Method for combining partial images to form an image of a coherent surrounding area of ​​a means of transport, driver assistance system and means of transport

Abstract

Method for combining partial images (I', II', III') to form an image (IV') of a coherent environmental area (IV) of a means of transport (10), comprising the steps: - detecting (100) a first partial area (I, III) of the surrounding area (IV) by means of a first environmental sensor (1, 9) which is arranged on a front right or left fender of the means of transport (10), - detecting (100) a second sub-area (II) of the surrounding area (IV) by means of a second environmental sensor (2) which is arranged centrally at the rear of the means of transport (10), - generating (200) a first partial image (I', III') of the first partial area (I, III) on the basis of a signal from the first environmental sensor (1, 9), - generating (200) a second partial image (II') of the second partial area (II) on the basis of a signal from the second environmental sensor (2) and a plurality of virtual sensors (3) for detecting the second partial area (II), - joining (500) the first partial image (I', III') and the second partial image (II') along a straight first joining line (4, 5), wherein the virtual sensors (3) are arranged at positions substantially perpendicular (6) to the first joining line (4, 5).

Description

[0001] The present invention relates to a means of transportation, a driver assistance system, and a method for combining partial images to form an image of a coherent surrounding area of ​​a means of transportation. In particular, the present invention relates to the prevention of distortions in the area of ​​the joining line(s).

[0002] To make the operation of means of transport more comfortable and safer, driver assistance systems are used. These use sensors to record environmental signals and display images of the surroundings to the driver. For example, it is known to provide a camera to record images to monitor the traffic behind the ego vehicle, the images from which are displayed to the driver on a display integrated in the cockpit or center console. These systems often serve as parking aids. It is also known to integrate these systems as a replacement for a vehicle-mounted rearview mirror. The driver can monitor the traffic behind them using the camera image display instead of the rearview mirror. This allows the vehicle's surroundings to be displayed on displays in the vehicle interior.

[0003] DE 10 2011 079 913 A1 discloses a vision support system for a driver and a vehicle with such a system.

[0004] DE 10 2010 023 591 A1 discloses the use of a stereo camera system in a driver assistance system for road vehicles.

[0005] US 7 139 412 B2 discloses a method for stitching multiple images and a device for a vehicle-based camera whose images are stitched along a joining line.

[0006] US 6 476 855 B1 discloses a device for displaying an image of the surroundings of a means of transport.

[0007] WO 99 / 015 360 A1 describes a vision system with cameras for a vehicle. At least one camera is mounted on one side of the vehicle. The vision system enables, for example, the replacement of existing exterior and interior mirrors in a motor vehicle with the use of image recording sensors and serves, for example, as a parking aid.

[0008] WO 96 / 38319 A2 discloses that a rearview system for a vehicle comprises at least one image pickup device directed rearward with respect to the vehicle's direction of travel. A display system displays an image synthesized from the output of the image pickup device. The display system is adjacent to the driver's front field of view with a focal length forward of the vehicle's passenger compartment. Multiple image pickup devices may be provided, and the display system displays a unified image synthesized from the outputs of the image pickup devices, approximating a rearward view from a single location, such as in front of the vehicle.

[0009] US 6 005 987 A discloses an imaging device in which, in a panoramic imaging process, parallaxes in a combined image from multiple imaging sensors are reduced by generating and inserting a plurality of intermediate images in the region of a joining line. Although cameras record a radial, three-dimensional (3D) field, the display on a monitor is distorted into a flat, quadrangular plane. This makes it difficult to estimate the distance to objects, especially in blind spots. In a fused display of the three fields of view (mirrors), it is necessary to realize the assignment or relative position of the ego vehicle using an appropriate display concept.

[0010] In order to make rearview mirrors not only suitable for customers but also suitable for approval, specific image qualities are required, especially in the area of ​​the joining lines of combined partial images, which are not met by the prior art. Therefore, it is an object of the present invention to satisfy the aforementioned need.

[0011] The above-mentioned object is achieved according to the invention by a method for combining partial images to form an image of a coherent surrounding area of ​​a means of transport. For this purpose, in a first step, a first partial area of ​​the surrounding area is detected by means of an environmental sensor. The surrounding area can, for example, be a rear area of ​​the means of transport, which is approximately an area behind the front bumper of a means of transport and to the left or right of the vehicle. The first environmental sensor can, for example, be a two-dimensional (2D) optical camera. This can be arranged in the area of ​​a fender and / or an exterior mirror of a means of transport. In addition, a second partial area (which is at least not completely identical to the first partial area) of the same surrounding area is detected by means of a second environmental sensor.The second environmental sensor can also be an optical sensor. However, unlike the first environmental sensor, the second environmental sensor can record additional information, enabling, for example, three-dimensional images of the second partial area. In a second step, a first partial image of the image of the environmental area is generated based on a signal from the first environmental sensor, and a second partial image of the image of the environmental area is generated based on a signal from the second environmental sensor. The second partial image is also based on a plurality of virtual sensors for detecting the second partial area. The plurality of virtual sensors could also be referred to as a plurality of alternative perspectives on the second partial area, which are created (e.g., calculated) based on signals detected by real sensors. In this way, a plurality of perspectives on the second partial area are available.According to the invention, the virtual sensors are arranged at positions substantially perpendicular to a joining line along which the first partial image and the second partial image are joined. In this way, each virtual sensor has a different distance from the first joining line. In particular, each virtual sensor has an integer multiple of a basic distance of a specific virtual sensor from the joining line that is arranged comparatively close to the joining line. While the joining line between two sensors directed into different azimuthal spatial regions is usually arranged vertically, a joining surface can also be identified for three-dimensional image regions, which defines the spatial boundary surfaces of different environmental images during joining. The virtual sensors can also be arranged substantially perpendicular to such a joining surface.By having at least one virtual sensor with a more similar perspective than the second environmental sensor with regard to a detection angle limit of the first environmental sensor, it is possible to generate less distortion when combining the first partial image and the partial image using the signals from said virtual sensor. In particular, when generating an image of a vehicle's surroundings, the distortions are so low that optical aids such as interior / exterior mirrors can be dispensed with. In this way, the wind resistance of a means of transport is reduced, which lowers the energy required for its movement. In addition, it is possible to enrich synthetic images with additional information and to arrange the cameras in positions that represent a more comprehensive and therefore more suitable image of the vehicle's surroundings. For example, the first partial area can form a so-called“blind spots” which the driver of the vehicle can otherwise only perceive with a loss of comfort and with a loss of an impression of other surrounding areas.

[0012] Preferably, a virtual sensor can be located in the immediate vicinity of the first joining line. Its perspective of the joining line area is thus virtually identical to that of the first ambient sensor. Distortions in this area can thus be reduced to a previously unattainable level, thus meeting the relevant standards (e.g., ECE-R46).

[0013] In particular, the virtual sensors are to be arranged horizontally spaced from one another so that their respective core detection areas image closely spaced vertical strips ("segments") of the second partial area. This enables extremely low-distortion reproduction of the second partial image, even if a subsequent conversion of the second partial image (e.g., from a three-dimensional database to a two-dimensional database) can be performed with low distortion.

[0014] The core detection areas of the virtual sensors can be used to generate vertical image segments, which, when joined along second joining lines, result in the second partial image. The second joining lines can, for example, be arranged parallel to the first joining line. The more virtual sensors used, the lower the distortions within the second partial image. If the joining lines or joining surfaces essentially correspond to the left and right sides of a travel path (or trajectory) traversed by the vehicle during straight-ahead travel, the area behind the vehicle is thus composed of the plurality of segments. In this area, known methods (e.g., alpha blending) can be used, for example.Another technique is called "view-ray interpolation" and is explained in detail in the publication "Megastereo: Constructing High-Resolution Stereo Panoramas." The interpolation is achieved using the net flow technique. In this technique, the motion ("flow") between two views is represented at the pixel level. Using this information, any intermediate position between two different views can be interpolated. This significantly reduces the display problems of objects that have a large deviation in distance from the projection surface.

[0015] The first environmental sensor can, for example, be a 2D sensor. It can be configured as a (mono) exterior camera in the area of ​​a fender, an exterior mirror, a door of the vehicle, or in the area of ​​a roof edge / roof rack. The second environmental sensor can, for example, comprise two optical sensors or be configured as a stereo camera. It can be arranged in the area of ​​the vehicle's rear, in particular centrally with respect to the vehicle's width. In this way, a large number of image information items of the rear area of ​​the vehicle are captured and stored for subsequent processing. Those skilled in image processing will understand that not only optical sensors can be used according to the invention, but that any sensors that generate or enable a two-dimensional or three-dimensional image of the environment can be used.If the first partial area is assigned to a right-hand side of the vehicle and the second partial area is assigned to a central rear surrounding area of ​​the means of transport, it is advantageous to also provide an environmental sensor for the left-hand side of the vehicle, which is referred to as a third environmental sensor in the context of the present invention. This serves to expand the surrounding area essentially in a mirror-symmetric manner in accordance with the above explanations regarding the first environmental sensor. In other words, a third partial area of ​​the surrounding area is detected, a third partial image of the third partial area is subsequently generated based on a signal from the third environmental sensor, and the third partial image and the second partial image are combined along a straight third joining line. The first joining line and the third joining line can in particular represent mutually opposite boundary lines of the second partial image.Preferably, the first joining line and the third joining line are oriented parallel to each other. According to the invention, distortions in the region of the third joining line are also reduced.

[0016] To avoid artifacts, such as those that can occur during so-called "alpha blending," the partial images can be cropped along the respective joining line before being combined. According to the invention, a significant overlap, such as that required by known algorithms when combining different images, can be eliminated. This also reduces the susceptibility of the inventive joining method to image content that regularly pushes known algorithms to their limits. In other words, the first partial image along the first joining line, the third partial image along the third joining line, and the second partial image along the first and third joining lines can each be cleaned of image portions located beyond the joining line. Since the perspectives of the sensors used in the joining area are virtually identical, distortions are significantly lower than in the prior art, regardless of the image content or objects depicted.

[0017] Preferably, a first 2D data set can be generated from the first partial image, which provides a suitable perspective for a user when the 2D data set is presented on a two-dimensional display unit. The content of the first partial image is "converted" to a virtual first projection surface in order to combine the different perspectives of the environmental sensors. Accordingly, the segments of the second partial image and the third partial image are also converted into respective 2D data sets by placing them on respective suitable virtual projection surfaces. If the second partial image previously contained three-dimensional data, a perspective or a suitable distance (relative position with respect to the means of transport) of the projection surface can first be determined dynamically.For this purpose, it has proven advantageous to consider the current position of an object in the vicinity of the joining lines when positioning the projection surface. In particular, the distance of the projection surface from the vehicle can be essentially identical to the distance of the object in the vicinity from the vehicle. This relationship can further reduce distortions.

[0018] A second virtual projection surface corresponding to the first virtual projection surface also helps to further reduce distortion. In other words, the projection surfaces are at identical distances from the vehicle in the area of ​​the joining lines.

[0019] The first virtual projection surface can have a concave, cylindrical-segment-like shape, with the user positioned on the inside of the cylinder. The same applies to the second virtual projection surface and a third virtual projection surface, possibly used for a 2D data set created using a third environmental sensor. In particular, the respective cylindrical-segment-like projection surfaces are arranged on a common cylindrical surface, while the user or the means of transportation is located essentially at the center of the cylinder.

[0020] In order to replace interior / exterior mirrors using the method described above, at least part of the generated image of the surrounding area must be displayed on a display unit within the vehicle. In particular, the display unit can be a 2D display unit arranged in a dashboard and / or in an instrument cluster of the vehicle. In order to achieve a suitable relationship between the area monitored by the image and the image resolution, a solid angle range between 180° and 45°, in particular between 120° and 60°, and preferably between 100° and 80°, displayed on the 2D display unit has proven effective.In the range between 78° and 90°, the blind spot of the vehicle for the driver is eliminated, which increases the acceptance of the inventive representation of the surrounding area and significantly increases the safety for road traffic.

[0021] Preferably, a position of the displayed portion of the image can be changed in response to respective driving situations. While it is known for exterior mirrors to display an area close to a curb in response to the engagement of reverse gear, which is also possible according to the invention by modifying the angular range of the displayed portion of the image, a particularly preferred embodiment provides for the activation of a turn indicator to trigger a modified display of the image. For example, the side area relevant during a turn can be expanded by incorporating additional components of the respective ambient sensor signal into the image according to the invention.

[0022] According to a second aspect of the present invention, a driver assistance system is proposed which comprises a first environmental sensor, a second environmental sensor, an evaluation unit, and a 2D display unit. The evaluation unit can, for example, comprise a programmable processor in the form of a microcontroller or nanocontroller. In the automotive sector, such evaluation units are also referred to as electronic control units (ECUs). The 2D display unit can, for example, be provided as a matrix display for installation in a dashboard of a vehicle and / or in an instrument cluster of a vehicle. The statements made in connection with the first aspect of the invention apply accordingly to the first environmental sensor, the second environmental sensor, and an optionally usable third environmental sensor.In this way, the driver assistance system is designed to implement the features, feature combinations and the advantages resulting therefrom in accordance with the first-mentioned aspect of the invention.

[0023] According to a third aspect of the present invention, a means of transportation is proposed, which can be configured, for example, as a car, a van, a truck, a watercraft, and / or an aircraft. According to the invention, the means of transportation has a driver assistance system as described above. By implementing the same features, feature combinations, and advantages in this way, the means of transportation increases user comfort and road safety for all road users within the range of the means of transportation.

[0024] Further details, features, and advantages of the invention will become apparent from the following description and the figures. They show: Fig. 1 an artifactual image of a driving situation; Fig. 2 Components of an embodiment of a means of transport according to the invention; Fig. 3 partial images of a surrounding area created according to the invention; Fig. 4 an inventive synthesis of the Fig. 3 shown partial images; and Fig. 5 a flowchart illustrating steps of an embodiment of a method according to the invention.

[0025] Fig. Figure 1 shows a state-of-the-art image of a driving situation, as it might be observable through the rearview mirror of an ego vehicle. A third-party vehicle 13 is driving on the road behind the ego vehicle as an environmental object. Furthermore, houses 19 line the roadside. Due to the different positions of the cameras used, no image data is available in an image area 18. Due to the joining methods used, artifacts 17 occur, which lead to distortions within the image.

[0026] Fig. 2 shows a schematic top view of a driving situation of an exemplary embodiment of a passenger car 10 configured according to the invention as a self-propelled vehicle. The passenger car 10 is moving in the direction of travel P. In the area of ​​its right fender, an exterior camera 1 is arranged as the first environmental sensor, which covers an azimuthal angular range of 65°. Accordingly, on the left side of the passenger car 10, an exterior camera 9 is arranged as the third environmental sensor in the area of ​​the fender. A stereo camera 2 is arranged centrally in the rear of the vehicle, which is supplemented by a further 2D exterior camera 20. All cameras 1, 2, 9, 20 are connected for information purposes to an electronic control unit 16 as an evaluation unit. Furthermore, a screen 14 is connected to the electronic control unit 16 as a 2D display unit.In order to combine the information acquired by cameras 1, 2, 9, 20 into an image of the environment IV with little distortion, a large number of data packets are calculated from the images of the stereo camera 2 and the 2D exterior camera 20, the perspectives of which correspond to virtual sensors 3, which are essentially arranged on a line along the rear bumper of the car 10. For better identification, a perpendicular 6 is drawn, which is perpendicular to the joining lines 4, 5 or joining surfaces (in the direction perpendicular to the image plane). The respective conical detection areas of the virtual sensors 3 are marked with dashed lines. The core areas 7 of the detection areas form segments, which are arranged along second joining lines 8 to form a. Fig. of sub-area II can be put together. Since the respective perspective of the outermost virtual sensors 3 on the first joining line 4 or the third joining line 5 is identical to the perspective of the external cameras 1 or 9, only reduced irregularities arise when joining the images I', II' and III' of sub-areas I, II, III. To further enhance this effect, virtual projection surfaces 11, 12 are drawn, which are arranged on a common cylindrical surface. The distance of the cylindrical projection surface 12 is selected such that it essentially corresponds to the distance of an external vehicle 13 as an environmental object. An image IV' of the environmental area IV displayed on the screen 14 is selected depending on the operating state of a direction indicator 15 in order to preferentially display environmental areas that are particularly relevant for the driver of the car 10.Since no image data is available in the area between the external cameras 1, 9 and the virtual sensors 3 (the ego vehicle is located in this area), an image signal cannot be meaningfully generated here either (see reference numeral 18 in . Fig. 1).

[0027] Fig. 3 shows three partial images I', II', III', in which a third-party vehicle 13 is arranged as an environmental object in the area of ​​a first joining line 4. The parts of the third-party vehicle 13 located in the first partial image I' and the second partial image II' are essentially designed to correspond to one another. Joining is therefore possible without any problems, and a minimum of irregularities can be expected. It is clear that the previously data-free area 18 within the partial images I', II', III' offers the opportunity to display either parts of the ego-based means of transport and / or additional information for its user.

[0028] Fig. 4 shows the result of a joining process carried out according to the invention using the Fig. 3. The combined image IV' of the surrounding area has a plurality of image segments 7 recorded by virtual sensors 3, which could only appear as slight variations in image brightness (not shown in the drawing). Both the contours and the perspectives of the different areas of the other vehicle 13 correspond to each other considerably better than in the representation according to Fig. 1. This creates a replacement for exterior / interior mirrors that is acceptable to customers and complies with standards.

[0029] Fig.5 shows method steps of an exemplary embodiment of a method according to the invention. In step 100, a first partial area, a second partial area, and a third partial area of ​​the surrounding area of ​​a means of transport are covered by respective environmental sensors. The environmental sensors can, for example, comprise optical cameras. In particular, the second environmental sensor for detecting the second partial area can comprise a stereo camera or be otherwise configured to create a 3D image of the second partial area. In step 200, a first partial image, a second partial image, and a third partial image are generated based on the signals from the environmental sensors. The partial images are then cropped to avoid unnecessary overlaps in the areas of a first and a third joining line according to the invention.Based on the cropped partial images, a first, a second, and a third 2D data set are generated from the partial images in step 400. For this purpose, a first, a second, and a third projection surface are used, which lie on a common cylindrical surface (namely, on the inside of the same cylinder). The radius of the cylinder is determined based on an environmental object contained in the second partial area. In step 500, the first and second partial images, as well as the second and third partial images, are merged along a respective straight joining line, with the joining lines being arranged parallel to one another. In the now merged image of the environmental area, the joining lines are oriented vertically. In step 600, a part of the image is selected for display on a 2D display unit, which part corresponds to an azimuthal angular range of 81°.In this way, the user of the method no longer has a blind spot next to their vehicle. In step 700, a turn signal is activated due to an intended cornering. In response, a position of the part within the image of the surrounding area is varied in order to better depict the inside of the curve of the upcoming cornering on the 2D display unit. For this purpose, the displayed angular range is either expanded or panned such that previously displayed areas at an opposite edge area are temporarily no longer displayed.

[0030] According to the invention, all lateral and / or rearward fields of vision required by the driver are covered by a panoramic image generated by environmental sensors. This also complies with the statutory minimum fields of vision and maximum permissible distortions, as defined, among other things, in the ECE-R46 standard. The panoramic image is created by the favorable positioning of the camera model and preferably replaces all mirrors of the means of transport designed according to the invention.

[0031] In one embodiment of the present invention, the first and third partial images are cropped from the perspective of the front of a vehicle in such a way that the vehicle contours are no longer included in the respective image. The rear camera is designed as a stereo camera, which generates a depth map (disparity map). Of course, the information of the disparity map can also be obtained via additional (e.g. non-optical) sensors. The original image of the 2D image information is superimposed on the 3D information. Now, several virtual cameras are created in the detection range of the stereo camera, which are intended to very narrowly capture only the respective area behind the vehicle across the width of the vehicle. Cropping the 3D image information results in a "driving tube" (assuming a straight direction of travel) across the width of the vehicle behind the ego vehicle.As a final step, the side cameras are projected onto a cylindrical surface and seamlessly attached to the central driving path.

[0032] The panoramic image generated according to the invention can expand the driver's field of vision. According to the invention, there is no obscuration of vision by vehicle parts. Due to the inventive cropping of the partial images, there is also no redundant image content between the individual fields of vision. The panoramic image enables a significantly better representation of environmental information for driver assistance. The panoramic display makes it possible to use either a single, smaller monitor with the same absolute field of vision, which brings with it cost, weight, and volume advantages, or to display a larger field of vision on a single monitor of a given size. By using a large azimuthal viewing angle of at least 78°, it is also possible to reduce or eliminate the blind spot area. List of reference symbols: 1 outdoor camera 2 stereo cameras 3 virtual sensors 4 first joining line 5 third joining line 6 Perpendicular to the joining lines 4, 5 7 segments 8 second joining lines 9 outdoor camera 10 cars 11, 12 Projection screen 13 Third-party vehicle 14 screen 15 direction indicators 16 electronic control unit (evaluation unit) 17 artifacts 18 dataless image area 19 houses 20 2D outdoor cameras 100-700 process steps I first section I' first partial image II second sub-area II' second part of the image III third sub-area III' third part of the image IV Surrounding area IV' Image of the surrounding area P arrow (direction of travel)

Claims

[1] Method for combining partial images (I', II', III') to form an image (IV') of a connected environment (IV) of a means of transport (10) comprising the steps: - Detection (100) of a first sub-area (I, III) of the surrounding area (IV) by means of a first environmental sensor (1, 9) which is arranged on a front right or left fender of the means of transport (10), - Detection (100) of a second sub-area (II) of the surrounding area (IV) by means of a second environmental sensor (2), which is arranged centrally at the rear of the means of transport (10), - Generating (200) a first partial image (I', III') of the first sub-area (I, III) based on a signal from the first environmental sensor (1, 9), - Generating (200) a second partial image (II') of the second sub-area (II) based on a signal from the second environmental sensor (2) and a plurality of virtual sensors (3) for capturing the second sub-area (II), - Joining (500) the first partial image (I', III') and the second partial image (II') along a straight first joining line (4, 5), wherein the virtual sensors (3) are arranged at positions substantially on a perpendicular (6) to the first joining line (4, 5). [2] Method according to claim 1, wherein a virtual sensor (3) is arranged in the immediate vicinity of the first joining line (4, 5). [3] Method according to claim 1 or 2, wherein the virtual sensors (3) are arranged horizontally apart from each other. [4] Method according to one of the preceding claims, wherein the second partial image (II') comprises segments (7) assigned to a virtual sensor (3) which are joined together along second joining lines (8) which are substantially parallel to the first joining line (4, 5). [5] Method according to any of the preceding claims, wherein the first environmental sensor (1, 9) is a 2D sensor, and / or the second environmental sensor (2) is a 3D sensor arrangement. [6] Method according to one of the preceding claims, wherein the environmental sensors (1, 2, 9, 20), in particular all environmental sensors (1, 2, 9, 20), comprise optical sensors. [7] Method according to any of the foregoing claims further comprising - Detection (100) of a third sub-area (I, III) of the environmental area (IV) by means of a third environmental sensor (1, 9), - Generating (200) a third sub-image (I', III') of the third sub-area (I, III) based on a signal from the third environmental sensor (1, 9), and - Joining (500) the third partial image (I', III') and the second partial image (II') along a straight third joining line (4, 5), wherein the first joining line (4, 5) and the third joining line (4, 5) are in particular opposite boundary lines of the second partial image (II'). [8] Method according to any of the foregoing claims, further comprising - Removing (300) a potentially beyond the first joining line (4) of the first partial image (I', III') before joining, and / or - Remove (300) areas of the second partial image (II') potentially located beyond the first joining line (4) and / or the third joining line (5) before joining, and / or - Removal (300) of a potentially beyond the third joining line (5) of the third partial image (I', III') prior to joining. [9] Method according to any of the foregoing claims, further comprising the step - Generating (400) a first 2D data set from the first partial image (I', III') with respect to a virtual first projection surface (11), and / or - Generating (400) a second 2D data set from the second partial image (II') with respect to a virtual second projection surface (12), wherein in particular a position of an environment object (13) relative to the means of transport (10) dynamically determines a position of the projection surface (11, 12). [10] Method according to claim 9, wherein the first virtual projection surface (11) corresponds to the second virtual projection surface (12) at the first joining line (4, 5). [11] Method according to claim 9 or 10, wherein the first virtual projection surface (11) has a concave cylindrical section-like shape, and / or the second virtual projection surface (12) has a concave cylindrical section-like shape, wherein in particular the respective cylindrical section-like shape belongs to a common cylinder. [12] Method according to any of the foregoing claims, further comprising - Display (600) of a part of the image (IV') on a 2D display unit (14) within the means of locomotion (10), wherein the part of the image (IV') represents an angular range between 180° and 45°, in particular between 120° and 60°, preferably between 100° and 80°. [13] Method according to claim 12, further comprising - Varying (700) a position of part of the image (IV') in response to a driving situation, which is detected in particular by activating a direction indicator (15) and / or preparing to reverse. [14] Driver assistance system comprehensive - a first environmental sensor (1, 9), - a second environmental sensor (2), - an evaluation unit (16), and - a 2D display unit (14) wherein the driver assistance system is configured to perform a method according to one of the preceding claims. [15] Means of transport, in particular a car, a van, a truck, a watercraft and / or an aircraft, comprising a driver assistance system according to claim 14.

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