distance", the distance marker is displayed at a distance of 100% of the calculated safety distance,

[0038] - in the case of the ACC preset "long distance", the distance marker is displayed at a distance of 120% of the calculated safety distance.

[0039] The adjustment of the displayed safety distance according to the ACC preset is based on the consideration that a driver who prefers a large, small or medium distance to the vehicle in front in the ACC driving mode also prefers a large, small or medium distance to the vehicle in front in the manual driving mode, whereby the display of the distance marker in the manual driving mode should be adapted to this.

[0040] However, it is also conceivable to use driver information about a previous braking behavior of the driver in order to determine the safety distance of the motor vehicle relative to the vehicle in front from the driver information. The braking behavior for example involves a reaction time of the driver after the braking of the vehicle in front or the reaction time plus the braking time or only the reaction time after the braking of the vehicle in front. It is advantageous to determine the braking behavior of the same driver in various trips, whereby the driver is identified by a corresponding drive identification.

[0041] A second aspect of the invention relates to a method for displaying a distance marker for a driver of a motor vehicle, having the following steps:

[0042] - receiving speed information about a speed of the motor vehicle;

[0043] - determining a safety distance of the motor vehicle relative to a vehicle in front from the speed information; and

[0044] - generating image information for displaying the distance marker from the determined safety distance, and displaying the distance marker at a distance from the motor vehicle in the traffic situation in front from the perspective of the driver by means of a display device based on the image information.

[0045] The above-described embodiments of the system according to the first aspect of the invention are also applicable in a corresponding manner to the method according to the second aspect of the invention. Advantageous embodiments of the method not explicitly described herein correspond to advantageous embodiments of the system described above.

[0046] A third aspect of the invention relates to software having program code for executing the method according to a second aspect of the invention when the software is run on one or more software-controlled devices. Here, the software-controlled device preferably includes one or more programmable processors that process the software program code loaded into working memory.

[0047] Furthermore, the present invention relates to a computer-readable (memory) medium including instructions that, when a software-controlled device is in operation, cause it to execute the method according to the invention. Attached Figure Description

[0048] The present invention will now be described with reference to the accompanying drawings and embodiments. Wherein:

[0049] Figure 1 An exemplary flowchart illustrating the functionality of a system embodiment for displaying distance lines is shown;

[0050] Figure 2 and Figure 4 An exemplary 3D environment model is shown; and

[0051] Figure 3 and Figure 5 An exemplary video display is shown. Detailed Implementation

[0052] Figure 1 An exemplary flowchart is shown, illustrating the functionality of an embodiment of a display system for displaying distance lines according to the present invention. In this embodiment, it is assumed that a video image of a traffic event ahead overlaps with an image of the distance lines, and the resulting video image is displayed on a screen in the vehicle's cockpit (e.g., an instrument panel).

[0053] In step 100, the display system receives the current vehicle speed v determined by the onboard environmental sensor system, and in step 110, calculates a safe distance S to be maintained relative to the preceding vehicle based on the vehicle speed v. The safe distance S represents the distance required to be maintained from the front of the vehicle to the rear of the preceding vehicle. For example, the safe distance S is calculated using an empirical formula where the distance equals half the speedometer reading. Within a closed area, a fixed safe distance S, independent of vehicle speed, is used, for example, 15m. In step 120, a 3D environment model of the vehicle's environment is calculated, in which the distance line object 200 is positioned in a distance-correct manner relative to the assumed position of the vehicle in the 3D environment model based on the calculated safe distance S.

[0054] This 3D environment model has three spatial axes: x (vehicle horizontal axis), y (vehicle vertical axis), and z (vehicle vertical axis). Figure 2 As shown, the origin (reference point) 210 of the 3D environment model corresponds to the position of the vehicle itself, that is, the position of the rear axle center, which is 0 (e.g., 4m) from the front of the vehicle.

[0055] The distance line object 200 is orthogonal to the y-axis and parallel to the x-axis. It is a two-dimensional graphic object with a predetermined length and width located on the ground plane in the 3D environment model.

[0056] Provided the vehicle's trajectory is not curved (i.e., there is no steering angle impact), the distance line object 200 is located at a distance of S+O from the vehicle position 210 in the direction of the vehicle's longitudinal axis y (if turning, refer to...). Figure 4 and Figure 5 (and the description). In this example, the distance S+O is related to the center of the 2D graphic object in the y direction (alternatively, this could also be related to other references of the 2D graphic object).

[0057] In addition, Figure 1 In step 130, other vehicles traveling in the vicinity of the vehicle are detected using appropriate environmental sensors (e.g., camera sensors). Based on this, Figure 2 In the illustrated 3D environment model, the 3D models 220 and 230 of the preceding vehicle are positioned correctly at the location of the vehicle based on location information. In this example, the 3D models 220 and 230 of the vehicle are simple cubes located in the 3D model according to the detected position of the preceding vehicle. The dimensions of the 3D models 220 and 230 facing the rear of the vehicle preferably correspond to the height and width of the detected preceding vehicle, respectively. A fixed value (e.g., 5 meters) can be used for the length of the 3D model, or a value adapted to the corresponding identified vehicle type (e.g., passenger car or truck) can be used by means of the identification of the corresponding vehicle type.

[0058] The calculated 3D environment model with the distance line objects 200 positioned in a distance-correct manner and the 3D models 220, 230 of the detected preceding vehicle is then 2D-projected in step 130. Here, the distance line objects 200 are partially or completely covered by the 3D model of the preceding vehicle when the distance line objects 200 are located below the preceding vehicle (see Figure 3 ) or behind the preceding vehicle (see Figure 5 ) from the perspective of the front camera (or the driver in the case of a head-up display).

[0059] In this example, the 2D projection is performed from the assumed perspective of the front camera continuously recording the preceding traffic situation in step 140. The 3D environment model is constantly updated by means of the changing preceding traffic situation and the current vehicle speed v, so that the image of the 2D projection is also constantly updated.

[0060] In step 135, the image portions belonging to the preceding vehicle (resulting from the projection of the 3D model) are removed in the result of the 2D projection by making these image portions partially transparent. Thereby, the portions of the distance line covered by the 3D model 220, 230 also become transparent and thus invisible to the driver in the displayed image.

[0061] The video stream of the 2D projection and the video stream of the front camera are superimposed in step 150.

[0062] The generated video image 300 is shown in Figure 3 , which is displayed on the screen in step 160. As can be seen from Figure 3 , the shown distance line 200' is covered by the preceding vehicle over a portion of its length. The distance line 200' extends laterally beyond the width of the preceding vehicle and is interrupted in the area of the preceding vehicle. The distance line 200' has a certain depth and is preferably increasingly transparent towards the side (not shown). Furthermore, the distance line 200' preferably also has a shadow.

[0063] Furthermore, it is provided in the embodiment in Figure 1 that the displayed distance markings move horizontally (and if necessary also slightly horizontally) when the steering angle changes, and thus when the driving direction changes. For this purpose, the current curvature k of the trajectory of the own motor vehicle is received in step 170, and used to position a curvature circle (radius 1 / k) or a portion thereof, i.e. an arc, in the 3D environment model in a position-correct manner. Such a curvature circle arc 400 is shown in Figure 4The curvature circle arc 400 lies in the 3D environment object on the ground plane. Then, in the 3D environment model, the center 410 of the distance line object 200 is placed in the x-axis direction of the curvature circle object 400 at a position on the curvature circle arc 400 which has a distance S+O from the assumed motor vehicle position in the 3D environment model along the curvature circle arc 400. The distance S+O is thus measured along the circular path. Here, the distance line object 200 is positioned orthogonally to the line of the curvature circle arc 400.

[0064] In Figure 5 The distance line 200' in the synthetic video image 300 in Figure 3 The video image 300 in Figure 5 In order to clarify the working principle, the center of the distance line 210' in the horizontal direction is marked by the point 410', which corresponds to the point 410 in the 3D environment model.

Claims

1. A system for displaying distance markers (200') to a driver of a motor vehicle, configured to: – Receive speed information related to the speed of the motor vehicle, – Determine the safe distance (S) of the motor vehicle relative to the vehicle in front based on the speed information, and – Generate image information for displaying distance markers (200') based on the determined safe distance (S), and display the distance markers (200') at a certain distance from the vehicle in the traffic situation ahead using a display device based on the image information. Its features are, The system is configured as follows: – A 3D environment model of the environment of the motor vehicle is calculated by using the determined safe distance, which has a distance object (200) corresponding to the distance marker at a certain distance from the position (210) of the motor vehicle assumed in the 3D environment model. – 2D projection is performed based on the calculated 3D environment model to generate image information for displaying distance markers.

2. The system of claim 1, wherein the system includes a head-up display as a display device, and the system is configured to project a distance marker (200') into the driver's field of vision by means of the head-up display based on the image information.

3. The system of claim 1, wherein the system includes a screen as a display device and a camera, and the system is configured to: – An image of the traffic conditions ahead is generated using the camera. – Based on the image of the traffic conditions ahead and the image information for displaying the distance marker (200'), the distance marker (200') is displayed in the image of the traffic conditions ahead on the screen.

4. The system according to any one of claims 1 to 3, wherein the distance object (200) is a distance object (200) located in the ground plane.

5. The system according to any one of claims 1 to 3, wherein the distance marker is a distance line (200').

6. The system of claim 5, wherein the system is configured to: – Location information related to the position of the vehicle ahead is determined by using environmental sensors. – Based on the location information, image information for displaying the distance line (200') is generated in such a way that the displayed distance line (200') is covered by the preceding vehicle in its entire length or a portion thereof.

7. The system of claim 6, wherein the distance line (200') extends laterally beyond the width of the preceding vehicle and is interrupted or at least its visibility is reduced in the area of ​​the preceding vehicle.

8. The system according to claim 6 or 7, wherein the system is configured to further position the 3D model (220, 230) of the preceding vehicle relative to the position of the motor vehicle assumed in the 3D environment model in a position-correct manner according to the position information, wherein the distance line is partially or completely covered by the preceding vehicle in the result of the 2D projection.

9. The system of claim 8, wherein the system is configured to: – Remove the image portion belonging to the preceding vehicle from the result of the 2D projection.

10. The system of claim 6 or 7, wherein the system includes a camera, and the system is configured to: – An image of the traffic conditions ahead is generated using the camera. – Perform semantic image segmentation on the image of the traffic conditions ahead, wherein the image portion of the vehicle ahead is identified, and – Generate image information for displaying the distance markers based on the determined image portion.

11. The system of claim 1, wherein the system is configured to: – Receives variables representing the direction of travel, and – Based on the variable representing the driving direction, image information for displaying the distance marker is generated in such a way that the displayed distance marker (200') moves horizontally to display the current driving direction when the driving direction changes.

12. The system of claim 11, wherein the system is configured to: – Based on the variables characterizing the direction of travel, determine the curvature circle or a portion of the curvature circle (400) of the vehicle's trajectory, and – The horizontal position of the distance marker is determined based on the circle of curvature or a portion thereof and the determined safety distance, and – Generate image information for displaying the distance marker based on the horizontal position of the distance marker.

13. The system according to any one of claims 11 or 12, wherein the system is configured to: – Based on the variables representing the driving direction in the 3D environment model, the driving direction object corresponding to the driving direction is set in a positionally correct manner relative to the assumed position (210) of the motor vehicle in the 3D environment model, and – Locate the distance object (200) in the 3D environment model based on the driving direction object.

14. The system according to any one of claims 1 to 3, wherein the system is configured to: – Determine the distance to the vehicle ahead using environmental sensors. – Provided that the determined distance to the preceding vehicle is less than or equal to a threshold, image information for displaying the distance markers is generated in such a way that the displayed distance markers are highlighted.

15. The system according to any one of claims 1 to 3, wherein the system is configured to: – Receive distance adjustment cruise control preset information regarding the driver's side distance preset integrated into the distance adjustment cruise control in the vehicle, and – Determine the safe distance between the motor vehicle and the vehicle in front based on the distance adjustment cruise control preset information.

16. The system according to any one of claims 1 to 3, wherein the system is configured to: – Receive driver information related to the driver's braking behavior, and – Determine the safe distance between the motor vehicle and the vehicle in front based on the driver information.

17. The system of claim 8, wherein the 3D model (220, 230) of the forward-moving vehicle is a rectangular 3D model.

18. The system of claim 8, wherein when the distance object (200) or a portion thereof is located under, in, or behind the 3D environment model, the distance line is partially or completely covered by the preceding vehicle in the result of the 2D projection.

19. The system of claim 8, wherein the system is configured to: – In the result of the 2D projection, the portion of the image belonging to the preceding vehicle is made transparent.

20. The system of claim 11, wherein the variable characterizing the direction of travel is the curvature of the trajectory of the motor vehicle.

21. The system of claim 13, wherein the system is configured to: set a circle of curvature or a portion thereof in a positionally correct manner relative to the position (210) of the motor vehicle assumed in the 3D environment model, based on a variable characterizing the driving direction in the 3D environment model.

22. The system of claim 13, wherein the system is configured to: position the distance object (200) in the 3D environment model at a position on the driving direction object such that the position is at a safe distance (S) from the position (210) of the motor vehicle assumed in the 3D environment model.

23. The system of claim 13, wherein the system is configured to: position the distance object (200) in the 3D environment model at a position on the driving direction object such that the position is a safe distance (S+O) offset by a certain deviation (O) from the position (210) of the motor vehicle assumed in the 3D environment model.

24. The system of claim 14, wherein the highlighting method is a color highlighting method.

25. A method for displaying distance markers (200') to a driver of a motor vehicle, comprising the steps of: – Receive speed information related to the speed of the motor vehicle; – Determine the safe distance (S) of the motor vehicle relative to the vehicle in front based on the speed information; and – Generate image information for displaying distance markers (200') based on the determined safe distance (S), and display the distance markers (200') at a certain distance from the vehicle in the traffic situation ahead using a display device based on the image information. Its features are, – A 3D environment model of the environment of the motor vehicle is calculated by using the determined safe distance, which has a distance object (200) corresponding to the distance marker at a certain distance from the position (210) of the motor vehicle assumed in the 3D environment model. – 2D projection is performed based on the calculated 3D environment model to generate image information for displaying distance markers.

26. A computer program product having program code, wherein when the program code is run on one or more software-controlled devices, the program code is used to perform the method according to claim 25.

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