Methods for representing an environment

Abstract

The present invention relates to a method 100 for displaying a vehicle environment 2 of a vehicle 1, the method 100 comprising the steps of receiving and / or retrieving 101 at least one input image stream of a vehicle environment 2 from at least one camera 3, 4, receiving and / or retrieving 102 wheel parameters of at least one wheel 5 of the vehicle 3, determining 103 wheel positions of the at least one wheel 5 using the wheel parameters, determining 104 at least one coverage area in the input image stream by the at least one wheel 5 using the wheel position, determining 105 an output image stream by masking the at least one coverage area in the input image stream, and outputting and / or providing 106 the output image stream.

Description

[0001] The present invention relates to a method for representing an environment. State of the art

[0002] To assist the driver, vehicles are equipped with a variety of driver assistance systems. Parking a vehicle in a parking space, for example in a parking garage, presents a challenging situation in which the driver desires assistance. This assistance can be provided by parking assistants. These assistants inform the driver of the distance to surrounding objects through acoustic signals or camera images. To display the distance between the vehicle and surrounding objects, several cameras are mounted on the exterior of the vehicle. The camera images are displayed directly on a screen inside the vehicle. Furthermore, the camera images can be processed. For example, the vehicle, in which the driver is located, is displayed in a first-person, top-down perspective on the screen.Around this first-person perspective of the vehicle, the surrounding environment, as captured by the cameras, is displayed. However, a large area around the vehicle's wheels must be hidden, otherwise the display would show the vehicle's own tires. This means the entire range of motion of the wheels, especially the front wheels, is statically hidden. Disclosure of the invention

[0003] The inventive method for displaying a vehicle environment results in a smaller hidden area around the vehicle and consequently in an improved display of the vehicle environment.

[0004] The process comprises at least six steps. In the first step, at least one input image stream of a vehicle's surroundings is received and / or retrieved from at least one camera. In the second step, wheel parameters from at least one wheel of the vehicle are received and / or retrieved. In the third step, the wheel positions of the at least one wheel are determined using these wheel parameters. In the fourth step, at least one coverage area in the input image stream is determined by the at least one wheel using its wheel position. In the fifth step, an output image stream is generated by masking out the at least one coverage area in the input image stream. In the sixth step, the output image stream is displayed and / or made available.

[0005] Thus, a coverage area is determined by at least one wheel depending on the wheel positions. The larger the coverage area, the larger the masked area in the output image stream, and the less of the vehicle environment captured by the input image stream is displayed in the output image stream. By dynamically determining the coverage area based on the actual wheel positions of at least one wheel, or wheels, the coverage area is reduced to the area actually covered by the at least one wheel. Consequently, the masked area in the output image stream adjusts to the area actually covered by the at least one wheel. Therefore, a displayed area of ​​the output image stream is increased compared to a static masking of the entire range of motion.

[0006] The dependent claims describe preferred embodiments of the invention.

[0007] Preferably, the input image stream comprises a first input image stream from a first camera and a second input image stream from a second camera. The second input image stream shows at least a portion of the vehicle's surroundings that is obscured by the coverage area of ​​the first image stream. Thus, no external camera image stream is required, and the method is possible without an external signal connection. The second input image stream allows a view of the areas obscured by the first input image stream. This can occur, for example, if the wheel is stationary in the first perspective from the first camera, obscuring an area behind it, and a second perspective from the second camera shows part of this obscured area. This reduces the amount of the covered area.

[0008] Particularly advantageous is the seventh step in which the first and second input image streams are combined to form the output image stream. This combines the information from both streams into a single output image stream. The driver only needs to perceive this one output image stream, thus reducing driver fatigue during the parking maneuver.

[0009] Advantageously, the first input image stream and the second input image stream are combined such that the output image stream shows at least a portion of the vehicle's surroundings that is covered by the coverage area of ​​the first image stream. This further reduces the covered area and increases the representation of the vehicle's surroundings, particularly around the wheels.

[0010] Particularly advantageous is the eighth step, in which the representation of the vehicle's surroundings from the input image stream is converted into a projection of the vehicle's surroundings onto a projection plane. This allows for the simultaneous display of the entire captured environment of the vehicle in a single graphic. This makes it easier for the driver to perceive the environment by means of the projection of the vehicle's surroundings onto a projection plane and, based on this, to assess the vehicle's situation.

[0011] Preferably, the projection plane is parallel to a plane on which the vehicle is positioned within its surroundings. This makes it easier for the driver to evaluate the representation of the surroundings from the output image stream and, based on this, to assess the vehicle's situation during the parking maneuver.

[0012] In a ninth step, a predefined texture is preferably inserted into at least one coverage area in the output image stream. This texture improves the driver's perception of the output image stream, allowing for faster evaluation of the displayed area. Specifically, the texture is a model-like representation of the covered area in the output image stream. This gives the driver a realistic impression of the display and improves focus on evaluating the displayed output image stream.

[0013] Advantageously, the at least one wheel parameter includes a dimension of the at least one wheel and / or a mounting of the at least one wheel on the vehicle. This allows for a more precise determination of the wheel position. Preferably, the wheel parameter includes the type of mounting and the dimensions of the mounting. This allows for a particularly precise determination of the wheel position.

[0014] Particularly advantageous is the inclusion of at least one wheel position and / or orientation. This allows for a more precise determination of the coverage area.

[0015] Furthermore, the invention comprises a computer program configured to execute the method according to one of the embodiments.

[0016] Furthermore, the invention comprises a machine-readable storage medium on which the computer program according to the previous embodiment is stored.

[0017] The invention further comprises a vehicle. The vehicle has a plurality of cameras and a control unit. The control unit is connected to the cameras for signal exchange. The control unit is configured to carry out a method according to one of the preceding embodiments and / or to execute the computer program. The cameras are arranged at different positions on the vehicle. Consequently, the vehicle has the advantages of the method according to one of the preceding embodiments.

[0018] Preferably, the position of at least one camera is taken into account when determining the coverage area. This allows for a more precise determination of the coverage area, as it can identify the area obscured by the wheel for the camera. Brief description of the drawings

[0019] Exemplary embodiments of the invention are described in detail below with reference to the accompanying drawing. The drawing shows: Fig. 1 a schematic representation of a vehicle according to one of the following embodiments of the invention, Fig. 2 a schematic representation of an area of ​​the vehicle's surroundings covered from the perspective of a first camera, Fig. 3 a schematic representation of a method according to a first embodiment of the invention, Fig. 4 a schematic representation of the detection of an area of ​​the vehicle's surroundings obscured by a front wheel from the perspective of the first camera and a second camera, Fig. 5 a schematic representation of a method according to the second embodiment of the invention, and Fig. 6 A schematic representation of a display of the output image stream according to one of the previous embodiments. Embodiments of the invention

[0020] Fig. Figure 1 shows a schematic representation of a vehicle 1 according to one of the following embodiments of the invention. The vehicle 1 has a first camera 3, a second camera 4, and a control unit 10. The control unit 10 is connected to the first camera 3 and the second camera 4 for signal exchange. The control unit 10 is configured to perform a method 100 according to one of the following embodiments. The first camera 3 and the second camera 4 are arranged at different positions on the vehicle 1 and allow the front wheel 5 to be captured from two different perspectives. Furthermore, the vehicle 1 has a display. The display is connected to the control unit 10 for signal exchange and is configured to receive an output image stream from the control unit 10 and display it to the driver.

[0021] Fig. Figure 2 shows a schematic representation of an area 6 of the vehicle's surroundings 2 as seen by the first camera 3. Depending on the position of the first camera 3 relative to the front wheel 5, the area 6 of the vehicle's surroundings 2 as seen by the first camera 3 changes. Furthermore, a change in the position of the front wheel 5 leads to a change in the area 6 of the vehicle's surroundings 2 as seen by the first camera 3. The area 6 of the vehicle's surroundings 2 as seen by the first camera 3 is smallest when the front wheel 5 is in a neutral position and aligned parallel to a longitudinal axis of the vehicle 1. As the front wheel 5 rotates further from this position, the area 6 of the vehicle's surroundings 2 as seen by the first camera 3 increases.

[0022] Fig. Figure 3 shows a schematic representation of a method 100 according to a first embodiment of the invention. The method 100 comprises six steps. In a first step 101, at least a first input image stream of the vehicle environment 2 is received and / or retrieved by the first camera 3. In a second step 102, wheel parameters from the front wheel 5 of the vehicle 3 are received and / or retrieved. In a third step 103, the wheel positions of the front wheel 5 are determined using the wheel parameters. In a fourth step 104, a coverage area in the input image stream is determined by the front wheel 5 using the wheel position. In a fifth step 105, an output image stream is determined by masking the coverage area in the input image stream. In a sixth step 106, the output image stream is displayed and / or made available.

[0023] Thus, the coverage area of ​​the front wheel 5 is determined depending on the wheel position. The larger the coverage area, the larger the masked area in the output image stream, and the less of the vehicle environment 2 captured by the input image stream is displayed in the output image stream. By dynamically determining the coverage area based on the actual wheel position of the front wheel 5, the coverage area is reduced to the area 6 actually covered by the front wheel. Consequently, the masked area in the output image stream adjusts to the area 6 actually covered by the front wheel. Therefore, a displayed area of ​​the output image stream is increased compared to a static masking of the entire range of motion of the front wheel 5.

[0024] Fig. Figure 4 shows a schematic representation of the detection of an area 6 of the vehicle's surroundings 2, obscured from the viewpoint of the first camera 3 and a second camera 4 by the front wheel 5. The first camera 3 is mounted on a side surface 1b of the vehicle 1. The first camera 3 captures, among other things, a lateral area behind the first visual boundary 3a. Part of the deflected front wheel 5 of the vehicle 1 is located in this lateral area behind the first visual boundary 3a. The front wheel 5 obscures the view of the area 6, which is located behind the front wheel 5 from the viewpoint of the first camera 3. If an output image stream were based solely on the first input image stream of the first camera 3, the entire aforementioned area 6 would have to be masked out, as is the case in the first embodiment. The second camera 4 is arranged on the front 1a of the vehicle 1 and captures an area behind the second visual boundary 4a.In this area behind the second visual boundary 4a lies a first sub-area 9 of the area 6, which, from the perspective of the first camera 3, lies behind a deflected front wheel 5. A second sub-area 8 of the area 6, which, from the perspective of the first camera 3, lies behind a deflected front wheel 5, is neither visible from the first camera 4 nor from the second camera 4 and is therefore hidden.

[0025] Fig. Figure 5 shows a schematic representation of a method 100 according to the second embodiment of the invention. The second embodiment has similar features to the first embodiment. The input image stream comprises the first input image stream from the first camera 3 and a second input image stream from a second camera 4. The second input image stream shows at least a portion 6 of the vehicle environment 2 that is covered by the front wheel 5 for the first image stream. Thus, no external camera image stream is required, and the method 100 is possible without an external signal connection.

[0026] In a seventh step 107, the first input image stream and the second input image stream are combined to form the output image stream. Thus, the area behind the first visual boundary 3a, which the first camera can detect, is supplemented by the area behind the second visual boundary 4a, which the second camera can detect. Consequently, a portion of the area 6, which, from the perspective of the first camera 3, lies behind a deflected front wheel 5, is included in the output image stream, and the masked area 6 is minimized. The first input image stream and the second input image stream are combined such that the output image stream shows at least a first sub-area 9 of the area 6 of the vehicle environment 2, which is part of an area 6 of the vehicle environment 2 covered by the front wheel 5 for the first image stream.Thus, the covered area is further reduced and the representation of the vehicle environment 2, especially in the vicinity of the front wheel 5, is enlarged.

[0027] In an eighth step (108), the representation of the vehicle environment 2 from the input image stream is converted into a projection of the vehicle environment 2 onto a projection plane 7. This allows the entire captured vehicle environment 2 to be displayed simultaneously in a single graphic. This makes it easier for the driver to perceive the vehicle environment 2 by means of the projection onto a projection plane and, based on this, to assess the situation of the vehicle 1. The projection plane 7 is parallel to the roadway on which the vehicle 1 is located within the vehicle environment 2. This makes it easier for the driver to evaluate the representation of the vehicle environment 2 from the output image stream and, based on this, to assess the situation of the vehicle 1 during the parking maneuver.

[0028] In a ninth step 109, a predefined texture 7 is inserted into at least one coverage area in the output image stream. Texture 7 represents less of a distraction for the driver than a black area in the displayed output image stream. This allows for faster evaluation of the displayed area in the output image stream. In particular, the texture is a model-like representation of the covered area in the output image stream. This gives the driver a realistic impression of the display and minimizes distraction from the evaluation of the displayed output image stream. The wheel parameter includes a dimension of the front wheel 5 and / or a suspension of the front wheel 5 on the vehicle 1. This allows for a more precise determination of the wheel position. The wheel position includes a position and / or an orientation of the front wheel 5. This allows for a more precise determination of the coverage area.

[0029] Fig.Figure 6 shows a schematic representation of the output image stream according to one of the previous embodiments. A texture 7 is placed in the center of the representation, covering only the static vehicle body. Texture 7 does not cover any movement of the front wheels 5. The output image stream around texture 7 shows the vehicle's surroundings 2. The portion of the front wheels 5 that protrudes from the static shape of a wheel arch of the vehicle 1 is visible in the output image stream.

Claims

[1] Method (100) for displaying a vehicle environment (2) of a vehicle (1), the method (100) comprises the steps: - receiving and / or retrieving (101) at least one input image stream of a vehicle environment (2) from at least one camera (3, 4), - receiving and / or retrieving (102) wheel parameters from at least one wheel (5) of the vehicle (3), - determining (103) wheel positions of the at least one wheel (5) by means of the wheel parameters, - determining (104) at least one coverage area in the input image stream by the at least one wheel (5) by means of the wheel position, - determining (105) an output image stream by masking out the at least one coverage area in the input image stream, and - Outputting and / or providing (106) the output image stream. [2] Method (100) according to claim 1 characterized by , that - the input image stream comprises a first input image stream from a first camera (3) and a second input image stream from a second camera (4), - wherein the second input image stream at least partially shows an area (6) of the vehicle surroundings (2) covered by the coverage area for the first image stream. [3] Method (100) according to claim 2 characterized by , Combining (107) the first input image stream and the second input image stream to form the output image stream. [4] Method (100) according to claim 3, characterized by that the first input image stream and the second input image stream are combined in such a way that the output image stream shows at least a part (9) of the area (6) of the vehicle surroundings (2), which is an area (6) of the vehicle surroundings (2) covered by the coverage area for the first image stream. [5] Method (100) according to one of the preceding claims characterized by , - converting (108) the representation of the vehicle environment (2) of the input image stream into a projection of the vehicle environment (2) onto a projection plane (7). [6] Method (100) according to one of the preceding claims, characterized by that the projection plane (7) is parallel to a plane on which the vehicle (1) stands in the vehicle environment (2). [7] Method (100) according to one of the preceding claims, characterized by - inserting (109) a predefined texture into the at least one coverage area in the output image stream. [8] Method (100) according to one of the preceding claims, characterized by that the at least one wheel parameter comprises a dimension of the at least one wheel (5) and / or a suspension of the at least one wheel (5) on the vehicle (1). [9] Method (100) according to one of the preceding claims, characterized bythat the at least one wheel position comprises the position and / or orientation of the at least one wheel (5). [10] Computer program arranged to carry out the method according to one of claims 1 to 9. [11] A machine-readable storage medium on which the computer program according to claim 10 is stored. [12] Vehicle (1) comprising - a variety of cameras (4), and - a control unit (10), - wherein the control unit (10) is connected to the cameras (4) for signal exchange, - wherein the control unit (10) is configured to carry out a method (100) according to one of the preceding claims and / or to execute the computer program according to claim 10, and - wherein the cameras (4) are arranged at different positions on the vehicle (1).

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