Method for determining a top view image for a motor vehicle with a trailer

Abstract

The invention relates to a method for determining a top view image (20) for a motor vehicle (1) with a trailer (2). The method comprises determining (S1) trailer information (30) that describes whether or not the motor vehicle (1) is coupled to a trailer (2). If the trailer information (30) describes that the motor vehicle (1) is coupled to the trailer (2) (S2), the top view image (20) is determined (S3) in such a way that it describes the motor vehicle (1), at least partially the trailer (2), and at least partially an environment (4) of the motor vehicle (1) and the trailer (2). The determined top view image (20) is composed only of camera data (32) from a plurality of cameras of the motor vehicle (1) and, compared to a top view image (21) for a motor vehicle (1) without a trailer (2), shows the environment (4) in a rear area (12) of the motor vehicle (1) in an extended manner.

Description

The invention relates to a method for determining a plan view image for a motor vehicle having a trailer. The invention also relates to a control device for a motor vehicle, a motor vehicle, and a computer program product for carrying out such a method.A motor vehicle can be designed to ascertain a top view image of the motor vehicle and to display it, for example, by means of a display device in the motor vehicle. The plan view image is an image showing the motor vehicle and a surrounding area of the motor vehicle from a bird's eye view. It may alternatively be referred to as a top view image. The plan view image thus shows the motor vehicle and the environment of the motor vehicle viewed from above. The top view image can be displayed, for example, when a parking function is activated, in particular when a parking assistant is activated.If the motor vehicle is coupled to a trailer, the trailer and, if possible, its environment should likewise be described by the top view image. However, since a combination of motor vehicle and trailer is dimensioned differently from the motor vehicle alone, it is expedient in connection with a combination of motor vehicle and trailer to determine the top view image at least partially differently than in the case of a motor vehicle without trailer.DE 10 2021 106 670 A1 shows a method for generating an environmental image of a multi-membered overall vehicle, in which detection regions around the overall vehicle are detected by rear, front and side cameras and individual images are generated. The individual images are evaluated and / or cut to size in such a way that overlap regions are respectively formed at least between front lateral and rear lateral individual images, and the individual images are combined to form the surrounding image of the overall vehicle taking into account an articulation angle and / or a match of the individual images in the overlap regions.It is the object of the invention to provide a solution by means of which a plan view image for a motor vehicle with a trailer can be reliably determined.The object is achieved by the subject matters of the independent claims.A first aspect of the invention relates to a method for determining a plan view image for a motor vehicle having a trailer. The plan view image is an image showing the motor vehicle, at least partially the trailer, and a vicinity of the motor vehicle and the trailer from a bird's eye view. It may alternatively be referred to as a top view image.The invention is based at least on the finding that the environment described in the plan view image is typically limited to a predefined region around the motor vehicle. A size of an image section of the plan view image, which describes a partial region of the predefined region adjoining a front region of the motor vehicle, generally corresponds to a size of an image section of the plan view image, which describes a partial region of the predefined region adjoining a rear region of the motor vehicle. In a motor vehicle to which a trailer is coupled, however, this image section is typically not sufficient to be able to completely display the trailer. The plan view image should therefore be adapted at least to the changed required size of the image section which describes the partial region adjoining the rear region.The method comprises ascertaining trailer information which describes whether the motor vehicle is coupled to a trailer or not. It is thus initially established whether a combination of motor vehicle and trailer is present or whether the motor vehicle is without a trailer and thus does not form a combination. If the trailer information describes that the motor vehicle is coupled to the trailer, the plan view image is ascertained in such a way that it describes the motor vehicle, at least partially the trailer and also at least partially the environment of the motor vehicle and of the trailer. The determined top view image is composed only of camera data from a plurality of cameras of the motor vehicle. Thus, no camera on the trailer and its camera data are required to determine the top view image. The determination of the top view image means that it is generated.In comparison to a plan view image for a motor vehicle without a trailer, the ascertained plan view image extends the environment in a rear region of the motor vehicle. This environment in the rear area means the partial area of the area of the environment adjoining the rear area of the motor vehicle, which is described by the top view image. For example, in the case of a plan view image for a motor vehicle without a trailer, if the plan view image has a predetermined length in a longitudinal direction of the motor vehicle, this length can be increased. However, this enlargement or extension relates here only to that part of the plan view image which shows the environment adjoining the rear region and not, for example, the environment adjoining the front region. Due to this enlargement or extension, the trailer can be displayed at least partially without edges of the top view image being reached and exceeded. The size of the image section of the plan view image which describes the partial region of the predefined region adjoining the front region of the motor vehicle therefore no longer corresponds to the size of the image section of the plan view image which describes the partial region of the predefined region adjoining a rear region of the motor vehicle, wherein it is smaller, for example only half as large, in particular only half as long.The individual images of the cameras of the motor vehicle and thus the individual camera data from which the plan view image is composed are captured by cameras of the motor vehicle and used when carrying out the method. For this purpose, the camera data can be transmitted, for example, internally to the motor vehicle from the respective camera to a control device of the motor vehicle which carries out the method according to the invention. It is assumed that the camera data are available for carrying out the method of the control device, so that the latter can provide and evaluate the camera data for carrying out the method. The method according to the invention is preferably carried out completely by means of the control device. The method can therefore be understood as a computer-implemented method.The method according to the invention achieves the result that the trailer is taken into account when the plan view image is determined, with the result that it is enlarged compared to the plan view image for a motor vehicle without a trailer, since more space is available than before at least for the rear region of the motor vehicle and the trailer there and the environment there. This has the effect that a plan view image particularly useful for a combination of motor vehicle and trailer is provided. A plan view image for a motor vehicle having a trailer is thus reliably determined.Preferably, the trailer is described not only partially but completely by the plan view image. The at least partially illustrated environment of the motor vehicle and of the trailer is, for example, spatially limited to a detection range of the cameras and / or to a fixedly predefined range which can be detected by means of the cameras of the motor vehicle.An exemplary embodiment provides that the top view image is composed of camera data of a front camera, camera data of side cameras arranged on two opposite sides of the motor vehicle, and camera data of a rear camera of the motor vehicle. Preferably, at least partially overlapping regions are present between the camera data of the front camera, the side cameras and / or the rear camera, by means of which regions the individual camera data and thus individual images of the plurality of cameras can be combined in order to generate the plan view image. The overlaps allow the images to be related to each other and thus ultimately the top view image to be composed of multiple images.The side cameras can be arranged, for example, in side mirrors of the motor vehicle. Alternatively or additionally, they can be designed as camera side mirrors, that is to say as cameras which are mounted on the sides of the motor vehicle by means of holding devices, in order, for example, to be able to provide electronic exterior mirrors. The front camera can be arranged, for example, on an upper region of a windshield of the motor vehicle in the vertical direction of the motor vehicle. Analogously, the rear camera can be arranged, for example, on an upper region of a rear window of the motor vehicle in the vertical direction. Alternatively or additionally, the front camera and / or the rear camera can be arranged lower, for example in the region of a bumper, a number plate and / or a manufacturer sign of the motor vehicle. Thus, different cameras are possible, the camera data of which can form the composite top view image.The motor vehicle itself can be displayed in the top view image, for example, as an animation. For this purpose, a schematic or realistic representation of the motor vehicle can be stored in the motor vehicle, for example in a storage device of the motor vehicle. In addition, a schematic or realistic representation for the trailer can be stored. The respective realistic representation is, for example, an image of the motor vehicle or of the trailer. The cameras of the motor vehicle therefore do not have to be able to capture the motor vehicle and the trailer from the bird's eye view, but only the environment of the motor vehicle. This makes it clear how the top view image can be composed on the basis of the camera data of the motor vehicle.A preferred exemplary embodiment provides that the top view image comprises camera data of the side cameras in a first partial area of the environment in the rear area of the motor vehicle, which can be captured by the rear camera without a trailer but are now covered by the trailer. The first sub-region thus adjoins the rear region of the motor vehicle. The top view image is therefore composed in such a way that camera data of the rear camera are not provided in the described first subregion, although the first subregion is provided in the rear region and thus in the typical capture region of the rear camera, but rather camera data of the side cameras. The first sub-region can form a continuous region or comprise a plurality of regions which are spatially separated from one another. The first sub-region comprises regions of the environment on both sides, for example, as viewed in a transverse direction to a central axis of the motor vehicle, such that camera data can be required by both side cameras. The partial regions that the rear camera can no longer capture, since the trailer is now coupled to the motor vehicle, are therefore replaced as far as possible by camera data of the side cameras, so that camera data of the side cameras is also used back in the rear region. This is atypical in that typically only data of the rear camera is used to be able to represent the environment in the rear area. However, it is taken into account here that at least a part of the detection range of the rear camera can be covered by the trailer, but can optionally be at least partially detected by the side cameras. It is therefore particularly suitable to use the camera data of the side cameras in the first sub-region.A further exemplary embodiment provides that the top view image in a second partial region of the environment in the rear region, which is detectable by the rear camera despite a trailer, comprises camera data of the rear camera. The first and second portions are separated from each other. In particular, they do not overlap or only locally overlap. If possible, the camera data of the rear camera is thus used, although the motor vehicle is coupled to the trailer. The second partial region comprises, for example, a region between the motor vehicle and the trailer which lies outside the detection region of the side cameras. However, the second sub-region can also comprise regions of the environment which are arranged laterally with respect to the trailer and adjoin the rear region. Whenever it is thus possible to rely on camera data of the rear camera, this is done so that only those parts of the environment that are actually covered by the trailer can be referred to the camera data of the side cameras.In the rear region, the top view image is thus composed both of camera data of the rear camera and of camera data of the side cameras. In addition, the size of the second sub-region provided by the camera data of the rear camera and the size of the first sub-region provided by the camera data of the side cameras can be chosen to be different sizes depending on the size and / or orientation of the trailer relative to the motor vehicle. The first and second partial regions are therefore not fixedly predefined, but can be dependent at least on the trailer and its relative position and / or relative orientation with respect to the motor vehicle.Another exemplary embodiment provides that the top view image comprises camera data of the front camera in a third partial area of the environment in a front area of the motor vehicle, which can be captured by the front camera, and / or comprises camera data of the respective side camera in a respective fourth partial area of the environment in a side area of the motor vehicle, which can be captured by a side camera in each case. Thus, a total of, for example, four different subareas must be distinguished, wherein at least the third and the respective fourth subareas correspond to classic assignments of cameras, as are also selected for top view images without a trailer. The front region is therefore preferably captured by the front camera and the side regions by the respective side camera. Apart from the environment in the rear area, it is thus possible to resort to assignments of camera data which are typical for top view images, for example. This makes the method particularly easy to implement in the front and side regions.A particularly preferred exemplary embodiment provides that angle information is ascertained which describes an angle between the motor vehicle and the trailer. The ascertained angle information is taken into account when ascertaining the plan view image, such that the plan view image describes the trailer at the angle in accordance with the angle information relative to the motor vehicle. The angle information can thus be used, for example, to determine how and in which orientation relative to the motor vehicle the trailer should be positioned in the plan view image.In addition, the angle information contains information regarding the partial area of the rear area in which camera data can be expected by the rear camera, since there the trailer does not restrict the field of view of the rear camera. The angle information can thus be used on the one hand for displaying the at least part of the trailer in the top view image, but also for assigning the first and second sub-regions in the rear region. It is therefore particularly expedient to take account of the fact that the trailer does not have to be arranged just behind the motor vehicle with angle information of 0 degrees, but rather can be positioned differently therefrom and thus at an angle or at an angle with respect to the motor vehicle. This is particularly useful in practice, especially for plan view images.A further exemplary embodiment provides that at least the first and second sub-regions are chosen differently in the case of angle information not equal to 0 degrees than in the case of angle information of 0 degrees. The angle information other than 0 degrees may be greater than or less than 0 degrees. If the trailer is therefore located exactly behind the motor vehicle without an angle between the motor vehicle and the trailer, this has no influence on the first and second sub-regions. The angle information of 0 degrees is then present. In the case of an inclined position of the trailer relative to the motor vehicle, that is to say in the case of the angle information of not 0 degrees, for example, parts of the first or second partial region on one side with respect to the central axis of the motor vehicle can be smaller or larger than on the other side, since the trailer is inclined toward one of the two sides or is inclined away from it.The angle between the motor vehicle and the trailer is typically specified with respect to the central axis of the motor vehicle, which is oriented parallel to a longitudinal direction of the motor vehicle. In addition, a central axis of the trailer in its longitudinal direction is considered to be, so that the angle between the two central axes at their intersection point is described by the angle information. The respective central axis is to be understood here as a geometric axis.It can be provided that a predefined tolerance range around 0 degrees is predefined, in which the angle information is assumed to be 0 degrees. The tolerance range can comprise, for example, between 0 degrees and 0.1 degrees, 0.2 degrees, 0.3 degrees, 0.5 degrees, 1 degree, 2 degrees, 3 degrees, 5 degrees, 10 degrees, or in particular 2 degrees in the plus and minus direction. Alternative tolerance ranges, which are, for example, larger or smaller than the said tolerance ranges or lie between the said tolerance ranges, are possible.It must therefore be taken into account that the configuration of the first subregion becomes unsymmetrical with respect to the central axis of the motor vehicle if the angle information is not equal to 0 degrees, in particular lies outside the tolerance range. This thus leads to unsymmetrical configurations of the first and second sub-regions in comparison to the central axis.Another exemplary embodiment provides that the angle information is ascertained by applying an angle ascertainment criterion to the driving data of the motor vehicle describing a journey of the motor vehicle. The angle determination criterion comprises at least one algorithm and / or a rule, in the case of which or the execution thereof by evaluating the camera data and / or the driving data, the angle at which the motor vehicle is oriented toward the trailer can be calculated or vice versa. The camera data is the camera data provided by the cameras of the motor vehicle. In particular, the rear camera with its camera data, which at least partially describes the trailer, is suitable for this purpose. Alternatively or additionally, camera data of the side cameras can be used, provided that they at least partially describe the trailer. The driving data of the motor vehicle can alternatively be referred to as odometry data. The driving data are recorded, calculated and / or estimated by means of corresponding sensors of the motor vehicle. The driving data describe, for example, a steering angle, a wheel angle, a speed, an acceleration, a position of the motor vehicle and / or another variable describing the travel of the motor vehicle. On the basis of the driving data, it is possible, for example, to determine whether or not an angle not equal to 0 degrees is to be expected between the motor vehicle and the trailer. In addition, it is possible, for example, to infer, on the basis of the driving data mentioned, how the motor vehicle has hitherto moved. Finally, various data recorded in the motor vehicle, such as the camera data or the driving data, can be used to be able to record the angle information exactly and thus reliably.Another exemplary embodiment provides that the top view image describes the entire trailer. The plan view image thus preferably shows the trailer completely and not only a part of the trailer. Preferably, a partial area of the environment is also provided, which is located behind the trailer. However, it may be the case that, due to the covering of the environment by the trailer, only partial or no camera data are present for the area of the environment behind the trailer, i.e. in the rear area of the trailer. In this case, for example, the plan view image may have a gap. This can be marked and / or emphasized as such, for example. Camera data of other motor vehicles and / or external cameras may be received and used, if necessary, which show the environment in the gap at least partially. Alternatively or additionally, camera data of a rear camera of the trailer can be used, which is transmitted to the control device.According to a further exemplary embodiment, it is provided that the plan view image shows the environment in the rear region of the motor vehicle further (or longer) by a predefined factor than in the plan view image for the motor vehicle without a trailer. The factor is in particular the factor 2. alternatively or additionally thereto the factor can be 1.5, 3, 4 or in particular 5. Another factor between the mentioned ones, which is in particular greater or smaller than this, can be selected or predefined.The factor can be selected, for example, depending on a size or type of the trailer. However, it may be the case that, independently of, for example, a trailer length of the motor vehicle, it is always predefined that a length of the environment in the rear region, which is displayed by the plan view image for the motor vehicle without a trailer, is always doubled if the plan view image for the motor vehicle is determined using the trailer. The predefined factor can therefore be a permanently predefined value which is stored in the storage device, for example, and is applied repeatedly. Such doubling or other replication of the area of the environment of the motor vehicle shown in the rear area with the trailer achieves the result that typical trailers can be completely shown without complicated determinations having to be carried out, for example, regarding the actual shape and / or size of the trailer. The top view image can therefore be assembled particularly quickly and with little computing effort.In another exemplary embodiment, it is provided that the top view image shows the environment in the rear region of the motor vehicle extended by an additional region in comparison to the top view image for the motor vehicle without a trailer. The additional region is in particular dependent on a trailer length, a trailer width, a trailer hitch length and / or a trailer contour of the trailer. Thus, unlike in the exemplary embodiment in which a factor is predefined, any additional area can be added to the top view image for the motor vehicle without a trailer if the motor vehicle has the trailer. This additional area depends on the trailer. If, for example, a specific trailer length of the trailer is determined and / or is known, the additional region can have an overall length in the rear region which corresponds at least to the trailer length or preferably projects somewhat beyond it. Depending on the trailer width, a width of the top view image in a transverse direction of the motor vehicle and of the trailer can optionally also be increased in comparison to a width of the top view image for the motor vehicle without a trailer. The trailer hitch length can optionally be added to the trailer length in order to be able to determine a minimum length of the additional region in order that the latter can show the entire trailer. The trailer hitch length is, for example, a distance between a rear of the motor vehicle and a front of the trailer which faces the motor vehicle. It therefore describes, for example, the length of a trailer coupling device between the motor vehicle and the trailer. The trailer contour can optionally likewise assist in at least estimating which additional regions must additionally be at least included in the plan view image in order to be able to show the motor vehicle with the trailer. It is thus possible in a reliable manner to determine and provide the regions encompassed by the plan view image, especially in the rear region, depending on the situation and thus depending on the actual trailer. This enables a particularly precise method.In a further exemplary embodiment, it is provided that the trailer information is determined by applying a trailer detection criterion to the camera data and / or sensor data of a trailer hitch sensor of the trailer hitch device. The trailer detection criterion comprises at least one algorithm and / or a rule, in the case of which or the execution thereof it can be determined from the camera data and / or sensor data that a trailer is coupled to the motor vehicle or that no trailer is coupled to the motor vehicle. Finally, it can be established, for example by evaluating the camera data of the rear camera and / or, if appropriate, of the side cameras, that a trailer is coupled to the motor vehicle. Furthermore, the sensor in the trailer coupling device, which is referred to here as a trailer coupling sensor, can detect the coupled trailer. This sensor can be provided, for example, in the trailer coupling between the motor vehicle and the trailer, for example on the motor vehicle side or on the trailer side. It is thus already very reliably determined at the beginning of the method whether a change in the top view compared to the top view for the motor vehicle without a trailer has to be carried out at all and the method is therefore intended to be carried out, or whether a motor vehicle without a trailer is present. It is then possible, for example, to prevent the method according to the invention from being carried out at all. This is particularly resource-saving.A further aspect of the invention relates to a control device for a motor vehicle. The control device is configured to carry out the method described above. The control device executes the described method, in particular an exemplary embodiment or a combination of exemplary embodiments of the described method. The control device has, for example, a processor device. This can have at least one microprocessor, microcontroller, FPGA (field programmable gate array) and / or DSP (digital signal processor). Furthermore, it may comprise program code, which may alternatively be referred to as a computer program product. The program code can be stored in a data memory of the processor device.Another aspect of the invention relates to a motor vehicle. The motor vehicle can have the control device and, for example, a plurality of cameras. The motor vehicle is designed to carry out the method described above. The motor vehicle preferably has a front camera, side cameras and a rear camera and is therefore designed to capture camera data and transmit it to the control device or provide it to the latter in order that the latter can carry out the method described above. The motor vehicle is, for example, a passenger car, a truck, a bus, a motorcycle and / or a moped.Furthermore, the motor vehicle can have a display device, by means of which the ascertained plan view image can be displayed in the motor vehicle for a driver or another user of the motor vehicle. Furthermore, the motor vehicle can comprise a storage device in which, for example, information required by the method according to the invention can be stored, and also, for example, the predefined factor. It can furthermore be provided that information about the trailer can be input manually by the driver of the motor vehicle or by the other user of the motor vehicle, so that, for example, information about the trailer length, trailer width, trailer hitch length and / or trailer contour of the trailer can be stored in the storage device. For this purpose, the motor vehicle can comprise an input device.A further aspect of the invention relates to a computer program product. The computer program product is a computer program. The computer program product comprises instructions which, when the program is executed by a computer, such as by the control devices, cause the computer to carry out the steps of the method according to the invention.The exemplary embodiments described in connection with the method according to the invention, each individually and in combination with one another, apply correspondingly, where applicable, to the motor vehicle according to the invention, the control device according to the invention and the computer program product according to the invention. The invention comprises combinations of the described exemplary embodiments.The following are shown: FIG. 1 shows a schematic illustration of a motor vehicle having a trailer; FIG. 2 shows a schematic comparison of a plan view image for a motor vehicle without a trailer and a plan view image for a motor vehicle with a trailer; FIG. 3 shows a schematic illustration of a signal flow graph of a method for ascertaining a plan view image for a motor vehicle; FIG. 4 shows a schematic illustration of different partial regions of a plan view image for a motor vehicle having a trailer; and FIG. 5 shows a schematic illustration of different partial regions of a plan view image for a motor vehicle with an angled trailer.In the figures, functionally identical elements are identified by the same reference numerals.FIG. 1 shows a motor vehicle 1 to which a trailer 2 is coupled. For this purpose, a trailer coupling device 3 is provided, by means of which the motor vehicle 1 is connected to the trailer 2. The trailer coupling device 3 can alternatively be referred to as a trailer coupling.The motor vehicle 1 has an environment 4. This environment 4 can be captured at least partially by a front camera 5 of the motor vehicle 1, a respective side camera 6 of the motor vehicle 1 and a rear camera 7 of the motor vehicle 1. The respective side cameras 6 are positioned here in side mirrors 8 of the motor vehicle 1. They can alternatively be designed as additional components which are arranged on a vehicle body of the motor vehicle 1 so as to project therefrom, as can be provided, for example, for electric rearview mirrors. The front camera 5 is positioned here in an upper part of a windshield of the motor vehicle 1 in the vertical direction. Alternatively or additionally, it can be positioned in front of the motor vehicle, for example on or at the bumper there. Other positions of the individual cameras are possible.The motor vehicle 1 here has a control device 9, which can be designed to carry out the method according to the invention.FIG. 1 shows different regions of the environment 4 which can be captured by means of the different cameras. A front area 10, respective side areas 11 on the side of the motor vehicle 1, and a rear area 12 on the rear of the motor vehicle are depicted here in front of the motor vehicle 1. In addition, for these different regions in the environment 4, that is to say for the front region 10, the side regions 11 and the rear region 12, detection region boundaries 13 of the individual cameras, that is to say the front camera 5, the side cameras 6 and the rear camera 7, are in each case drawn in as dashed lines. It is clear that the capture ranges of the individual cameras can at least partially overlap. Different arrangements of the cameras and / or more or fewer cameras than the outlined cameras are possible.A trailer coupling sensor 14 can be provided, which can detect the presence of the coupled trailer 2 on the motor vehicle 1. In addition, a trailer length 15 and a trailer width 16 are schematically depicted for the trailer 2. In addition, a trailer coupling length 17 is drawn, which can specify a distance between the motor vehicle 1 and the trailer 2.FIG. 2 shows a plan view image 20 for the motor vehicle 1 with the trailer 2; in comparison thereto, FIG. 2 also shows a plan view image 21 for a motor vehicle 1 without the trailer 2; it becomes clear that the plan view image 20 for the motor vehicle 1 with the trailer 2 is extended in the rear region 12 in comparison to the plan view image 21. In detail, it is extended by a difference in length 22. This extension can be a predefined factor, for example, that is to say the top view image 21 shows the environment 4 in the rear region 12 of the motor vehicle 1 further by a predefined factor, in particular by a factor of 2, and therefore longer than in the top view image 21 for the motor vehicle 1 without a trailer 2, Alternatively, it can be provided that the top view image 21 shows the environment 4 in the rear region 12 of the motor vehicle 1 extended by an additional region compared to the top view image 21 for the motor vehicle 1 without a trailer 2, wherein the additional region can be dependent on the trailer length 15, the trailer width 16, the trailer coupling length 17 and / or a trailer contour of the trailer 2.FIG. 3 shows a method for ascertaining the top view image 21 for the motor vehicle 1 with the trailer 2. ascertaining trailer information 30 takes place in a method step S 1. the trailer information 30 describes whether or not the motor vehicle 1 is coupled to the trailer 2. The trailer information 30 can be determined, for example, by applying a trailer detection criterion 31 to camera data 32 of the various cameras of the motor vehicle 1 and / or to sensor data 33 of the trailer hitch sensor 14. The camera data 32 are provided by the front camera 5, the side cameras 6 and the rear camera 7 in this example.In a method step S 2, it is checked whether the ascertained trailer information 30 describes that the motor vehicle 1 is coupled to the trailer 2. If this is the case, that is to say if the trailer information 30 describes the motor vehicle 1 being coupled to the trailer 2, the plan view image 20 is ascertained in a method step S 3 in such a way that it describes the motor vehicle 1, at least partially, the trailer 2 and at least partially the environment 4 of the motor vehicle 1 and of the trailer 2. The top view image 20 is composed only of the camera data 32 of the plurality of cameras of the motor vehicle 1. In comparison with the plan view image 21 showing the motor vehicle 1 without a trailer 2, the environment 4 in the rear region 12 of the motor vehicle 1 is extended or extended. The top view image 20 is composed here from the camera data 32 of the front camera 5, the two side cameras 6 and the rear camera 7 of the motor vehicle 1.In a method step S 4, provision can be made for angle information 34 to be ascertained. This describes an angle (see reference sign α in FIG. 5 ) between the motor vehicle 1 and the trailer 2. the angle information 34 can be taken into account, for example, when ascertaining the plan view image 20, such that the plan view image 20 describes the trailer 2 at the angle in accordance with the angle information 34 relative to the motor vehicle 1. The angle information 34 can be determined by applying an angle determination criterion 35 to the camera data 32 and / or to driving data 36 which describe a travel of the motor vehicle 1. The driving data 36 describe, for example, a steering angle, a wheel angle, a speed, a distance travelled, an acceleration and / or other data describing the travel of the motor vehicle 1. The driving data 36 may alternatively be referred to as odometry data. They can be detected, ascertained and / or estimated using sensors of the motor vehicle 1 provided for detecting the respective driving data 36.In a method step S 5, it can be checked whether the angle information 34 is not equal, that is to say whether it is greater than or less than 0 degrees or not. If it is not equal to 0 degrees, this indicates that the motor vehicle 1 is arranged at an angle or at an angle relative to the trailer 2 or vice versa. In a method step S 6, the plan view image 20 is then determined not only taking into account the camera data 32, but also taking into account the angle information 34. However, if the angle information 34 is equal to 0, in particular is substantially equal to 0 degree taking into account a predefined tolerance range, the plan view image 20 can be determined, for example, without taking into account the angle information 34, as outlined in method step S 3.The described method is preferably carried out by means of the control device 9 of the motor vehicle 1. For this purpose, the cameras provide the camera data 32 to the control device 9 by transmitting them to them, for example.FIG. 4 shows different subareas 40, 41, 42, 43, 44 in the environment 4, into which the top view image 20 can be divided. On the one hand, a first partial region 40 is shown here, which is arranged in the rear region 12. The first sub-region 40 can be captured by the rear camera 7 without a trailer 2, but is now covered by the trailer 2. The top view image 20 has camera data 32 of the side cameras 6 in the first partial region 40, i.e. it shows images that were captured by the side cameras 6 there. Specifically, the first sub-region 40 can be divided into two first sub-regions 40, one of which is arranged on a first side of the motor vehicle 1 and the other on the opposite other side of the motor vehicle 1, wherein the two sides are arranged next to one another as viewed in a transverse direction of the motor vehicle 1.The top view image 20 here has, on the other hand, a second partial region 41 which likewise shows the environment 4 in the rear region 12. It can be detected by the rear camera 7 despite the trailer 2. In the second sub-area 41, therefore, camera data 32 of the rear camera 7 is shown. This relates here, for example, to the region between the motor vehicle 1 and the trailer 2, but also to regions arranged laterally of the motor vehicle 1, which regions lie around the trailer 2 and can still lie in the detection region of the rear camera 7.The top view image 20 can comprise camera data 32 of the front camera 5 in a third partial region 42 of the environment 4 in the front region 10, which can be captured by the front camera 5. In respective fourth subareas 43 of the environment 4 in side areas 11 that can be captured by the respective side camera 6, camera data 32 of the respective side camera 6 are displayed here.A possible fifth sub-region 44 is outlined here purely by way of example, which cannot be detected here with one of the cameras of the motor vehicle 1, since it is arranged behind the trailer 2 outside the detection regions of the cameras. This can optionally be supplemented by data of a rear camera 12 of the trailer 2. If these are not present and / or are not desired, an image filler can be displayed here, for example.FIG. 5 shows a trailer 2 angled relative to the motor vehicle 1, which is angled here by the angle α. It is clear that at least the first sub-region 40 and the second sub-region 41 deviate from the corresponding sub-regions 40, 41, as shown in FIG. 4. This is due to the angle information 34 acquired here, which is clearly not equal to 0 degrees. It becomes clear that, for example, the second partial region 41 is enlarged on the left-hand side of the motor vehicle 1 in plan view in comparison with the plan view image 20 outlined in FIG. 4. In addition, the fourth sub-region 43 is enlarged here to the right of the motor vehicle. Furthermore, a comparatively large fifth sub-region 44 is shown here, which cannot be detected by the cameras of the motor vehicle 1.Overall, the examples show a trailer-aware bird's eye view for surround-view systems. A region divided by the trailer 2 for the rear camera, which is captured by the side cameras 6, is shown in the plan view image 20.The camera images are composed so that as much of the area adjacent to the trailer 2 is visible as possible (and not as used in the case of a non-attached trailer 2). Based on the standard parameters for the trailer 2 or even the detected parameters (length, width, optionally contour of the trailer, length of the trailer coupling, i.e. trailer length 15, trailer width 16, trailer coupling length 17 and / or trailer outline), the plan view image 20 is composed such that as large a part of the region next to the trailer 2 as possible is visible (and not the same stitching is used as if no trailer 2 is attached). The size of the plan view image 20 may be changed when a trailer 2 is attached so that the entire trailer 2 is included in the view.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2021 106 670 A1

[0004]

Claims

Method for determining a top view image (20) for a motor vehicle (1) having a trailer (2), comprising - determining (S1) a trailer information item (30) which describes whether or not the motor vehicle (1) is coupled to a trailer (2); if the trailer information (30) describes the motor vehicle (1) being coupled to the trailer (2) (S 2), ascertaining (S 3) the plan view image (20) in such a way that it describes the motor vehicle (1), at least partially, the trailer (2) and at least partially an environment (4) of the motor vehicle (1) and of the trailer (2), wherein the ascertained plan view image (20) is composed only of camera data (32) from a plurality of cameras of the motor vehicle (1) and, compared to a plan view image (21) for a motor vehicle (1) without a trailer (2), shows the environment (4) extended in a rear region (12) of the motor vehicle (1).Method according to Claim 1, wherein the plan view image (20) is composed of camera data (32) of a front camera (5), of two side cameras (6) arranged on opposite sides of the motor vehicle (1) and of a rear camera (7) of the motor vehicle (1).Method according to Claim 2, wherein the plan view image (20) comprises camera data (32) of the side cameras (6) in a first partial region (40) of the environment (4) in the rear region (12) of the motor vehicle (1), which partial region is detectable by the rear camera (7) without a trailer (2) but is now covered by the trailer (2).Method according to Claim 2 or 3, wherein the plan view image (20) comprises camera data (32) of the rear camera (7) in a second partial region (41) of the environment (4) in the rear region (12), which is detectable by the rear camera (7) despite the trailer (2).Method according to one of Claims 2 to 4, wherein the plan view image (20) comprises camera data (32) of the front camera (5) in a third partial region (42) of the environment (4) in a front region (10) of the motor vehicle (1) which can be captured by the front camera (5) and / or comprises camera data (32) of the respective side camera (6) in a respective fourth partial region (43) of the environment (4) in side regions (11) of the motor vehicle (1) which can each be captured by one of the side cameras (6).Method according to one of the preceding claims, wherein angle information (34) is determined (S4) which describes an angle between the motor vehicle (1) and the trailer (2), and is taken into account (S6) when determining the plan view image (20), such that the plan view image (20) describes the trailer (2) at the angle in accordance with the angle information (34) relative to the motor vehicle (1).Method according to Claim 6 and one of Claims 3 to 5, wherein at least the first and second partial regions (41) are chosen differently in the case of angle information (34) not equal to 0 degrees than in the case of angle information (34) of 0 degrees.Method according to Claim 6 or 7, wherein the angle information (34) is determined by applying an angle determination criterion (35) to the camera data (32) and / or driving data (36) of the motor vehicle (1) describing a journey of the motor vehicle (1).Method according to one of the preceding claims, wherein the plan view image (20) describes the entire trailer (2).Method according to one of the preceding claims, wherein the plan view image (20) further shows the environment (4) in the rear region (12) of the motor vehicle (1) by a predetermined factor, in particular by a factor of two, than in the plan view image (20) for the motor vehicle (1) without a trailer (2).Method according to one of Claims 1 to 9, wherein the plan view image (20) shows the environment (4) in the rear region (12) of the motor vehicle (1) extended by an additional region in comparison with the plan view image (20) for the motor vehicle (1) without a trailer (2), wherein the additional region is in particular dependent on a trailer length (15), a trailer width (16), a trailer coupling length (17) and / or a trailer contour of the trailer (2).Method according to one of the preceding claims, wherein the trailer information (30) is determined by applying a trailer detection criterion (31) to the camera data (32) and / or sensor data (33) of a trailer coupling sensor (14) of a trailer coupling device (3).Control device (9) for a motor vehicle (1), wherein the control device (9) is designed to carry out a method according to one of the preceding claims.Motor vehicle (1) having a control device (9), wherein the motor vehicle (1) is designed to carry out a method according to one of Claims 1 to 12.A computer program product comprising instructions which, when the program is executed by a computer, cause the computer to perform a method according to any one of claims 1 to 12.

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