Methods for displaying information about a vehicle's surroundings

Abstract

Method for displaying information about a vehicle's surroundings, the method comprising the following steps: - Determining environmental information for an area (403, 405) in the vicinity of the vehicle (100), wherein the environmental information includes whether an object (201-203) is present in the area (403, 405) or not, wherein the environmental information is determined as a function of sensor information from a sensor (103-106) of the vehicle (100) and motion information from a movement of the vehicle (100) by scanning the area (403, 405) with the sensor (103-106) as the vehicle (100) moves. - Displaying information about the environment for the area (403, 405) on a display unit (102) of the vehicle (100) depending on the environmental information, - Determining motion information of the vehicle (100), which includes a speed of the vehicle (100), and - Changing the display of environmental information for the area (403, 405) on the display unit (102) if the vehicle (100) maintains a speed less than or equal to a predetermined speed threshold for a period of time longer than a predetermined period.

Description

[0001] The present invention relates to methods for displaying information about a vehicle's surroundings, as well as corresponding devices and a corresponding vehicle. The methods relate in particular to displaying information about the surroundings along a longitudinal side of the vehicle in order to indicate to the driver, during maneuvering, whether or not an obstacle is present in that area.

[0002] Drivers are often overwhelmed when parking and maneuvering in parking lots or garages, as parking spaces are frequently very tight and vehicles are designed, for example, for aerodynamic reasons, in such a way that the driver has difficulty seeing or judging the vehicle's dimensions. Therefore, modern vehicles are often equipped with parking distance warning systems, also known as Park Distance Control (PDC). Furthermore, systems are available to assist the driver when parking, known as Park Assist (PLA). These systems use sensors mounted on the vehicle to monitor its immediate surroundings for obstacles.

[0003] German patent application DE 10 2008 036 009 A1 discloses a method for collision protection of a motor vehicle and a parking garage assistant in this context. The vehicle is equipped with environmental sensors for detecting objects in its vicinity. The method acquires the sensor information from the vehicle's environmental sensors and creates an environmental map from this information. Furthermore, the vehicle's own motion is determined, and, taking this motion into account, a collision probability of the vehicle with surrounding objects is calculated from the environmental objects depicted in the environmental map. This makes it possible to provide protection even for the side of the vehicle, even if this area is not directly covered by a sensor, so that potential collisions can be predicted there as well without additional sensors.

[0004] German patent DE 102 57 722 A1 relates to a parking aid for a vehicle that detects parking spaces as the vehicle drives past them. Properties of the parking spaces are stored in memory, and information about the spaces is displayed on an output unit. When the vehicle's speed falls below a predefined threshold, distance sensors are automatically activated and measure the edge of the road as the vehicle passes. If the driver then stops, information about previously passed parking spaces can be displayed. The display of parking space information can be triggered by a significantly reduced speed, for example, by less than five kilometers per hour.

[0005] DE 10 2009 024 062 A1 relates to a device for displaying objects in a vehicle's environment, comprising a sensor arrangement for detecting objects in the vehicle's environment and determining their position relative to the vehicle. The sensor arrangement's detection range covers only a portion of the vehicle's environment. To improve driver assistance during parking maneuvers, the processing unit is designed to identify the area of ​​the vehicle's environment for which no object information is yet available, as it has not been covered by the sensor arrangement's detection range, and the display device is designed to indicate the extent of this area.

[0006] Particularly when monitoring the side area of ​​the vehicle, i.e., for side protection, the following problem can occur. Objects in the side area are detected using ultrasonic sensors and tracked as they pass, based on the vehicle's motion data, the so-called odometry data. A warning then extends to the entire side area. To create a map for object tracking, this area must therefore be scanned first. The area that is not directly monitored by the sensors, but indirectly monitored via odometry as described above, is also referred to as the blind spot. When the vehicle is stationary, changes can occur in the blind spot that cannot be detected by the sensors. Furthermore, the side area can be inaccurate due to faulty odometry data, for example, on a slippery surface.This can result in the driver of the vehicle receiving incorrect information about the side area of ​​the vehicle.

[0007] The object of the present invention is therefore to provide improved methods for displaying the environment of a vehicle.

[0008] According to the present invention, this problem is solved by a method for displaying information about a vehicle's environment according to claim 1, a method for displaying information about a vehicle's environment according to claim 5, a device for a vehicle according to claim 9, a device for a vehicle according to claim 10, and a vehicle according to claim 12. The dependent claims define preferred and advantageous embodiments of the invention.

[0009] According to the present invention, a method for displaying information about a vehicle's surroundings is provided. In this method, environmental information is determined for an area within the vehicle's environment. This environmental information indicates whether an object is present in the area or not. The environmental information is determined based on sensor data from a vehicle sensor and motion data from the vehicle's movement, by scanning the area with the sensor as the vehicle moves. Depending on the determined environmental information, information about the surroundings is displayed for the area on a display unit in the vehicle. Furthermore, motion data for the vehicle, including its speed, is determined.The environmental information displayed on the display unit changes if the vehicle maintains a speed below or equal to a predetermined speed threshold for a specified period. This allows the display unit to initially show the driver the current environmental information, which is then displayed as outdated or no longer current after the predetermined period. If the vehicle remains in motion, the environmental information is continuously updated by the sensor and the vehicle's movement, thus remaining constantly visible to the driver. However, if the vehicle is stationary or moving very slowly, the environmental information becomes outdated and is therefore displayed in a modified form to indicate to the driver that the environmental information for that area may no longer be current.

[0010] According to one embodiment, when the environmental information display changes, the displayed information about the environment for the corresponding area is removed from the display unit. Removing the environmental information from the display intuitively conveys to the vehicle user that no current environmental information is available for that area.

[0011] In typical displays, the monitored area of ​​the vehicle is often shown in a primary color, such as gray, and objects within this area are represented by colored segments, such as yellow or red, depending on their distance from the vehicle. An unmonitored area is usually displayed as the background color of the display, such as black. Therefore, changing the environmental information displayed for this area on the display unit when the vehicle remains below the predetermined speed threshold for a period exceeding the specified time might involve, for example, highlighting the corresponding area in black on the display unit. This effectively removes the environmental information from the user's perspective during this period.

[0012] According to another embodiment, the predetermined time duration has a value in the range of 10–360 s, particularly a value of 180 s. Since the vehicle often travels slowly or even remains stationary for limited periods when maneuvering and parking, and objects in the blind spot cannot appear or disappear arbitrarily quickly, a time duration in the range of several seconds to a few minutes is suitable before the environmental information is removed from the display as outdated. The speed threshold can, for example, have a value in the range of 0–0.5 km / h, particularly a value of 0 km / h.

[0013] According to the present invention, a further method for displaying information about a vehicle's surroundings is provided. In this method, environmental information is determined for the area surrounding the vehicle. As previously described, the environmental information indicates whether an object is present in the area or not. The environmental information is determined based on sensor information from a sensor on the vehicle and motion information from the vehicle's movement, by scanning the area with the sensor as the vehicle moves. Furthermore, motion reliability information is determined, indicating the reliability of the motion information used during the determination of the environmental information.To determine motion reliability information, a signal from the vehicle's electronic stability program, traction control system, or anti-lock braking system can be evaluated. More generally, motion reliability information can be determined by assessing the grip of at least one of the vehicle's tires on a surface while determining environmental information. The environmental information for the area is displayed on a vehicle display unit based on the motion reliability information. Because the environmental information for the area is determined based on sensor information and the vehicle's motion information, it may be inaccurate or even incorrect if the vehicle's motion information was faulty when determining the environmental information.The motion information, also known as odometry data, is determined, for example, via steering angle, speed, speedometer reading, and / or wheel movement information. Wheel movement information can be determined individually for each wheel, where, for instance, the rotational movement of each wheel is recorded and combined with its circumference. If the vehicle slips on the surface or a tire spins, reliable motion information can no longer be determined, and consequently, the environmental information can also no longer be reliably determined. Therefore, in this case, the environmental information for the area is either not displayed at all on the display unit or is marked as unreliable.

[0014] According to one embodiment, the display of environmental information for the area on the vehicle's display unit is modified depending on the motion reliability information. For example, if environmental information is already displayed on the display unit and subsequent vehicle movement reveals that the movement cannot be reliably determined, the vehicle's position relative to the previously displayed environmental information can no longer be reliably determined, and consequently, the environmental information for the area is also no longer reliable. Therefore, the display is modified in this case to clearly communicate this to the user. For example, the environmental information for the area can be removed, as described previously.

[0015] The following embodiments are suitable for further developing the two methods described above.

[0016] According to one embodiment, the area encompasses a region along one longitudinal side of the vehicle. The sensor can, for example, be positioned laterally at a front or rear end of the vehicle and be configured to capture sensor information in the transverse direction of the vehicle. The front end is, for example, a region on the side of the vehicle in front of the front wheel arch. The rear end is, for example, a region on the side of the vehicle behind the rear wheel arch. When the vehicle moves forward, the sensor at the front end can capture the area to the side of the vehicle as it passes and store this information, for example, by building up a map. When the vehicle is reversing, the map information can be determined using the sensor located at the rear end of the vehicle.The map information can include, for example, information indicating which area has already been scanned and whether objects are present in the scanned area. If the entire area along the vehicle's length has been scanned, this information can be displayed, additionally taking into account the motion reliability information as described previously.

[0017] According to one embodiment, the environmental information is displayed in the form of a top view of the vehicle. Environmental sectors are displayed around the vehicle, to which corresponding environmental information can be assigned. Depending on the environmental information, the assigned environmental sector is displayed differently. For example, the environmental sector is displayed in a first visual way, such as black, if no environmental information is available for it. Furthermore, the environmental sector can be displayed in a second visual way, such as gray, if, according to the environmental information, no object is present in the environmental sector. Finally, the environmental sector can be displayed in a third visual way if, according to the environmental information, an object is present.The third type of visual indicator can, for example, use different colors to symbolize the distance to an object in the surrounding area. Furthermore, other visual effects are possible, such as a flashing display when the vehicle is approaching the object very closely.

[0018] According to one embodiment, the sensor comprises an ultrasonic sensor, a laser sensor, or an image acquisition sensor. Ultrasonic sensors, in particular, are commonly used for distance measurement during shunting operations, and therefore suitable evaluation devices for evaluating ultrasonic signals from these sensors are readily available and inexpensive.

[0019] According to the present invention, a device for a vehicle is further provided, comprising a motion detection unit, an environment detection unit, a display unit, and a processing unit. The motion detection unit serves to acquire motion information from the vehicle and can, for example, be coupled with a steering angle sensor, a wheel motion sensor, or a tachogenerator and provide so-called odometry data. The environment detection unit is configured to determine environmental information for an area in the vicinity of the vehicle. This environmental information indicates whether an object is present in the area or not. The environmental information is determined based on sensor information from a sensor in the vehicle and the vehicle's motion information by scanning the area with the sensor as the vehicle moves.The display unit serves to show visual information to a vehicle user. The display unit can also be configured to provide acoustic information to a user, for example, when the vehicle approaches an object in its vicinity very closely. The processing unit is designed to perform at least one of the previously described processes and therefore also includes the advantages described above.

[0020] Finally, according to the present invention, a vehicle is provided with the device described above.

[0021] The present invention will be explained in detail below with reference to the accompanying drawings. Fig. Figure 1 schematically shows a top view of a vehicle according to an embodiment of the present invention. Fig. 2 and Fig. Figure 3 schematically shows a parking or maneuvering operation of a vehicle. Fig. Figure 4 schematically shows an output on a display unit according to an embodiment of the present invention. Fig. Figure 5 schematically shows a further output on a display unit according to an embodiment of the present invention.

[0022] Fig. Figure 1 shows a vehicle 100 with a processing unit 101, a display unit 102, and environmental sensors 103-114. The environmental sensors 103-114 are coupled to the processing unit 101. The environmental sensors 103-114 can, for example, be ultrasonic sensors capable of determining whether an object is present in a predefined monitoring area and, if an object is present, its distance. The environmental sensors 107-110 are suitable and arranged for monitoring a front area of ​​the vehicle 100, and the environmental sensors 111-114 for monitoring a rear area. Such an arrangement is known in the prior art as a parking aid or park distance control system and will therefore not be described in further detail below.The environmental sensors 103-106 are each located at one side of the vehicle and monitor an area extending laterally from the vehicle. For example, environmental sensor 103 is located at the front right of the vehicle 100 and monitors an area in the direction of arrow 115. Environmental sensor 104 is located at the rear right of the vehicle 100 and monitors an area in the direction of arrow 116, and environmental sensors 105 and 106 are located at the rear left and front left ends of the vehicle 100, respectively, and monitor an area in the direction of arrows 117 and 118.

[0023] The processing unit 101 is coupled with the environmental sensors 103-114 and displays information from the environmental sensors on the display unit 102 for the vehicle's driver. Additionally, the processing unit 101 is coupled with sensors for detecting the vehicle's movement 100. For example, the processing unit 101 is coupled with a steering angle sensor and a distance sensor (e.g., a tachometer) of the vehicle 100. The operation of the processing unit 101 and the corresponding outputs on the display unit 102 are described below with reference to the Fig. 2-5 will be described in detail.

[0024] Fig. Figure 2 shows a schematic top view of vehicle 100, which is traveling along a planned route 204 past parked vehicles 201-203. As vehicle 100 travels past vehicles 201-203, the environment sensor 103 continuously detects whether an object is present in the direction of arrow 115. Together with the motion information of vehicle 100 from, for example, the steering angle sensor and the distance sensor, a virtual environment map of vehicle 100's surroundings can be constructed by the processing unit 101 during the journey. When vehicle 100 passes the vehicles 201-203, the processing unit 101 can then... Fig. Once the vehicle 100 has reached the position shown in Figure 3, the processing unit 101 has constructed an environmental map of the vehicle 100. This map contains information indicating that an object, namely vehicle 203, is located in the lateral area between the front right end of the vehicle 100 and the B-pillar of the vehicle 100; that no object is located in the lateral area of ​​the rear door of the vehicle 100; and that an object, namely vehicle 202, is located in the lateral area between the rear door of the vehicle 100 and the rear right end of the vehicle 100. Using the environmental sensor 106, it was determined during the journey that there are no objects on the left side of the vehicle. Using the environmental sensors 107-110, the processing unit 101 can continuously monitor the area in front of the vehicle 100, where, however, the following information is not available: Fig. No object is located at the vehicle's position shown in Figure 3. Similarly, the processing unit 101 can monitor the area behind the vehicle using the environmental sensors 111-114, but no object is located there. Fig. No object is located at position 3 shown. Accordingly, processing unit 101 cannot access the area shown. Fig. Provide the output shown in section 4 on display unit 102.

[0025] Fig. Figure 4 shows the output on the display unit 102, which, for example, has a screen 400, such as a liquid crystal display, for outputting colored graphic information. A top view of the vehicle 100 is shown against a background 401, which is displayed in a first color, for example, black. Around the vehicle 100, monitored areas 402-405 are shown in a second color, for example, gray. Area 402 shows the area monitored by the environmental sensors 111-114. Area 403 shows the area along the left longitudinal side of the vehicle 100, which was previously detected during the vehicle 100's movement using the environmental sensor 106. Area 404 shows the area in front of the vehicle 100 monitored using the environmental sensors 107-110.Area 405 shows the area along the right longitudinal side of the vehicle that was detected by the environmental sensor 103 during the movement of vehicle 100. Within area 405, individual segments 406-408, in which objects or obstacles in the vicinity of vehicle 100 were detected, are displayed in a third color. This third color can be, for example, yellow or red, depending on the distance of the detected objects. Yellow indicates, for instance, that an object was detected at a distance of more than 30 cm, and red indicates that an object was detected at a distance of less than 30 cm. Accordingly, segments 406 and 407 show the rear of vehicle 203 as an obstacle, and segment 408 shows the rear of vehicle 202. Thus, the driver of vehicle 100 receives information about the proximity of objects in the area along the right side of the vehicle.Accordingly, the driver of vehicle 100 can choose route 204 to avoid, for example, a collision with vehicle 203.

[0026] If the vehicle is 100 in the Fig. If the vehicle 203 remains in the position shown in Figure 3 for an extended period, it is possible that it may, for example, move forward during this time. However, this change in the environment of the vehicle 100 cannot be detected by the environmental sensors 103-114. Therefore, if the vehicle remains stationary for longer than 180 seconds or moves at a speed of, for example, less than 0.5 km / h for longer than 180 seconds, areas 403 and 405 are hidden. This hidden state is described in Figure 3. Fig. 5 is shown. In this context, "hidden" means that the entire areas 403 and 405, including all segments 406-408, are no longer displayed; that is, these areas are shown in the background color 401. This makes it clear to the driver that no current environmental information is available about the side areas of the vehicle 100. Since areas 402 and 404 are continuously monitored by the environmental sensors 111-114 and 107-110, respectively, the display of areas 402 and 404 remains unchanged.

[0027] The masking of areas 403 and 405 along the longitudinal sides of the vehicle is also performed by processing unit 101 even if, during the journey, the in Fig. 2 shown position to the one in Fig. At the position of vehicle 100 shown in Figure 3, processing unit 101 determined that the odometry data, such as the steering angle or distance traveled, could not be reliably acquired. Such information regarding the reliability of the odometry data can be provided, for example, by the vehicle's electronic stability program (ESP), anti-lock braking system (ABS), or traction control system (ASR). Since reliable detection of the environment in the areas along the vehicle's longitudinal sides is not possible in this case, the [missing information] Fig. Output shown in section 5 is displayed on display unit 102. The output shown in Fig. The display shown in 5 can also be output if, for example, after switching on the ignition of vehicle 100, the area along the side of the vehicle could not yet be fully determined.

Claims

[1] Method for displaying information about a vehicle's surroundings, the method comprising the steps: - Determining environmental information for an area (403, 405) in the vicinity of the vehicle (100), wherein the environmental information includes whether an object (201-203) is present in the area (403, 405) or not, wherein the environmental information is determined as a function of sensor information from a sensor (103-106) of the vehicle (100) and motion information from a movement of the vehicle (100) by scanning the area (403, 405) with the sensor (103-106) as the vehicle (100) moves. - Displaying information about the environment for the area (403, 405) on a display unit (102) of the vehicle (100) depending on the environmental information, - Determining motion information of the vehicle (100), which includes a speed of the vehicle (100), and - Changing the display of environmental information for the area (403, 405) on the display unit (102) if the vehicle (100) maintains a speed less than or equal to a predetermined speed threshold for a period of time longer than a predetermined period. [2] Method according to claim 1, wherein the step of changing the display of the information about the environment comprises removing the displayed information about the environment for the area (403, 405) from the display unit (102). [3] Method according to claim 1 or 2, wherein the predetermined time duration has a value in the range of 10 to 360 seconds or a value of 180 seconds. [4] Method according to any of the preceding claims, wherein the speed threshold has a value in the range of 0 to 0.5 km / h or a value of 0 km / h. [5] Method for displaying information about a vehicle's surroundings, the method comprising the steps: - Determining environmental information for an area (403, 405) in the vicinity of the vehicle (100), wherein the environmental information includes whether an object (201-203) is present in the area (403, 405) or not, wherein the environmental information is determined as a function of sensor information from a sensor (103-106) of the vehicle (100) and motion information from a movement of the vehicle (100) by scanning the area (403, 405) with the sensor (103-106) as the vehicle (100) moves. - Determining motion reliability information, which indicates the reliability of the motion information used during the determination of the environmental information, wherein the step of determining the motion reliability information includes determining the adhesion of at least one tire of the vehicle (100) on a surface during the determination of the environmental information or evaluating a signal from an electronic stability program of the vehicle (100), an anti-slip control system of the vehicle (100) or an anti-lock braking system of the vehicle (100), and - Displaying information about the environment for the area (403, 405) on a display unit (102) of the vehicle (100) depending on the environment information and the motion reliability information. [6] Method according to one of the preceding claims, wherein the area (403, 405) comprises an area along a longitudinal side of the vehicle (100). [7] Method according to one of the preceding claims, wherein the step of displaying the information about the environment comprises displaying a top view of the vehicle (100) and displaying environment sectors (402-408) around the vehicle, wherein the environment information is assigned to an environment sector (402-408), wherein the assigned environment sector (402-408) is displayed differently depending on the environment information. [8] Method according to any of the preceding claims, wherein the motion information comprises speed information, wheel movement information or steering angle information of the vehicle (100). [9] Device for a vehicle, comprising: - a motion detection unit for capturing motion information of the vehicle (100), - an environment sensing unit configured to determine environmental information for an area (403, 405) in the vicinity of the vehicle (100), wherein the environmental information includes whether an object (201-203) is present in the area (403, 405) or not, wherein the environmental information is determined depending on sensor information from a sensor (103-106) of the vehicle (100) and the movement information of the vehicle (100) by scanning the area with the sensor (103-106) as the vehicle (100) moves, - a display unit (102), and - a processing unit (101) which is designed, To display information about the vehicle's surroundings for the area (403, 405) on the vehicle's display unit (102) depending on the environmental information, to determine the speed of the vehicle (100) depending on the movement information, and to change the displayed information about the environment for the area (403, 405) on the display unit (102) if the vehicle (100) maintains a speed less than or equal to a predetermined speed threshold for a period of time longer than a predetermined period of time. [10] Device for a vehicle, comprising: - a motion detection unit for capturing motion information of the vehicle (100), - an environment sensing unit configured to determine environmental information for an area (403, 405) in the vicinity of the vehicle (100), wherein the environmental information includes whether an object (201-203) is present in the area (403, 405) or not, wherein the environmental information is determined depending on sensor information from a sensor (103-106) of the vehicle (100) and the movement information of the vehicle (100) by scanning the area with the sensor (103-106) as the vehicle (100) moves, - a display unit (102), and - a processing unit (101) which is designed, to determine motion reliability information which indicates the reliability of the motion information used during the determination of the environmental information, wherein determining the motion reliability information includes determining the adhesion of at least one tire of the vehicle (100) on a surface during the determination of the environmental information or evaluating a signal from an electronic stability program of the vehicle (100), an anti-slip control system of the vehicle (100) or an anti-lock braking system of the vehicle (100), and To display information about the environment for the area (403, 405) on the display unit (102) depending on the environment information and the motion reliability information. [11] Device according to claim 9 or 10, wherein the device is configured to carry out the method according to one of claims 1-8. [12] Vehicle with a device according to any one of claims 9-11.

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