Merging of partial images of vehicle environment

Abstract

Method (200) for merging partial images of an environment of a vehicle (105) into a total image (305), the method (200) comprising the following steps: detecting (205) a first partial image in a first region of the environment, the first region being laterally rearward of the vehicle (105); detecting (210) a second partial image in a second region of the environment, the second region being behind the vehicle (105); detecting (215) an object (110), at least one section of which is in one of the regions; determining (225) a distance of the object (110) from the vehicle (105); adapting (230) the second partial image according to the distance; and merging (235) the partial images into a total image (305).

Description

Technical Field

[0001] The invention relates to the merging of partial images from a vehicle environment. In particular, the invention relates to the merging of partial images made from different positions and / or with different fields of view. Background Art

[0002] A vehicle, in particular a motor vehicle, comprises a camera monitoring system (Camera Monitor System, CMS), which is designed to replace conventional exterior mirrors. For this purpose, the CMS comprises a camera mounted on the side of the vehicle, the field of view of which is open opposite to the direction of travel of the vehicle. The image provided by the camera can be displayed on a monitor inside the vehicle. The monitor is preferably located in the area of ​​the driver's visual axis relative to the camera. The CMS can additionally comprise a processing device in order to process the image provided by the camera, for example in terms of image cropping, brightness or contrast.

[0003] The area directly behind the vehicle cannot be seen through the camera. It is proposed to arrange another camera at the rear of the vehicle and to merge the images of the two cameras in such a way that an overall image is generated. The overall image can have two different sections that are offset horizontally and come from different cameras. There can be a joining line between the two sections. The merging ("stitching") is preferably carried out in such a way that no optical defects are generated in the area of ​​the joining line. In particular, objects that extend beyond the joining line in the overall image should be shown as completely and without interference as possible.

[0004] DE 10 2014 213 536 A1 proposes a driver assistance system for merging partial images into an overall image of a continuous surrounding area of ​​a vehicle.

[0005] DE 10 2017 217 870 A1 describes a similar method in which a joining line between a first and a second section of the overall image is determined based on the signals of a sensor arrangement.

[0006] Since the cameras have different optical viewing angles, the merging or selection of matching segments of one of the images of the cameras may be subject to different requirements when the objects are at different distances. Summary of the invention

[0007] Previous technologies cannot always reliably prevent objects behind the vehicle from being fully displayed, especially when the objects are moving relative to the vehicle. One of the objects of the present invention is to provide an improved technology for merging partial images of the vehicle environment into one overall image with respect to objects that overlap the two partial images. The invention achieves this object by means of the subject matter of the independent claims. The dependent claims again provide preferred embodiments.

[0008] According to a first aspect of the present invention, a method for merging partial images of an environment of a vehicle into an overall image comprises the following steps: detecting a first partial image in a first area of ​​the environment, the first area being laterally rearward of the vehicle; detecting a second partial image in a second area of ​​the environment, the second area being rearward of the vehicle; detecting an object, at least one section of which is in one of the areas; determining a distance between the object and the vehicle; adapting the second partial image according to the distance; and merging the partial images into an overall image.

[0009] For example, a first area can be scanned by means of a side camera, which is mounted on the side of the vehicle and is oriented backwards. The first area preferably corresponds essentially to an area that can be seen by means of a conventional exterior rearview mirror. A second area can be scanned by means of a rear camera, which is mounted on the vehicle centrally or laterally, preferably on the same side as the side camera and which is oriented directly backwards. The second area can be similar to an area that can be seen by means of a conventional interior rearview mirror, but has a viewpoint offset to the rear and is not limited by the rear window.

[0010] The adaptation of the second partial image can in particular include scaling. The scaling is further preferably carried out homographically, wherein a line-faithful mapping, in particular a direct transformation, can be implemented. The object is preferably at least partially located in the second area. If the object moves laterally with respect to the vehicle, the object can enter the first area. By adapting the second partial image in time, optical anomalies are not noticeable in the overall image.

[0011] Since only one of the partial images is dynamically adapted, the method is less susceptible to disturbances. The provided overall image can appear generally calmer and change less frequently. In particular, it is possible to prevent objects from being partially or completely lost when the partial images are combined, which would cause the objects to not appear or not appear completely in the overall image. The overall image can be used to improve the information provided to people, especially drivers in vehicles, who use the overall image to assess the traffic situation in the area of ​​the vehicle. Objects are less likely to be overlooked. This allows for improved avoidance of collisions with objects.

[0012] The objects may include in particular other traffic participants, such as motor vehicles, cyclists or pedestrians. The traffic participants may be stationary, moving in the same direction as the vehicle or in a different direction or moving laterally relative to the vehicle. The objects may also include other equipment, such as road signs, park benches or buildings. Such equipment may constitute potential collision objects in particular when the vehicle is reversing, for example when parking or exiting a parking lot. This improvement in the overall image shows that the risk of collision can be avoided in an improved manner.

[0013] In one embodiment, the adaptation is performed only when the object is imaged in two partial images or when the object is in two areas. A transition region can be formed at the transition between the first and second partial images, which follows the joining line but has a predetermined horizontal extension. For example, the transition region can be approximately 50 pixels wide on the left and right of the joining line. When the object extends beyond the left or right border of the transition region, the adaptation can be performed. Here, the limitation of the object movement in front or in the back can be evaluated.

[0014] Preferably, the overall image includes a first segment, which is received from the first partial image and constitutes a region of the environment outside the vehicle; and the overall image includes a second segment, which is taken from the second partial image and constitutes a region of the environment behind the vehicle.

[0015] The sensors for providing the partial images can be installed at different positions along the longitudinal direction of the vehicle, so that each sensor can have different distances relative to the object. In addition, the viewing angles of the sensors can be different, so that the unadapted partial images can show the same object in different sizes.

[0016] Preferably, the joining line defining the first section on the overall image is fixedly predetermined based on the viewing angle and imaging parameters of the partial images. The viewing angle can be related to the position of the associated sensor relative to the vehicle. The imaging parameters can include, in particular, the viewing angle or focal length of the sensor.

[0017] The joining line can extend between the first and second sections. Optionally, the joining line is shown in the overall image or optically emphasized. The joining line can follow the outline of the vehicle on the first partial image. The extension direction of the joining line on the overall image can be predetermined and invariable. Preferably, the second partial image is adapted so that the section of the object in the region of the joining line appears as large in the first partial image as in the adapted second partial image.

[0018] It is further preferred that the overall image includes a third section, which covers the area between the vehicle and the object, if there are other objects in this area. The third section can be included by the second section. In particular, the third area is apparently below the object in the second section for an observer of the overall image. If there are no other objects in this area, optical defects between the third section and the area opposite the joining line can be accepted. However, if there are other objects between the vehicle and the object, their display can be abandoned in order to avoid image defects in this area. The driver can be informed about the object in an improved manner without having to evaluate other objects that are displayed in the overall image in a possibly interfering manner.

[0019] The further object can move independently of the other objects relative to the vehicle. If the further object enters the area between the vehicle and the object, the third section can be gently concealed with a predetermined transition. This can less confuse or alarm an observer of the overall image.

[0020] In a further preferred embodiment, the third section is taken from the first partial image and shows the vehicle. In other words, in the second section, the area behind the vehicle can be inserted in such a way that the viewer of the overall image has the impression that the vehicle is transparent. In order to cover the third section, the corresponding part of the vehicle can be shown again in an opaque manner. In another embodiment, a predetermined image can also be shown instead of the vehicle. With the aid of this image, it can be pointed out to the viewer that the recognized object is intentionally not shown in this area.

[0021] In a corresponding manner, the overall image can include a fourth section that covers the area on the surface above the object. The fourth section can be filled, as the third section does, with a predetermined image or a section of the first partial image if necessary to avoid image defects in this area.

[0022] It is also preferred that the adaptation of the second partial image is predetermined for a plurality of predetermined distances between the vehicle and the object. For example, these distances may each include multiples of approximately 5 meters. In one embodiment, approximately 11 distances are provided. The smallest distance may be in the range of approximately 1 meter to 2 meters. The farthest distance may be in the range of approximately 47 meters to 50 meters. It has been proven that many display tasks can be satisfactorily solved by single-digit or small double-digit predetermined distances without dynamically generating adaptations. It is preferred in this embodiment that the following adaptation is used, the distance associated with the adaptation is closest to the determined distance. Alternatively, the following adaptation may also be used for the determined distance, the distance associated with the adaptation is the next shorter distance or the next longer distance.

[0023] In another embodiment, with respect to a predetermined first adaptation and a predetermined second adaptation, an adaptation is interpolated and applied to the second partial image, the distance associated with the first adaptation being less than the determined distance, and the distance associated with the second adaptation being greater than the determined distance. Interpolation can be performed with respect to one or more parameters of the adaptation. In one embodiment, the adaptation is determined by a scaling factor. In another embodiment, movement in the horizontal direction and / or in the vertical direction can be additionally included as a parameter. Other parameters are also possible. Optionally, if the distance of the object is outside the region in which the predetermined adaptation is known, extrapolation of the adaptation can also be performed.

[0024] The method may take into account that a plurality of objects are located in the environment of the vehicle. An object may be located at least partially in the first or second area.

[0025] In one embodiment, an object is selected from a plurality of objects in the environment of the vehicle, the object being at the smallest distance relative to the vehicle. The object closest to the vehicle may be the most relevant for guiding the vehicle.

[0026] In another embodiment, an object is selected from a plurality of objects in the environment of the vehicle, the estimated time until the object reaches the vehicle being the smallest. Thus, an object can be determined as relevant in particular when it is closer to the vehicle than another object whose distance to the vehicle remains the same or increases.

[0027] In yet another embodiment, an object is selected from a plurality of objects in the environment of the vehicle which is most sensitive with respect to a collision with the vehicle. In other words, the object may be selected, the collision of which with the vehicle causes the greatest damage to be expected. Thus, a pedestrian may be classified as more sensitive than a cyclist, a cyclist may be classified as more sensitive than a motorcycle, a motorcycle may be classified as more sensitive than a car, and a car may be classified as more sensitive than a truck.

[0028] It should be noted that the strategies mentioned for selecting an object from a plurality of objects in the environment of the vehicle can also be combined with one another. For example, only one of the described approaches can be used initially, provided that this approach determines only one object. If more than one object is equivalently determined by means of the selected approach, a second predetermined approach can be used in order to select an object from these objects. Optionally, a further approach can also be switched later.

[0029] It should also be noted that the purpose of the technology described here is to improve the display of the combined partial images to the vehicle driver, rather than to control the vehicle, which may support the determination of the most relevant objects with other criteria. Of course, a common sensor or scanning system can be used for both systems. It is also possible to pre-process the partial images provided for both systems, for example by generating a frame around the object.

[0030] The first sensor for providing the first partial image can be calibrated based on an optically detectable feature of the vehicle in a first region. In other words, the orientation of the first sensor with respect to the vehicle or the surroundings can be checked and, if necessary, corrected by checking the position of the feature in the provided partial image. This can ensure that the first section of the overall image taken from the first partial image is more correctly positioned.

[0031] The second sensor for providing the second partial image can be calibrated with the aid of a position sensor. The position sensor can indicate the orientation of the second sensor relative to the vehicle or the environment. A gyroscope or an inertial platform can be used for this purpose. The drift of the position sensor can be corrected with respect to the first partial image.

[0032] According to a second aspect of the invention, a device for merging partial images of an environment of a vehicle into a total image comprises the following elements: a first sensor for detecting a first partial image in a first area of ​​the environment, the first area being laterally behind the vehicle; a second sensor for detecting a second partial image in a second area of ​​the environment, the second area being behind the vehicle; a third sensor for determining a distance from the vehicle to an object, at least one section of the object being in each case in the first and second areas; and a processing device. The processing device is designed to adapt the second partial image as a function of the distance and to merge the partial images into a total image.

[0033] The processing device can be designed to implement the method described herein in full or in part. For this purpose, the processing device can be implemented electronically and, for example, include a programmable microcomputer or microcontroller and the method can exist in the form of a computer program product with program code modules. The computer program product can also be stored in a computer-readable data carrier. The features or advantages of the method can be transferred to the device or vice versa.

[0034] The first sensor may in particular comprise a side camera, which is preferably installed in an area where a conventional exterior mirror is otherwise installed. The second sensor may comprise a rear camera, which is installed at the rear end of the vehicle. The rear camera may be installed on the vehicle centrally or preferably laterally offset in the direction of the side camera. The third sensor may comprise, for example, a radar sensor, a lidar sensor or an ultrasonic sensor. The third sensor is also preferably installed in the area of ​​the rear of the vehicle. The position of the sensors on the vehicle and the viewing angles of the first and second sensors are preferably predetermined and immutable.

[0035] In another embodiment, a position sensor is provided for determining the orientation of the second sensor relative to the environment. The position sensor can provide a signal corresponding to the orientation of the second sensor. The second partial image provided by the second sensor can be adapted in an improved manner so that it is positionally correct with respect to the first partial image.

[0036] According to yet another aspect of the present invention, a vehicle includes the apparatus described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will now be described more precisely with reference to the accompanying drawings, in which:

[0038] Figure 1 The device is shown on the vehicle;

[0039] Figure 2 A flow chart showing the method;

[0040] Figure 3 shows an overall image formed by merging a first partial image and a second partial image according to a first embodiment;

[0041] Figure 4 shows a total image formed by merging a first partial image and a second partial image according to a second embodiment;

[0042] Figure 5 A schematic relationship between distance and scaling factor is shown. DETAILED DESCRIPTION

[0043] Figure 1 The device 100 is shown on a vehicle 105. The vehicle 105 preferably comprises a motor vehicle, in particular a motorcycle, a car, a truck or a bus. The direction of travel of the vehicle 105 is Figure 1 105 extends from bottom to top in the illustration. There is an object 110 behind the vehicle 105, which is shown as another vehicle by way of example. The device 100 preferably includes a first camera 115, a second camera 120, a distance sensor 125 and a processing device 130. The first camera 115 is mounted on the side of the vehicle 105 and is designed to scan the area at the side and rear of the vehicle 105. The second camera 120 is mounted in the rear area of ​​the vehicle 105 and is designed to scan the area at the rear of the vehicle 105. It is preferred that the two areas overlap. The distance sensor 125 is preferably also mounted at the rear of the vehicle 105.

[0044] Processing device 130 is designed to combine the first partial image provided by first camera 115 and the second partial image provided by second camera 120 into a total image. In one embodiment, a monitor 135 is provided to display the total image on vehicle 105. In this sense, device 100 can operate as a camera monitoring system.

[0045] Optionally, a position sensor 140 is provided in the region of the second camera 120 in order to determine the orientation of the second camera 120. The processing device 130 is preferably designed to recognize and optionally compensate for deviations of the orientation of the second camera 120 relative to a predetermined orientation based on the signals of the position sensor 140. For this purpose, the orientation of the second camera 120 can be changed or the provided second partial image can be shifted in a matching manner by means of corresponding actuators.

[0046] Processing device 130 can also check the orientation of first camera 115 relative to vehicle 105 by, for example, comparing the position of an optically recognizable feature of vehicle 105 in the first partial image with a predetermined position. Optionally, compensation can also be performed here by means of an actuator or by adapting the first partial image.

[0047] It should be noted that two devices 100 can be used on the vehicle 105, which can optionally be implemented partially integrated with each other. In the embodiment shown, the first camera 115, the second camera 120, the monitor 135 and the position sensor 140 are located on the left side of the vehicle 105. Corresponding elements can also be arranged on the right side of the vehicle 105. For example, the processing device 130 and / or the distance sensor 125 can be available on both sides.

[0048] Figure 2 A flow chart of a method 200 for merging partial images is shown. The method 200 can be carried out in particular by means of the device 100 .

[0049] In step 205, a first area of ​​the environment of vehicle 105 can be scanned by means of first camera 115 and a first partial image can be constructed. Correspondingly, a second area of ​​the environment of vehicle 105 can be scanned by means of second camera 120 and a second partial image can be constructed in step 210. Preferably, these areas overlap so that the object is visible both in the first partial image and in the second partial image.

[0050] In step 215 , one or more objects 110 may be detected in the surroundings of vehicle 105 . This detection is preferably performed based on the first partial image, but in another embodiment it may also be performed based on the second partial image or by scanning the surroundings with the aid of distance sensor 125 .

[0051] If a plurality of objects 110 are determined in step 215, one of the plurality of objects can be selected in step 220. For this purpose, in particular, it can be determined which of the objects 110 is most relevant for the guidance or movement of the vehicle 105. In one embodiment, the object 110 can be selected, which is at the shortest distance from the vehicle 105. In another embodiment, the object 110 can be selected, which has the shortest estimated time until reaching the vehicle 105. This determination can require the calculation of the relative speeds between the various objects 110 and the vehicle 105. Objects 110 that are far from the vehicle 105 can be discarded as being irrelevant. In a third embodiment, the object can be selected, which is the most sensitive with respect to a collision with the vehicle 105. For this purpose, the objects can be classified and the classes of the different determined objects 110 can be compared with one another.

[0052] In step 225, the distance between vehicle 105 and selected object 110 may be determined. For this purpose, a scan of the environment by means of distance sensor 125 may be used. Distance sensor 125 may determine the distances of a plurality of objects 110 in the environment of vehicle 105 simultaneously.

[0053] Depending on the determined distance, the second partial image provided in step 210 can be adapted in step 230. In particular, the size of the second partial image can be adapted depending on the determined distance.

[0054] Preferably, a certain number of adaptations are predetermined, which are associated with different distances relative to the vehicle 105. In an exemplary embodiment, adaptations are provided for distances of 2 meters, 3 meters, 5 meters, 7 meters, 12 meters, 17 meters, 22 meters, 27 meters, 32 meters, 37 meters and 47 meters. Preferably, each adaptation has a zoom factor, by which the second partial image can be enlarged or reduced. Other possible parameters include a focus for zooming, a shift, rotation or correction in the horizontal and / or vertical direction.

[0055] Based on the determined distance, a predetermined adaptation may be selected. Alternatively, an adaptation may be interpolated with respect to two or more predetermined adaptations. The adaptation may be applied to the second partial image so that the second partial image has the same magnification as the first partial image in the distance that the selected object 110 has.

[0056] The first partial image and the second partial image may be merged in step 235. The merging preferably takes place with respect to a predetermined joining line, which may be formed by the contour of vehicle 105 on the first partial image.

[0057] In optional step 240, the following area of ​​the overall image can be hidden, which area is taken from the second partial image and which area is below or above the shown object 110. In particular, the area below can be hidden in the following case, that is, when another object is present in this area. Likewise, in particular, the area above can be hidden in the following case, that is, when another object is present in this area. The hiding can include filling the corresponding area on the overall image with the content taken from the first partial image. Alternatively, a predetermined image, such as a predetermined signal color or a predetermined pattern, can also be inserted.

[0058] In step 245 , the determined overall image can be displayed, in particular, on monitor 135 .

[0059] Figure 3An overall image 305 is shown, which includes a first section 310 taken from a first partial image and a second section 315 taken from a second partial image. A joining line 320 extends between these sections 310 and 315, which preferably has the shape of the outline of vehicle 105 in the first partial image. Joining line 320 extends along the boundary of vehicle 105. In the vertical center region, a door handle of vehicle 105 can be recognized in joining line 320.

[0060] A portion of the surroundings of vehicle 105 that is not visible through vehicle 105 in the first partial image is supplemented by a corresponding portion of the second partial image in overall image 305 . To this end, the second partial image is scaled and in particular enlarged depending on the distance of object 110 from vehicle 105 .

[0061] Overall image 305 includes third section 325 and fourth section 330, each forming a section of second section 315. Third section 325 is located below the image of object 110 in second section 315, and fourth section 330 is located above the image.

[0062] The object 110 is shown in the overall image in each of two sections 310, 315 in a dimensionally correct manner. The representation is line-correct, so that a straight line extending beyond the two sections 305, 310 is neither continuous nor undergoes a change in direction.

[0063] If this is the case, the merging can be adapted according to the distance to the object 110. Otherwise, the third section 325 can be hidden when no further object 110 is present or the current object 110 is not determined to be more relevant than another object 110. For example, a matching section of the vehicle 105 or a predetermined graphic can be shown in the third section 325. The predetermined graphic can be optically highlighted in order to show that the third section 325 does not include an image of the area behind the vehicle 105.

[0064] In a similar manner, fourth section 330 may be hidden or covered by another diagram if another object 110 is located in an area above or behind object 110 from the perspective shown, which is located at least partially in second section 315. Only one object 110 relevant to leading vehicle 105 may also be considered here.

[0065] It can be seen that when the object - the object in Figure 3 In the case of a tree, for example, which is at a significantly greater distance from vehicle 105 than object 110 for adaptation, the image defect along joining line 320 is small in the region of fourth section 330 . Therefore, hiding fourth section 330 may also be omitted.

[0066] Figure 4 Show that under other conditions according to Figure 3 Here, the distance between vehicle 105 and object 110 is smaller and object 110 appears larger in overall image 305. Third segment 325 is larger than in Figure 3 , and fourth section 330 is omitted. Here, too, the image contents showing object 110 are connected to one another with high accuracy on different sides of joining line 320. However, image contents that are at a different distance from vehicle 105 than object 110 cannot be connected to one another continuously on joining line 320 or have an inflection point in the region of joining line 320.

[0067] exist Figure 4 An exemplary transition region 405 is drawn with a dashed line. The transition region 405 has, by way of example, the extension of the joining line 320 in the vertical direction and a predetermined horizontal width. Preferably, the joining line 320 is horizontally centered relative to the transition region 405, so that the left and right boundaries are at the same distance from the joining line 320.

[0068] The second partial image can only be adapted if the object 110 touches or exceeds the left and / or right border of the transition region 405. The object 110 on the first or second partial image can be provided with a bounding box, and if the frame touches or exceeds one of the borders, an adaptation can be performed. This adaptation can only be performed if the object 110 is also determined to be the most relevant.

[0069] Figure 5 A schematic and exemplary relationship between distance and zoom factor is shown. In the horizontal direction, the distance between vehicle 105 and object 110 is shown. In the vertical direction, a zoom factor is provided, with which the second partial image is to be adapted so that it is zoomed identically to the first partial image in the region of the determined distance.

[0070] In the embodiment shown, the second partial image must be scaled by a factor of approximately 4.5 when the object 110 to be displayed is at a distance of approximately one meter. The viewing angle of the first sensor 115 should therefore be greater than the viewing angle of the second sensor 120 by at least this factor. If, for example, the viewing angle of the second sensor 120 is approximately 34°, the viewing angle of the first sensor 115 should be at least approximately 34×4.5=153°. These considerations apply to the vertical viewing angle; similar considerations can apply to the horizontal viewing angle. Reference numerals list

[0071] 100 devices

[0072] 105 vehicles

[0073] 110 Other vehicles

[0074] 115 First Camera

[0075] 120 Second Camera

[0076] 125 distance sensor

[0077] 130 Processing equipment

[0078] 135 Monitor

[0079] 140 Position Sensor

[0080] 200 Methods

[0081] 205 Build the first part of the image

[0082] 210 Build the second part of the image

[0083] 215 Identify Objects

[0084] 220Select Object

[0085] 225 Determine the distance to the object

[0086] 230 Adapting the second part of the image

[0087] 235 Merge the image parts

[0088] 240 Hidden Areas

[0089] 245 shows the total image

[0090] 305 total images

[0091] 310 Section 1

[0092] 315 Section 2

[0093] 320 bonding wire

[0094] 325 Section 3

[0095] 330 Section 4

[0096] 405 Transition Area

Claims

1. A method (200) for merging partial images of an environment of a vehicle (105) into an overall image (305), wherein: The method (200) comprises the following steps: Detecting (205) a first partial image in a first area of ​​an environment, the first area being laterally rearward of the vehicle (105); detecting (210) a second partial image in a second area of ​​the environment, the second area being behind the vehicle (105); detecting (215) an object (110), at least one section of the object being within one of the regions; determining (225) a distance between the object (110) and the vehicle (105); adapting (230) the second partial image according to the distance; and The partial images are merged (235) into the total image (305).

2. The method (200) according to claim 1, wherein: The overall image (305) includes a first segment (310) which is received from the first partial image and constitutes an area of ​​the environment outside the vehicle (105); and the overall image includes a second segment (315) which is taken from the second partial image and constitutes an area of ​​the environment behind the vehicle (105).

3. The method (200) according to claim 2, wherein: A joining line (320) which defines the first section (310) on the overall image (305) is fixedly predetermined based on the viewing angle and imaging parameters of the partial images.

4. The method (200) according to one of the preceding claims, wherein: The overall image (305) includes a third section (325) which covers a region between the vehicle (105) and the object (110) if a further object (110) is present in the region.

5. The method (200) according to claim 4, wherein: The third section (325) is taken from the first partial image and shows the vehicle (105).

6. The method (200) according to any of the preceding claims, wherein: An adaptation of the second partial image is predetermined for a plurality of predetermined distances between the vehicle (105) and the object (110).

7. The method (200) according to claim 6, wherein: Of a predetermined first fit and a predetermined second fit, a fit is interpolated and applied to the second partial image, wherein the distance associated with the first fit is smaller than the determined distance and the distance associated with the second fit is larger than the determined distance.

8. The method (200) according to any of the preceding claims, wherein: An object is selected (220) from a plurality of objects (110) in the environment of the vehicle (105) that has a minimum distance relative to the vehicle (105).

9. The method (200) according to any of the preceding claims, wherein: An object is selected (220) from a plurality of objects (110) in the environment of the vehicle (105) for which an estimated time until reaching the vehicle (105) is minimized.

10. The method (200) according to any of the preceding claims, wherein: An object is selected (220) from a plurality of objects (110) in the environment of the vehicle (105) that is most sensitive with respect to a collision with the vehicle (105).

11. The method (200) according to any of the preceding claims, wherein: A first sensor (115) for providing the first partial image is calibrated based on optically detectable features of the vehicle (105) in the first area.

12. The method (200) according to any of the preceding claims, wherein: A second sensor (120) for providing the second partial image is calibrated with the aid of a position sensor (140).

13. A device (100) for merging partial images of an environment of a vehicle (105) into an overall image (305), wherein: The device (100) comprises the following elements: A first sensor (115) for detecting a first partial image in a first area of ​​the environment, the first area being located laterally behind the vehicle (105); A second sensor (120) for detecting a second partial image in a second area of ​​the environment, the second area being behind the vehicle (105); a third sensor (125) for determining a distance between an object (110) and the vehicle (105), at least one section of the object being located in one of the areas; A processing device (130) for adapting the second partial image according to the distance; And used to merge the partial images into the total image (305).

14. The device (100) according to claim 13, wherein: A position sensor (140) is provided for determining the orientation of the second sensor (120) relative to the environment.

15. Vehicle (105) comprising a device (100) according to claim 13 or 14.

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