Method for providing display of traffic situation

Abstract

The invention relates to a method for providing a display (A) of a traffic situation on a display device (10) of a vehicle (100), comprising:-acquiring environment data (11, 12) in an environment (U) of the vehicle (100),-selecting an environment region (B) for display (A),-determining a number (N), in particular a maximum number, of objects (O) for display (A) on the selected environment region (B), and selecting objects (O) and / or lanes (S), in particular critical and / or prioritized objects and / or lanes, for display (A) on the selected environment area (B) as a function of the determined number (N).

Description

Technical Field

[0001] The present invention relates to a method for providing a display of a traffic situation, particularly including critical road users, on a display device of a vehicle. The present invention also relates to a corresponding computer program product for executing the corresponding method. Furthermore, the present invention relates to a corresponding control unit for executing the corresponding method. Furthermore, the present invention relates to a corresponding display device, a corresponding camera device, a corresponding assistance system, and a corresponding vehicle, particularly a vehicle for assisted, automated, and / or autonomous driving, having a corresponding control unit. Background Art

[0002] Sensors in vehicles collect a large amount of environmental data about traffic conditions. Visualization of this sensor data has proven to be often unstable, often unreliable, haphazard, and not always easy for users to understand. Some approaches use fused environmental data obtained from multiple vehicle sensors to verify the plausibility of displayed objects. However, in known vehicles, most display devices output uncorrected sensor data. Summary of the Invention

[0003] The object of the present invention is therefore to at least partially overcome at least one of the above-mentioned disadvantages. In particular, the object of the present invention is to provide an improved method for providing a display of a traffic situation on a display device of a vehicle, which is preferably able to clearly and easily understandably present or display the current traffic situation, dynamically adapt to the prevailing situation in the changing environment of the vehicle, provide an advantageous selection of environmental areas for display, display important road participants in the selected environmental area, facilitate user perception, improve safety during vehicle operation, and enhance user comfort and trust in the vehicle. In addition, the object of the present invention is to provide a corresponding computer program product for executing the corresponding method. In addition, the object of the present invention is to provide a corresponding control unit for executing the corresponding method. In addition, the object of the present invention is to provide a corresponding display device, a corresponding camera device, a corresponding assistance system and a corresponding vehicle with a corresponding control unit, in particular a vehicle for assisted driving, automatic driving and / or autonomous driving.

[0004] The method provided by the present invention has been specially developed for providing a display of a traffic situation on a display device of a vehicle, in particular a vehicle with assisted driving, automated driving and / or autonomous driving.

[0005] The method has the following method steps:

[0006] - acquiring environmental data in the vehicle environment (e.g., through vehicle-side sensing, active querying, passive reception, forward-looking prediction, and / or experience-based estimation),

[0007] - selecting, preferably dynamically selecting, an environment area for display,

[0008] - determining the number of objects to be displayed on the selected surrounding area, in particular a maximum, preferably parameterizable, number,

[0009] - Based on the determined number, objects and / or lanes are selected, preferably adaptively selected, for display on the selected surrounding area, in particular critical and / or high-priority objects and / or lanes.

[0010] These method steps can be performed in a specified order and / or at least partially overlapping and / or simultaneously. Advantageously, the method steps can be performed repeatedly in order to be able to improve the display of the current traffic situation, which dynamically adapts to the prevailing conditions in the changing environment of the vehicle.

[0011] Different traffic participants in a traffic situation may be referred to as objects, such as other vehicles, pedestrians, people, animals, etc.

[0012] When selecting objects, particularly critical and / or high-priority objects, the current number of objects in the vehicle environment can be determined and compared with a determined number of objects, particularly a maximum number. If, according to the environmental data, the current number of objects in the vehicle environment is less than the determined number of objects, particularly the maximum number, all current objects can be displayed. If, according to the environmental data, the current number of objects in the vehicle environment is greater than the determined number of objects, particularly the maximum number, critical and / or high-priority objects can be selected in a next step for display in the selected environmental area.

[0013] Therefore, the present invention provides a method that enables the current traffic situation to be displayed clearly and easily understood on a display device of a vehicle, dynamically adapts to the main conditions in the vehicle's changing environment, displays a targeted selected environmental area, visualizes important traffic participants or objects in the selected environmental area, facilitates the user's perception of the vehicle environment and the current traffic situation, improves safety during vehicle operation, and enhances user comfort and trust in the display device.

[0014] Advantageously, provision can be made for lane data and / or object data to be determined when acquiring the surroundings data. Lane data includes, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, and / or lane extension / course. Object data includes, for example, the object type, object position, distance relative to the vehicle, relative speed relative to the vehicle, and / or relative orientation relative to the vehicle of traffic participants or objects in the vehicle's surroundings. In this way, various data can be used for detecting, analyzing, and advantageously describing the current traffic situation.

[0015] Thus, the surroundings data may include lane data and / or object data. In this way, critical information about the current traffic situation may be determined in order to analyze the traffic situation and provide an improved display.

[0016] Lane data may include, for example, the number of lanes on the road, the direction of travel on at least one lane (e.g., one's own lane, at least one adjacent lane, preferably the closest adjacent lane, etc.), lane type (e.g., main road (e.g., in a city), local road, through lane, left-turn lane, right-turn lane, highway road (which may include the corresponding arrangement of lanes, such as the rightmost, middle, left, etc.), highway exit, etc.), at least one lane marking (e.g., curb, dashed line, solid line, etc.), lane width (normal lane width, narrowed lane width (e.g., due to a construction site), etc.), lane orientation (forward, left, right, etc.) and / or lane extension shape (e.g., straight, curved, etc.).

[0017] The object data may include, for example, the object type (such as a person, animal, bicycle, scooter, vehicle model, etc.), the distance relative to the vehicle, the relative speed relative to the vehicle, and / or the relative orientation relative to the vehicle of the object in the vehicle environment.

[0018] On the one hand, it is conceivable that the lane data can be determined from sensor data, preferably camera data, of the vehicle.

[0019] However, it is also conceivable in principle that the lane data can be determined from external devices and / or from cluster data and / or map data of other road users.

[0020] It is also conceivable that the lane data can be obtained with the aid of camera data of the own vehicle and / or with the aid of external devices and / or traffic data and / or map data of other road users.

[0021] On the other hand, it is conceivable that the object data can be determined from sensor data of at least one sensor of the vehicle, such as a camera, a radar sensor, a lidar sensor and / or an ultrasonic sensor.

[0022] Furthermore, it is also conceivable that the object data can be obtained from external devices, infrastructure devices and / or road users, for example via vehicle-to-X communication.

[0023] In principle, it is advantageous to compare, combine and / or check the plausibility of the acquired environmental data.

[0024] Provision can also be made for the selection of the surrounding area for display to be performed dynamically. In other words, the surrounding area for display can be dynamically selected and flexibly adapted to the situation. This allows for the selection of a targeted surrounding area for display that is relevant to the current traffic situation. Advantageously, the selection of the surrounding area can be carried out in a targeted manner using specific rules or framework conditions.

[0025] On the one hand, it is conceivable that lane data and / or object data may be taken into account when selecting the surrounding area for display. Lane data may include, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, and / or lane extension shape, and object data may include, for example, the object type, object position, distance relative to the vehicle, relative speed relative to the vehicle, and / or relative orientation relative to the vehicle of objects in the vehicle's surroundings. In this way, it is possible to preferably visualize only the relevant lanes and / or only the relevant objects in the surrounding area for display.

[0026] Advantageously, provision can be made for at least one distance relative to the vehicle in at least one direction of the vehicle to be taken into account, preferably dynamically, when selecting the surrounding area for display. In this way, a representative surrounding area can be selected that is easily determinable relative to the vehicle and can be determined with minimal computational effort.

[0027] To enable an easily understandable presentation of the traffic situation, the at least one distance can include: a (so-called first) distance x in the direction of travel, which includes, for example, a minimum distance and / or a maximum distance; and / or a (so-called second) distance y in the transverse direction of the vehicle, for example, one lane on the left and one lane on the right, or two lanes on the left and two lanes on the right, provided that the left lane is relevant. In this way, critical surrounding areas can be clearly depicted.

[0028] Furthermore, it may be provided that the at least one distance, in particular the distance in the direction of travel, is determined as a function of at least one operating parameter of the vehicle, such as the vehicle's speed and / or the detection range and / or visibility of at least one sensor of the vehicle. The vehicle's speed may characterize a particular driving situation. In highway driving, it is generally conceivable to display a larger surrounding area than in a city, as the vehicle is expected to be able to see further than in a city. When the detection range and / or visibility of the vehicle's sensors decrease, such as when approaching a curve and / or when vision is obstructed and / or when weather conditions impair visibility, it may be advantageous to display an expanded surrounding area to compensate for the reduced visibility.

[0029] Furthermore, it can be provided that the at least one distance, in particular the (first) distance x in the direction of travel, is determined as a function of at least one navigation parameter, which includes, for example, the planned route, the direction of travel, and / or the intended turning direction. In this way, the surrounding area for display can even be selected proactively in order to display information relevant to the planned travel of the vehicle.

[0030] It may also be provided that the at least one distance, in particular the (second) distance y in the transverse direction of the vehicle, is determined based on at least one traffic parameter, such as the number of lanes, the direction of travel on the lanes, lane type, lane markings, lane width, lane orientation, road shape, and / or traffic density. In this way, the surrounding area for display can be selected based on the traffic. For multi-lane highways, it is not necessary to display all lanes to achieve an easily understandable display of the traffic situation. In this case, it may be advantageous to display only one or two adjacent lanes (or another specified number of adjacent lanes). For example, for adjacent lanes that lead in another direction and / or cannot switch to their own lane, it may be advantageous to exclude these lanes from the surrounding area for display for clarity of display. This allows for a clear and easy-to-understand display.

[0031] However, other operating parameters of the vehicle (e.g., the state of the turn signal) may also influence the driving situation and be taken into account when selecting the surrounding area for display in the transverse direction of the vehicle. For example, if the flashers are on, it may be advantageous to display the lane into which the vehicle is changing within the surrounding area.

[0032] In principle, it is also conceivable that the at least one distance can be determined based on at least one environmental parameter, such as weather conditions, lighting conditions, ambient humidity, and / or road characteristics. This advantageously allows for compensating for poor visibility. Furthermore, this allows for a more accurate analysis of the current traffic situation and / or the vehicle's driving behavior.

[0033] In order to dynamically display important road users in a selected surrounding area, it may be advantageous to parameterize the number of objects, in particular the maximum number, to be displayed in the selected surrounding area. In other words, it may be advantageous if the number of objects to be displayed in the selected surrounding area is parameterized or depends on a parameter. This allows for a flexible setting of the maximum number of objects to be displayed, allowing for targeted responses to changing driving situations.

[0034] In principle, it is possible to consider lane data and / or object data when determining the number, in particular the maximum number, of objects to be displayed in the selected surrounding area. Lane data includes, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, and / or lane extension shape, and object data includes, for example, the object type, object position, distance relative to the vehicle, relative speed relative to the vehicle, and / or relative orientation relative to the vehicle of objects in the vehicle's surroundings. In this way, a suitable number of objects to be displayed can be determined for different surrounding data.

[0035] Advantageously, the current driving situation (or scenario) can be taken into account when determining the number, and in particular the maximum number, of objects to display in the selected surrounding area. This includes, for example, at least one item of information regarding road type (motorway, local road, city road, etc.), traffic density, speed limit, sign information, and / or traffic light status. Depending on the driving situation, it may be advantageous to display more or fewer objects to ensure safe vehicle control, achieve an easily understandable display, and not place excessive demands on the user. In principle, more objects may be displayed when driving on a motorway than in a city, such as vehicles ahead of the vehicle and / or vehicles in adjacent lanes, to prevent the user from being overwhelmed by excessive information and to avoid overlapping displays.

[0036] Furthermore, it may be advantageous to take into account the vehicle's active driving assistance systems when determining the number, in particular the maximum number, of objects to be displayed in the selected surrounding area. These include, for example, assistance systems for assisted or autonomous driving, assistance systems for assisted or autonomous distance maintenance to vehicles ahead, assistance systems for assisted or autonomous lane keeping, assistance systems for assisted or autonomous overtaking, assistance systems for blind spot monitoring, assistance systems for assisted or autonomous steering, and / or assistance systems for assisted or autonomous parking. For example, when an ACC system is active, it may be advantageous to display the vehicle ahead and, if necessary, vehicles in adjacent lanes that may be cutting in front of the vehicle. During a cornering maneuver, it may be advantageous to display additional vehicles in the lane being turned into.

[0037] In principle, it is also conceivable to take into account at least one operating parameter of the vehicle, such as the vehicle's speed and / or the state of its turn indicators, when determining the number, in particular the maximum number, of objects to be displayed in the selected surrounding area. The faster the vehicle is traveling, the more objects or road users are relevant to the current driving situation. Furthermore, the state of the flashers can be crucial in order to provide a detailed display of the steering maneuvers of the relevant road users.

[0038] In principle, it is also conceivable to take into account at least one navigation parameter, such as the planned route, the driving direction, and / or the intended turning direction, when determining the number, in particular the maximum number, of objects to be displayed in the selected surrounding area. In this way, the driving situation can be predicted in advance and the maximum number of objects can be flexibly adjusted to the situation.

[0039] Furthermore, when determining the number, in particular the maximum number, of objects to be displayed in the selected surrounding area, at least one traffic parameter may be taken into account, including, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, road shape, and / or traffic density. For example, on a three-lane highway, provision may be made to display a total of three vehicles, for example, one vehicle per lane.

[0040] In principle, it is possible to take into account at least one environmental parameter, such as weather conditions, lighting conditions, ambient humidity, and / or road characteristics, when determining the number, in particular the maximum number, of objects to be displayed in the selected surrounding area. The more difficult the weather conditions, such as the poorer the lighting conditions, the more objects may be important for the safe operation of the vehicle.

[0041] Advantageously, the selection of objects and / or lanes for display in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes, can be performed adaptively. This allows for flexible, situation-specific, and customer-specific selection of critical road users. This allows for an improved and more flexible depiction of the current traffic situation.

[0042] In particular, the selection of objects and / or lanes for display in the selected surrounding area, in particular critical and / or high-priority objects and / or lanes, can be performed using a priority function and / or a characteristic curve map. In this way, an automatic, computationally simple, and reliable determination of the priority for displaying critical road users can be provided.

[0043] Advantageously, it can be provided that lane data and / or object data are taken into account when selecting objects and / or lanes for display in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes. Lane data includes, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, and / or lane extension shape, and object data includes, for example, the object type, object position, distance relative to the vehicle, relative speed relative to the vehicle, and / or relative orientation relative to the vehicle of objects in the vehicle's surroundings. Certain lanes (e.g., a lane into which a vehicle is turning) and / or certain objects (e.g., pedestrians and / or cyclists) can be given higher priority than more distant lanes and / or heavy motor vehicles. In this way, the information that can be displayed can be prioritized.

[0044] To increase safety during vehicle operation and achieve improved visualization, provision can be made to take into account the probability of interaction with the vehicle when selecting objects and / or lanes for visualization in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes.

[0045] In order to increase safety during vehicle operation and achieve an improved display, it can also be provided that when selecting objects and / or lanes for display in the selected surrounding area, in particular critical and / or high-priority objects and / or lanes, the criticality for the operation of the vehicle (e.g. manual, automatic or autonomous operation) and / or for the control or regulation of the vehicle (e.g. longitudinal and / or lateral control) is taken into account.

[0046] When selecting objects and / or lanes for display in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes, the current driving situation (or scenario) may also be taken into account, which may include, for example, at least one piece of information about the road type (motorway, local road, city road, etc.), traffic density, speed limit, sign information, and / or traffic light status. In this way, the plausibility of information that is critical for displaying the current traffic situation can be advantageously checked.

[0047] Furthermore, when selecting objects and / or lanes for display in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes, the vehicle's active driver assistance systems may be taken into account, such as assistance systems for assisted, automatic, or autonomous driving, assistance systems for assisted, automatic, or autonomous distance maintenance to vehicles ahead, assistance systems for assisted, automatic, or autonomous lane keeping, assistance systems for assisted, automatic, or autonomous overtaking, assistance systems for assisted, automatic, or autonomous blind spot monitoring, assistance systems for assisted, automatic, or autonomous steering, and / or assistance systems for parking. Knowledge of the active driver assistance systems allows targeted search for information relevant to the presentation of the current traffic situation.

[0048] Furthermore, when selecting objects and / or lanes for display in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes, at least one operating parameter of the vehicle, such as the vehicle's speed and / or the state of its turn signal, can be taken into account. This allows the plausibility of the critical information used to represent the current traffic situation to be further checked.

[0049] Furthermore, at least one navigation parameter, such as the planned route, the driving direction, and / or the intended turning direction, can be taken into account when selecting objects, particularly important and / or high-priority objects, for display in the selected surrounding area. In this way, important information for displaying the current traffic situation can be determined proactively.

[0050] Furthermore, when selecting objects and / or lanes for display in the selected surrounding area, particularly critical and / or high-priority objects and / or lanes, at least one traffic parameter may be taken into account, including, for example, the number of lanes, direction of travel on the lanes, lane type, lane markings, lane width, lane orientation, road shape, and / or traffic density. In this way, the plausibility of critical information for displaying the current traffic situation can also be further checked.

[0051] In principle, it is conceivable that at least one environmental parameter, such as weather conditions, lighting conditions, ambient humidity, and / or road characteristics, can be taken into account when selecting objects and / or lanes, particularly critical and / or high-priority objects and / or lanes, for display in the selected surrounding area. In this way, the plausibility of critical information for displaying the current traffic situation can be further checked.

[0052] The method may also specify:

[0053] Providing a display on a selected surrounding area, in which selected objects and / or lanes, particularly critical and / or high-priority objects and / or lanes, are visualized.

[0054] An improved display within the meaning of the present disclosure may thus be provided.

[0055] Advantageously, the method steps can be performed repeatedly in order to enable a dynamic display of changing traffic situations in the vehicle's surroundings.

[0056] The present invention further provides a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method described above. The computer program product achieves the same advantages as those mentioned above in connection with the method according to the present invention. These advantages are hereby incorporated by reference in their entirety.

[0057] The present invention further provides a control unit having a computing unit and a memory unit in which a code is stored that, when at least partially executed by the computing unit, implements the method described above. The control unit achieves the same advantages as those mentioned above in connection with the method according to the present invention. These advantages are hereby fully referenced.

[0058] Furthermore, the present invention provides a display device for a vehicle having a control unit that can be implemented as described above. The display device can achieve the same advantages as those mentioned above in conjunction with the method according to the present invention. These advantages are fully cited here.

[0059] The display device can be designed, for example, in the form of a display, a head-up display, a hologram, a virtual display (which is, for example, on a vehicle window), or the like.

[0060] Furthermore, the present invention provides a camera device for a vehicle having a control unit that can be implemented as described above. The camera device can achieve the same advantages as those mentioned above in conjunction with the method according to the present invention. These advantages are fully cited here.

[0061] Furthermore, the present invention provides an assistance system for a vehicle having a control unit that can be implemented as described above. The assistance system can achieve the same advantages as those mentioned above in conjunction with the method according to the invention. These advantages are fully cited here.

[0062] Furthermore, the present invention provides a vehicle having a control unit that can be implemented as described above. The same advantages as those mentioned above in connection with the method according to the present invention can be achieved with the vehicle. These advantages are fully cited here. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Further advantages, features and details of the present invention will become apparent from the following description, which describes several embodiments of the present invention in detail with reference to the accompanying drawings, in which:

[0064] Figure 1 A schematic diagram showing a method flow within the meaning of the present disclosure is shown,

[0065] Figure 2 A schematic diagram showing the selected environmental area,

[0066] Figure 3 A schematic diagram showing the selection of environmental areas and critical objects according to a priority function,

[0067] Figure 4 Schematic diagram showing environmental areas and critical objects selected according to an adaptive priority function.

[0068] List of reference numerals:

[0069] 100 vehicles

[0070] 101 Camera Equipment

[0071] 102 Auxiliary Systems

[0072] 110 control unit

[0073] 10 Display device

[0074] 11.12 Environmental data

[0075] 11 lane data

[0076] 12 Object Data

[0077] 200 devices

[0078] A Display

[0079] A0 Obtaining environmental data

[0080] A1 Select the environment area

[0081] A2 Determine the number of objects

[0082] A3 Select objects and / or lanes

[0083] A4 provides display

[0084] U Environment

[0085] B Environmental Area

[0086] N number

[0087] BP operating parameters

[0088] V Speed

[0089] NP navigation parameters

[0090] VP Traffic Parameters

[0091] UP Environmental Parameters

[0092] O object

[0093] S lane

[0094] X driving direction

[0095] Y vehicle lateral direction

[0096] x distance

[0097] x_Min minimum distance

[0098] x_Max maximum distance

[0099] y distance

[0100] f priority function DETAILED DESCRIPTION

[0101] Figures 1 to 4 A method within the meaning of the present invention is described which is developed for providing a display A or representation of a traffic situation on a display device 10 of a vehicle 100 , in particular a vehicle with assisted, automated and / or autonomous driving.

[0102] like Figure 1 As shown, the method includes the following steps:

[0103] - obtaining environmental data 11, 12 of A0 in the environment U of the vehicle 100 (e.g., through vehicle-side sensing, active querying, passive reception, forward-looking prediction, and / or experience-based estimation),

[0104] - selecting A1, preferably dynamically selecting an environment area B for displaying A,

[0105] - determining A2 a number N, in particular a maximum, preferably parameterizable, number of objects O for displaying A on the selected surrounding area B,

[0106] Selecting A3 , preferably adaptively, objects O and / or lanes S for display A in the selected surrounding area B, in particular critical and / or high-priority objects and / or lanes, as a function of the determined number N.

[0107] Also like Figure 1 As shown, the method may provide:

[0108] Providing A4 a display A on the selected surrounding area B, on which selected objects O and / or lanes S, in particular critical and / or high-priority objects and / or lanes, are visualized.

[0109] Method steps A0 to A3 and / or A4 may be performed repeatedly in order to achieve a dynamic display A of a changing traffic situation in surroundings U of vehicle 100 .

[0110] Objects O may include different participants in the traffic situation, such as other vehicles, pedestrians, people, animals, etc. Figures 2 to 4 A vehicle is shown as the object O only as an example.

[0111] When selecting objects O, in particular critical and / or high-priority objects O, the current number of objects in surroundings U of vehicle 100 may be determined and compared with a determined, in particular maximum, number N of objects O.

[0112] If, according to the surroundings data 11 , 12 , the current number of objects O in the surroundings U of the vehicle 100 is less than a determined, in particular maximum, number N of objects O, all current objects may be displayed.

[0113] If, according to the surrounding data 11 , 12 , the current number of objects O in the surroundings U of the vehicle 100 is greater than a determined, in particular maximum, number N of objects O, then Figures 2 to 4 As shown in this case, in step A3 , a critical and / or high-priority object O can now be selected for display A in the selected surrounding area B.

[0114] The method enables the current traffic situation A to be displayed clearly and easily understood on the display device 10 of the vehicle 100. The display can dynamically adapt to the conditions existing in the changing environment U of the vehicle 100, can show a targeted selected environmental area B, can visualize important objects O in the selected environmental area B, can facilitate the user's perception of the environment U and the current traffic situation of the vehicle 100, can improve the safety of the vehicle 100 during operation, and can enhance the user's comfort and trust in the method.

[0115] like Figure 1 As shown, when acquiring surroundings data 11 , 12 , lane data 11 and / or object data 12 can be determined.

[0116] The surroundings data 11 , 12 can be used to determine the current number of objects O in the surroundings U of the vehicle 100 .

[0117] However, the surrounding data 11 , 12 may also include more critical information about the current traffic situation, which can be used to analyze the traffic situation and provide an improved display A.

[0118] The lane data 11 may include, for example, the number of lanes on the road, the direction of travel on at least one lane (e.g., one's own lane, at least one adjacent lane, preferably the closest adjacent lane, etc.), the lane type (e.g., main roads (e.g., in cities), local roads, through lanes, left-turn lanes, right-turn lanes, highway roads (which may have corresponding lane arrangements, such as the rightmost, middle, left, etc.), highway exits, etc.), at least one lane marking (e.g., curb, dashed line, solid line, etc.), lane width (normal lane width, narrowed lane width (e.g., due to a construction site), etc.), lane orientation (forward, left, right, etc.) and / or lane extension shape (e.g., straight, curved, etc.).

[0119] The object data 12 may, for example, include the object type of the object O in the environment of the vehicle 100 (such as, for example, a person, an animal, a bicycle, a scooter, a vehicle model, etc.), the distance relative to the vehicle 100, the relative speed relative to the vehicle 100 and / or the relative orientation relative to the vehicle 100.

[0120] Lane data 11 may be obtained from sensor data, preferably camera data, of vehicle 100 .

[0121] like Figure 1 As shown, lane data 11 may also be determined from map data and / or cluster data of external device 200 and / or other road users.

[0122] Lane data 11 can be checked for plausibility using camera data of own vehicle 100 and / or using map data and / or traffic data of external device 200 and / or other road users.

[0123] Object data 12 may likewise be determined from sensor data of at least one sensor of vehicle 100 , for example a camera, a radar sensor, a lidar sensor, and / or an ultrasonic sensor.

[0124] However, if Figure 1 As shown, the object data 12 can also be obtained from external devices 200 , infrastructure devices and / or road users, for example via vehicle-to-X communication.

[0125] Advantageously, the acquired environmental data 11 , 12 can be compared, checked for plausibility and / or merged.

[0126] Preferably, the selection of the environment area B for display A can be performed dynamically.

[0127] When selecting surrounding area B for display A, lane data 11 and / or object data 12 may be taken into account.

[0128] like Figures 2 to 4 As shown, when selecting surrounding area B for display A, at least one distance x, y from vehicle 100 in at least one direction X, Y relative to vehicle 100 can be taken into account, preferably dynamically taken into account.

[0129] like Figures 2 to 4 As shown exemplarily, at least one distance x, y may include: a distance x along the driving direction X, which includes, for example, a minimum distance x_Min and / or a maximum distance x_Max; and / or a distance y along the vehicle transverse direction Y, such as one lane on the left and one lane on the right, or two lanes on the left and two lanes on the right.

[0130] The distance x along the direction of travel X can also be determined based on at least one operating parameter BP of vehicle 100, which may include, for example, the speed V of vehicle 100 and / or the detection range and / or visibility of at least one sensor of vehicle 100. On highways, a larger surrounding area B can be displayed than in cities. If the detection range and / or visibility of the vehicle's sensor system decreases, an expanded surrounding area can be displayed again to compensate for the reduced detection range and / or visibility.

[0131] The distance x along the driving direction X can also be determined based on at least one navigation parameter NP, which includes, for example, the planned route, the driving direction, and / or the intended turning direction. In this way, the surrounding area B for the display A can be selected proactively, so that a quick response to changing traffic situations can be achieved.

[0132] like Figures 2 to 4As shown, the distance y along the vehicle's transverse direction Y can be determined, for example, based on at least one traffic parameter VP, which may include, for example, the number of lanes, the direction of travel on the lanes, lane type, lane markings, lane width, lane orientation, road shape, and / or traffic density. For multi-lane highways, it is not necessary to display all lanes S to achieve an easily understandable display A of the traffic situation. For example, displaying only one or two adjacent lanes may be sufficient. For simplicity, adjacent lanes S, such as those that lead in another direction and / or that do not allow lane changes into the vehicle's own lane S, may be excluded from the surrounding area B used for the display A.

[0133] The at least one distance x, y may also be determined as a function of at least one environmental parameter UP, which may include, for example, weather conditions, lighting conditions, ambient humidity and / or road characteristics.

[0134] The determination A2 of the number N, in particular the maximum number, of objects O for the display A on the selected surrounding area B can preferably be performed in a parameterized manner.

[0135] When determining the, in particular the maximum, number N of objects O for display A2 on the selected surrounding area B, for example, the lane data 11 and / or the object data 12 can be taken into account.

[0136] When determining the maximum number N of objects O that A2 is to display in the selected surrounding area B, the current driving situation (or scenario) may also be taken into account, which includes, for example, at least one item of information regarding the road type (motorway, local road, city road, etc.), traffic density, speed limit, sign information, and / or traffic light status. In this way, an adaptive number N of objects O can be displayed depending on the driving situation.

[0137] Active driver assistance systems of vehicle 100 may also be considered when determining A2's maximum number N of objects O for display A in selected surrounding area B, such as systems for assisted or autonomous driving, systems for assisted or autonomous distance maintenance to vehicles ahead, systems for assisted or autonomous lane keeping, systems for assisted or autonomous overtaking, systems for blind spot monitoring, systems for assisted or autonomous steering, and / or systems for assisted or autonomous parking. When the ACC system is active, it may be advantageous for an easily understandable display A to display the vehicle ahead and, if necessary, vehicles in adjacent lanes that can essentially cut in front of the vehicle. During a cornering maneuver, it may be advantageous to display more vehicles in the lane being turned into.

[0138] When determining A2 for displaying, in particular, the maximum number N of objects O on the selected surrounding area B, at least one operating parameter BP of vehicle 100 may also be taken into account, including, for example, the speed V of vehicle 100 and / or the state of a direction indicator.

[0139] When determining A2 , in particular the maximum number N of objects O for displaying A on the selected surrounding area B, at least one navigation parameter NP may also be taken into account, which comprises, for example, the planned route, the driving direction and / or the intended turning direction.

[0140] However, when determining A2 for displaying, in particular, the maximum number N of objects O of A in the selected surrounding area B, at least one traffic parameter VP may also be taken into account, which includes, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, the shape of the road extension and / or the traffic density.

[0141] In principle, it is possible to take into account at least one environmental parameter UP, which comprises, for example, weather conditions, lighting conditions, ambient humidity and / or road characteristics, when determining A2 for displaying, in particular, the maximum number N of objects O in the selected surrounding area B.

[0142] In this way, the display A can be made more or less detailed depending on what the current driving situation is, ie what the traffic situation and / or weather conditions are.

[0143] like Figure 3 As shown, a selection A3 of particularly critical and / or high-priority objects O and / or lanes S for display A in the selected surrounding area B can be carried out adaptively.

[0144] like Figure 3 and Figure 4 In contrast to the illustration, a selection A3 of particularly critical and / or high-priority objects O and / or lanes S for display A in the selected surrounding area B can be performed using a likewise adaptive priority function f and / or an adaptive characteristic diagram. In this way, an automatic, computationally simple, and reliable prioritization of critical road users for display can be provided.

[0145] exist Figure 3 In the example, the priority function f can be determined as follows:

[0146] f=f(x,y).

[0147] exist Figure 3 In the example, the priority function f * For example, it can be determined as follows:

[0148] f * =f adapt (x,y) or f * =f(x adapt ,y adapt )wait.

[0149] When selecting A3 for displaying A's, in particular critical and / or high-priority objects O and / or lanes S on the selected surrounding area B, the lane data 11 and / or object data 12 may also be taken into account.

[0150] To increase safety during operation of vehicle 100 and achieve an improved display A, the probability of interaction with vehicle 100 may be taken into account when selecting A3 for displaying A, in particular critical and / or high-priority objects O and / or lanes S, in selected surrounding area B.

[0151] In order to further increase safety during operation of vehicle 100 and achieve an improved display, when selecting A3 for displaying A, in particular critical and / or high-priority objects O and / or lanes S in the selected surrounding area B, the criticality for the operation of vehicle 100 (e.g. manual, automatic or autonomous operation) and / or for the control or regulation of vehicle 100 (e.g. longitudinal control and / or lateral control) can be taken into account.

[0152] However, when selecting A3 for displaying A's, in particular critical and / or high-priority objects O and / or lanes S on the selected surrounding area B, the current driving situation (or scenario) can also be taken into account, which includes, for example, at least one piece of information about the road type (motorway, local road, city road, etc.), traffic density, speed limit, sign information and / or traffic light status.

[0153] When selecting A3 for displaying A's, in particular critical and / or high-priority objects O and / or lanes S in the selected surrounding area B, active driving assistance systems of the vehicle 100 may also be taken into account, such as assistance systems for assisted, automatic or autonomous driving, assistance systems for assisted, automatic or autonomous maintaining a distance to a vehicle ahead, assistance systems for assisted, automatic or autonomous lane keeping, assistance systems for assisted, automatic or autonomous overtaking, assistance systems for assisted, automatic or autonomous blind spot monitoring, assistance systems for assisted, automatic or autonomous steering and / or assistance systems for parking.

[0154] When selecting A3 for displaying A's, in particular critical and / or high-priority objects O and / or lanes S in the selected surrounding area B, at least one operating parameter BP of the vehicle 100 may also be taken into account, including, for example, the speed V of the vehicle 100 and / or the state of a direction indicator.

[0155] When selecting A3 for displaying A, in particular critical and / or high-priority objects O in the selected surrounding area B, at least one navigation parameter NP may also be taken into account, which comprises, for example, the planned route, the driving direction and / or the intended turning direction.

[0156] When selecting A3 for displaying A's, in particular critical and / or high-priority objects O and / or lanes S in the selected surrounding area B, at least one traffic parameter VP may also be taken into account, which may include, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, road extension shape and / or traffic density.

[0157] When selecting A3 for displaying A's, in particular critical and / or high-priority objects O and / or lanes S in the selected surrounding area B, at least one environmental parameter UP may also be taken into account, which includes, for example, weather conditions, lighting conditions, ambient humidity and / or road characteristics.

[0158] The corresponding computer program product for executing the corresponding method and the corresponding control unit 110 are also each an aspect of the present invention. The control unit 110 is only schematically shown in FIG. Figure 1 Shown in.

[0159] The corresponding display device 10 with the corresponding control unit 110, the corresponding camera device 101, the corresponding assistance system 102 and the corresponding vehicle 100 are also each an aspect of the present invention and are also described in detail in the accompanying drawings. Figure 1 It is only shown schematically.

[0160] The above description of the embodiment only illustrates the present invention by way of example. Obviously, if it is technically reasonable, the various features of the embodiment can be freely combined with each other without departing from the scope of the present invention.

Claims

1. A method for providing a display (A) of a traffic situation on a display device (10) of a vehicle (100), the vehicle being in particular a vehicle for assisted driving, automatic driving and / or autonomous driving, the method comprising: - acquiring environmental data (11, 12) in the environment (U) of the vehicle (100), - selecting, preferably dynamically selecting, an environment area (B) for said display (A), - determining a number (N), in particular a maximum number, of objects (O) for the display (A) on the selected surrounding area (B), - Selecting, preferably adaptively selecting, objects (O) and / or lanes (S), in particular critical and / or high-priority objects and / or lanes, for the display (A) on the selected surrounding area (B) as a function of the determined number (N).

2. The method according to claim 1, characterized in that When acquiring environmental data (11, 12), lane data (11) and / or object data (12) are determined, wherein the lane data includes, for example, the number of lanes, the driving direction on the lane, the lane type, lane markings, lane width, lane orientation and / or lane extension shape, and the object data includes, for example, the object type, object position, distance relative to the vehicle (100), relative speed relative to the vehicle (100) and / or relative orientation relative to the vehicle (100).

3. The method according to any one of the preceding claims, characterized in that When selecting an environment area (B) for the display (A), lane data (11) and / or object data (12) in the environment of the vehicle (100) are taken into account.

4. The method according to any one of the preceding claims, characterized in that When selecting a surrounding area (B) for the display (A), at least one distance (x, y) relative to the vehicle (100) in at least one direction (x, y) with respect to the vehicle (100) is taken into account, preferably dynamically taken into account.

5. The method according to claim 4, characterized in that Determining the at least one distance (x, y), in particular the distance (x) along the driving direction (X), based on at least one operating parameter (BP) of the vehicle (100), the operating parameter including, for example, the speed (V) of the vehicle (100) and / or the detection range and / or the visibility of at least one sensor of the vehicle (100); and / or The at least one distance (x, y), in particular the distance (x) along the driving direction (X), is determined as a function of at least one navigation parameter (NP), which comprises, for example, a planned route, a driving direction and / or an intended turning direction.

6. The method according to any one of the preceding claims, characterized in that The at least one distance (x, y), in particular the distance (y) along the transverse direction (Y) of the vehicle, is determined based on at least one traffic parameter (VP), which includes, for example, the number of lanes, the direction of travel on the lanes, the lane type, lane markings, lane width, lane orientation, road extension shape and / or traffic density.

7. The method according to any one of the preceding claims, characterized in that The determination (A2) of the number (N), in particular the maximum number, of objects (O) for the display (A) on the selected surrounding area (B) is performed in a parameterized manner; and / or The number (N), in particular the maximum number, of objects (O) on the selected surrounding area (B) is parameterized.

8. The method according to any one of the preceding claims, characterized in that When determining (A2) a number (N), in particular a maximum number, of objects (O) for the display (A) on a selected surrounding area (B), lane data (11) and / or object data (12) are taken into account.

9. The method according to any one of the preceding claims, characterized in that When determining (A2) the number (N), in particular the maximum number, of objects (O) for the display (A) on the selected surrounding area (B), at least one operating parameter (BP) of the vehicle (100) is taken into account, the operating parameter comprising, for example, the speed (V) of the vehicle (100) and / or the state of a direction indicator; and / or When determining (A2) the number (N), in particular the maximum number, of objects (O) in the selected surrounding area (B), at least one navigation parameter (NP) is taken into account, which comprises, for example, a planned route, a driving direction and / or an intended turning direction.

10. The method according to any one of the preceding claims, characterized in that The selection (A3) of objects (O) and / or lanes (S), in particular critical and / or high-priority objects and / or lanes, for the display (A) in the selected surrounding area (B) is adaptively performed; and / or The selection (A3) of objects (O), in particular critical and / or high-priority objects, for the display (A) in the selected surrounding area (B) is carried out with the aid of a priority function (f) and / or a characteristic diagram.

11. The method according to any one of the preceding claims, characterized in that When selecting (A3) objects (O) and / or lanes (S), in particular critical and / or high-priority objects and / or lanes, for the display (A) in the selected surrounding area (B), activated driving assistance systems of the vehicle (100) are taken into account, such as an assistance system for assisted, automatic or autonomous driving, an assistance system for assisted, automatic or autonomous maintaining a distance to a vehicle ahead, an assistance system for assisted, automatic or autonomous lane keeping, an assistance system for assisted, automatic or autonomous overtaking, an assistance system for assisted, automatic or autonomous monitoring of blind spots, an assistance system for assisted, automatic or autonomous steering and / or an assistance system for parking.

12. A method according to any one of the preceding claims, wherein: The method further includes: - providing (A4) the display (A) on a selected surrounding area (B), on which selected objects (O) and / or lanes (S), in particular critical and / or high-priority objects and / or lanes, are visualized, In particular, the method steps are repeatedly performed in order to be able to dynamically display (A) a changing traffic situation in the surroundings (U) of the vehicle (100).

13. A computer program product comprising instructions for implementing the method according to any one of the preceding claims when the computer program product is executed by a computer.

14. A control unit (110) comprising a computing unit and a storage unit, in which a code is stored, which, when at least partially executed by the computing unit, implements the method according to any of the preceding claims.

15. A display device (10) for a vehicle (100), comprising a control unit (110) according to claim 14.

16. A vehicle (100) having a control unit (110) according to claim 14.

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