Method and apparatus for reproducing a pictorial representation of the environment

Abstract

A driver assistance device for supporting the driver of a motor vehicle in a driving situation is described. The driver assistance device is configured to detect at least one object in the vehicle's surroundings based on camera data from at least one surround-view camera and to determine relevance information regarding the detected object's relevance to the driving situation. Furthermore, the driver assistance device is configured to reduce the display of the detected object in a visual representation of the vehicle's surroundings, depending on the relevance information, and to display this visual representation on a screen in the vehicle during the driving situation.

Description

[0001] The invention relates to a method and a corresponding device, each designed to provide a camera-based display of the surroundings of a vehicle.

[0002] A vehicle may include a surround-view camera designed to capture camera images of the vehicle's surroundings, particularly its rearward area. These camera images may be displayed (as images) on a screen in the vehicle, for example, to assist the driver in performing a parking maneuver.

[0003] The images captured by a camera can be perceived as confusing by the driver, potentially affecting the reliability of a parking maneuver. This document addresses the technical challenge of providing a camera-based environmental display for a vehicle, thereby increasing the reliability and / or safety of driving maneuvers.

[0004] The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim, without the features of the independent claim itself or only in combination with a subset of the features of the independent claim, can constitute a separate invention independent of the combination of all features of the independent claim, which can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can constitute an invention independent of the features of the independent claims.

[0005] According to one aspect, a driver assistance device is described for supporting the driver of a motor vehicle in a driving situation (especially when performing a driving maneuver). The driver assistance device is designed to detect at least one object in the vehicle's surroundings based on camera data from at least one surround-view camera. The surround-view camera can, for example, be located at the rear of the vehicle, and / or the camera data captured by the surround-view camera can relate to the area behind the vehicle.

[0006] The camera data can consist of a sequence of successive camera images (for a corresponding sequence of time points). The object can be detected based on at least one camera image. Typically, a large number of different objects can be detected. An object recognition algorithm can be used to detect one or more objects. Examples of such objects include: another vehicle, a traffic sign, a road marking, a building, a tree, etc.

[0007] The driver assistance system is configured to determine relevance information regarding the relevance of the detected object to the driving situation (especially for the execution of the driving maneuver). Relevance information can be determined for multiple detected objects. This information can specify a relevance value (e.g., between zero (not relevant) and 1 (maximum relevance)). Alternatively or additionally, the relevance information can indicate (in binary form) whether the detected object is relevant to the driving situation (especially for the driving maneuver) or not.

[0008] The driver assistance device can be configured to predict a driving trajectory and / or a driving path of the vehicle for the driving situation (especially for the execution of the driving maneuver). The relevance information can be determined precisely based on the predicted driving trajectory and / or the predicted driving path, in particular based on the distance of the detected object from the predicted driving trajectory and / or the predicted driving path.

[0009] The driver assistance device is further configured to adjust, and in particular reduce, the (graphical) representation of the detected object in a visual representation of the vehicle's surroundings, depending on the relevance information. Specifically, the prominence of the detected object in the visual representation of the surroundings can be adjusted, and in particular reduced, depending on the relevance information.

[0010] The (pictorial) representation of the detected object in the visual representation of the vehicle's surroundings can be so significantly reduced and / or the conspicuousness of the detected object in the visual representation of the surroundings can be so significantly reduced that the detected object is not displayed in the visual representation of the surroundings. In other words, reducing the (pictorial) representation of the detected object and / or reducing the conspicuousness of the detected object can include not displaying the detected object at all.

[0011] The display of the detected object can be withdrawn or the conspicuousness of the detected object can be reduced if the relevance information indicates that the detected object has a relatively low relevance (e.g., a relevance that is less than a predefined relevance threshold) for the driving situation, especially for the execution of the driving maneuver.

[0012] The visual representation of the vehicle's surroundings can be determined based on a camera image from the surround-view camera. The visual representation can, in particular, correspond to a camera image from the surround-view camera (possibly superimposed with one or more synthetic guide lines).

[0013] The visual representation may correspond, in particular, to a camera image of the vehicle's surroundings captured by the surround-view camera. The camera image may have been filtered, for example, to adjust the intensity range of the pixels in the camera image. The visual representation (i.e., in particular, the camera image of the visual representation) may show a different representation of the detected object in the section of the image containing the detected object compared to the section of the captured (and possibly filtered) camera image. The driver assistance device may be configured to adjust, in particular to reduce, the visual representation of the detected object in the visual representation (in particular in the (possibly filtered) camera image) of the vehicle's surroundings depending on the relevance information.In particular, the conspicuousness of the detected object in the visual representation can be adjusted, especially reduced.

[0014] Furthermore, the driver assistance device is designed to ensure that the visual representation (in particular the adapted camera image) is displayed on a screen of the vehicle (e.g. on a head-up display and / or on a screen of the vehicle's head unit) during the driving situation (especially during the execution of the driving maneuver).

[0015] At each successive point in time, an updated image (specifically, an adapted camera image) can be determined and displayed. Each updated image can be based on a current camera image from the surround-view camera. Within each image, the (visual) representation of the detected object can be adjusted based on the (currently determined) relevance information. This enables particularly convenient and safe execution of the driving maneuver.

[0016] The driver assistance device may be configured to emphasize the detected object in the visual representation compared to one or more other objects depicted in the visual representation if the relevance information indicates that the detected object is more relevant to the driving situation (especially the driving maneuver) than the other one or more objects. In particular, the prominence of the detected object in the visual representation may be increased.

[0017] Alternatively or additionally, the driver assistance device can be configured to reduce the visual representation of the detected object in the display compared to one or more other objects shown in the display (e.g., to make it less prominent and / or conspicuous) if the relevance information indicates that the detected object has a lower relevance to the driving situation (especially to the driving maneuver) than the other one or more objects. In particular, the prominence of the detected object in the display can be reduced (relative to the prominence of the other one or more objects). Furthermore, the driver assistance device can be configured to emphasize the visual representation of the other one or more objects shown in the display (compared to the (possibly)filtered) camera image). In particular, the conspicuousness of the image representation for one or more other objects in the image representation can be increased (e.g. intensified).

[0018] Alternatively or additionally, the driver assistance device can be configured to adjust one or more parameters of the image display for the detected object, depending on the relevance information. Examples of such parameters include: the brightness of the image display; the color of the image display; and / or the transparency of the image display.

[0019] This allows for the highlighting of one or more relevant objects and / or the less prominent (or even omitted entirely) representation of the surroundings in the visual depiction. This can significantly enhance the comfort and safety of the driving maneuver.

[0020] As previously explained, the driver assistance device can be configured to determine relevance information that indicates (in binary form) whether the detected object is relevant to the driving situation (in particular, for carrying out the driving maneuver) or not. Furthermore, the driver assistance device can be configured to display the detected object in the visual representation (in particular, in the (possibly filtered) camera image) of the vehicle's surroundings, especially unchanged (possibly apart from any filtering of the camera image), if the relevance information indicates that the detected object is relevant to the driving situation (in particular, for carrying out the driving maneuver).Alternatively or additionally, the driver assistance device may be configured not to reproduce the detected object in the visual representation (especially not in the camera image) of the vehicle's surroundings (and thus remove it from the camera image) if the relevance information indicates that the detected object is not relevant to the driving situation (especially not to the execution of the driving maneuver).

[0021] This allows for a particularly simplified visual representation of the (relevant) environment of the motor vehicle, thus further increasing the comfort and safety of carrying out the driving maneuver.

[0022] The driver assistance device can be configured to identify a portion of the visual representation (in particular, the camera image) of the vehicle's surroundings that is visible to the driver, or (alternatively) that is not visible to the driver. "Visible" to the driver can mean that the driver can see the portion directly or indirectly via a mirror and / or without using the camera data captured by the surround-view camera.

[0023] The area depicted in the vehicle's surroundings can be identified robustly and precisely based on one or more of the following pieces of information. In particular, it can be determined, based on one or more of the following pieces of information, whether the detected object is directly or indirectly visible (or seeable) to the driver of the vehicle via a mirror: • the seat height of the driver's seat of the motor vehicle; • the height of the driver; • the arrangement of the driver's head within the motor vehicle; • the driver's line of sight; • the arrangement and / or alignment of one or more rearview mirrors of the motor vehicle; • the arrangement, orientation and / or opening angle of the surround-view camera; and / or • from data from a driver-facing camera of the motor vehicle.

[0024] The visual representation of the detected object in the image can be adjusted depending on whether the detected object is located in the identified sub-area of ​​the image or not (in particular, whether the detected object is directly or indirectly visible to the driver of the vehicle via a mirror or not). The driver assistance device can be configured, in particular, to display the detected object in the image (especially in the (possibly filtered) camera image) of the vehicle's surroundings, particularly unchanged (possibly apart from filtering the camera image), if the detected object is located in a sub-area of ​​the image that is visible to the driver of the vehicle (in particular, if the detected object is directly or indirectly visible to the driver via a mirror).This can also occur if the relevance information indicates that the detected object is not relevant to the driving situation (especially not to the execution of the driving maneuver). Alternatively or additionally, the driver assistance device can be configured to adjust (especially to reduce) the visual representation of the detected object in the vehicle's surroundings only if the detected object is located in a part of the visual representation that is not visible to the driver (especially if the detected object is not directly or indirectly visible to the driver via a vehicle mirror).

[0025] This reliably avoids discrepancies visible to the driver between the directly visible environment and the environment depicted in the visual representation (especially in the adapted camera image), thereby further increasing the comfort and safety of the driving maneuver.

[0026] The driver assistance system can be configured to recognize that the detected object is static, particularly a permanently installed and / or immobile object. Furthermore, the driver assistance system can be configured to receive a modified image from a backend server for a camera image (or a portion thereof) of the vehicle's surroundings captured by the surround-view camera. This modified image, instead of showing the detected object, depicts the object differently. The modified image can, for example, be pre-determined and stored on the backend server. The image representation can then be determined in a particularly robust manner based on this modified image.

[0027] According to another aspect, a further driver assistance device for supporting the driver of a motor vehicle in a driving situation (especially when performing a driving maneuver) is described. The features described in this document are also applicable to this driver assistance device, individually or in combination. In particular, the driver assistance devices described in this document can be combined with one another.

[0028] The driver assistance system is designed to generate a visual representation of the vehicle's surroundings based on camera data from at least one of the vehicle's surround-view cameras. As previously explained, this visual representation can correspond to a (possibly filtered) camera image from one of the vehicle's surround-view cameras.

[0029] The driver assistance device is further configured to determine relevance information regarding the relevance of a sub-area of ​​the visual representation to the driving situation. This sub-area can, for example, represent the sky and / or a wall and / or a roadway in the vicinity of the vehicle. The relevance information for this sub-area can be determined as described in this document (where "sub-area" replaces "detected object").

[0030] Furthermore, the driver assistance device is designed to simplify the visual representation of the relevant area within the vehicle's surroundings, depending on the relevance information. This can be achieved, in particular, by displaying the area in a uniform color, and / or by simplifying, obscuring, and / or blurring text, markings, and / or surfaces displayed within that area.

[0031] The driver assistance device is further designed to ensure that the pictorial representation in the driving situation is displayed on a screen of the motor vehicle.

[0032] According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described that includes the (driver assistance) device described in this document.

[0033] According to one aspect, a method for supporting the driver of a motor vehicle in a driving situation (especially during the execution of a driving maneuver) is described. The method comprises (for a point in time or a sequence of points in time) detecting, based on camera data from at least one surround-view camera of the motor vehicle, at least one object in the motor vehicle's surroundings, and determining relevance information regarding the relevance of the detected object to the driving situation (especially for the execution of the driving maneuver). Furthermore, the method comprises adjusting, in particular reducing, the representation of the detected object in a visual representation (especially in a camera image) of the motor vehicle's surroundings depending on the relevance information.The retraction can include, in particular, reducing the conspicuousness of the detected object in the pictorial representation of the vehicle's surroundings, depending on the relevance information.

[0034] The procedure also includes causing the visual representation (in particular the adapted camera image) to be displayed on a screen of the motor vehicle in the driving situation (especially during the execution of the driving maneuver).

[0035] According to another aspect, a further method for assisting the driver of a motor vehicle in a driving situation (especially when performing a driving maneuver) is described. The method can have the features described in this document, either individually or in combination. Furthermore, the method can be combined with one or more other methods described in this document.

[0036] The procedure involves determining, based on camera data from at least one surround-view camera of the vehicle, a visual representation of the vehicle's surroundings. Furthermore, the procedure includes determining relevance information regarding the relevance of a sub-area of ​​the visual representation to the driving situation.

[0037] The procedure further includes simplifying the pictorial representation of the sub-area in the pictorial representation of the motor vehicle's surroundings depending on the relevance information, in particular in such a way that • the sub-area is displayed in a uniform color; and / or • Text and / or marking and / or surface displayed in the sub-area is simplified, obscured and / or blurred.

[0038] Simplification can be carried out in a dedicated and / or spatially limited manner to the pictorial representation of the sub-area.

[0039] The procedure also includes causing the visual representation to be displayed on a screen in the vehicle during the driving situation.

[0040] It should be noted that the aspects described in connection with a device, in particular the claims described in connection with a device, are also to be applied to the corresponding method as corresponding method features.

[0041] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor (e.g., on a vehicle's control unit) and thereby execute one or more of the procedures described in this document.

[0042] Another aspect describes a storage medium. The storage medium can include a software program configured to run on a processor and thereby execute one or more of the procedures described in this document.

[0043] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways. Features listed in parentheses are to be understood as optional features.

[0044] The invention will now be described in more detail using exemplary embodiments. Fig. 1. Exemplary components of a vehicle; Fig. 2a an exemplary pictorial representation of the surroundings of a vehicle; Fig. 2b an exemplary adapted pictorial representation; and Fig. 3. A flowchart of an exemplary procedure for providing a pictorial representation of the environment of a vehicle.

[0045] As stated at the outset, this document deals with increasing the reliability and / or safety of driving maneuvers performed by the driver of a vehicle using a visual representation (in particular, a camera image) of the vehicle's surroundings. In this context, it shows Fig. 1 an exemplary vehicle 100 having one or more surround-view cameras 102, each configured to capture camera data relating to the surroundings, in particular the rear or front surroundings, of the vehicle 100.

[0046] A (control) device 101 of the vehicle 100 can be configured to generate a visual representation of the vehicle 100's surroundings based on camera data from one or more surround-view cameras 102. The visual representation can, for example, display the area behind the vehicle 100. In particular, the visual representation can correspond to a camera image from a surround-view camera 102. Alternatively or additionally, the visual representation can show the vehicle 100's surroundings from a bird's-eye view. The device 101 can be configured to display the visual representation on a screen 104 of the vehicle 100.

[0047] The vehicle 100 may also include one or more rear-view mirrors 105 which show a reflection of the rear surroundings of the vehicle 100, and which thus enable the driver 110 of the vehicle 100 to directly see the rear surroundings of the vehicle 100.

[0048] Furthermore, the vehicle 100 may include a driver camera 106, which is directed towards the driver 110 or towards the driver's position in the vehicle 100. The driver camera 106 may be configured to determine driver data relating to the driver 110, in particular regarding the driver's line of sight.

[0049] Fig. Figure 2a shows an exemplary pictorial representation 200, which was determined on the basis of the camera data from one or more surrounding cameras 102. In the example from Fig. Figure 2a shows the image 200 (in the form of a camera image from a surround-view camera 102) of the area behind the vehicle 100. The image 200 can be displayed, for example, on the screen 104 of the vehicle 100 while the vehicle 100 is performing a (manually controlled) reversing parking maneuver.

[0050] The pictorial representation 200 from Fig. 2a comprises various objects 211, 212, which are arranged in the vicinity of the vehicle 100 and which are detected by the one or more surround-view cameras 102. Furthermore, the illustration 200 shows the boundary lines of a parking space 201 into which the vehicle 100 is to be parked.

[0051] To perform the parking maneuver, driver 110 can view the image 200 displayed on screen 104 in order to manually park vehicle 100 in parking space 201. Driver 110 may be confused by the image 200, especially if it depicts a relatively large number of objects 211, 212. This might be the case, for example, in a parking lot where the image 200 typically shows the numerous vehicles parked in the parking spaces and / or vehicles and / or pedestrians moving in the numerous access roads to the parking spaces.

[0052] The provision of a visual representation 200 that corresponds to a complete replication of the environment of the vehicle 100, which is captured by the one or more environment cameras 102, may therefore be perceived as uncomfortable by the driver 110 of the vehicle 100, especially if the visual representation 200 shows a relatively high number of objects 211, 212 that are not relevant to the driving maneuver to be carried out by the vehicle 100.

[0053] The device 101 of the vehicle 100 can be configured to determine, based on the camera data from one or more surrounding cameras 102, a set of zero, one or more relevant objects 211, and a set of zero, one or more non-relevant objects 212. In particular, the device 101 can be configured to determine a total set of objects 211, 212 that can be represented in the image 200 (and that are recognizable in the camera images of the one or more surrounding cameras 102). The total set of objects 211, 212 can be divided into a set of relevant objects 211 and a (complementary) set of non-relevant objects 212.

[0054] The device 101 of the vehicle 100 can be configured to predict a driving trajectory 202, in particular a driving path, of the vehicle 100 for a driving situation (especially for the execution of a driving maneuver). Alternatively or additionally, the driving path 203 of the vehicle 100 can be predicted in the driving situation (especially during the execution of the driving maneuver). The quantity of relevant objects 211 and / or the quantity of non-relevant objects 212 can be determined precisely based on the predicted driving trajectory 202 and / or on the predicted driving path 203.

[0055] The relevance of an object 211, 212 can decrease, for example, with increasing distance 215 from the travel trajectory 202 and / or from the travel tube 203. The device 101 can, for example, be configured to compare the distance 215 of an object 211, 212 from the travel trajectory 202 and / or from the travel tube 203 with a predefined distance threshold. The object 211, 212 can be included as a relevant object 211 in the set of relevant objects 211 if the distance 215 is equal to or less than the distance threshold. Conversely, the object 211, 212 can be included as a non-relevant object 212 in the set of non-relevant objects 212 if the distance 215 is greater than the distance threshold.

[0056] The device 101 can further be configured to cause the one or more objects 212 from the set of non-relevant objects 212 to be displayed less prominently and / or less visibly in the pictorial representation 200 compared to the one or more objects 211 from the set of relevant objects 211. This can be achieved, for example, by making the one or more non-relevant objects 212, compared to the one or more relevant objects 211, • exhibit reduced intensity; • be displayed transparently; and / or • be partially or completely hidden.

[0057] It can therefore, as exemplified in Fig. As shown in Figure 2b, based on the camera data from one or more surround-view cameras 102, an adapted visual representation 200 (in particular, an adapted camera image) is determined, in which the one or more non-relevant objects 211 are attenuated and / or rendered less prominently compared to the one or more relevant objects 212. This allows the visual representation 200 to be focused on the information relevant to the driving situation (especially for the execution of the driving maneuver). This can increase the comfort and safety of the driving maneuver.

[0058] The device 101 can be configured to determine the driver's field of vision 110 of the vehicle 100 in the driving situation (especially during the execution of the driving maneuver) based on the driver data (from the driver camera 106). For example, it can be recognized based on the driver data that the driver 110 is looking in a rearview mirror 105 of the vehicle 100, so that the driver's field of vision 110 includes at least a part of the area behind the vehicle 100 (where the graphic representation 200 relates to the area behind the vehicle 100).

[0059] The device 101 can be configured to determine the graphical representation 200 depending on the determined field of vision of the driver 110. In this context, the sub-area of ​​the graphical representation 200 that corresponds to the field of vision of the driver 110 and / or that lies within the field of vision of the driver 110 can be determined (so that the driver 110 can view this sub-area both on the screen 104 of the vehicle 100 and directly (e.g. via a rearview mirror 104)).

[0060] The device 101 can be configured to prevent the different rendering of one or more non-relevant objects 212 and one or more relevant objects 211 in the identified sub-area of ​​the image 200. Alternatively or additionally, the device 101 can be configured to effect the different rendering (in particular, the differently prominent rendering) of one or more non-relevant objects 212 and one or more relevant objects 211 exclusively outside the identified sub-area of ​​the image 200. This ensures that the image 200 is consistent with the driver's 110 direct field of vision of the vehicle 100's surroundings, thereby further increasing the comfort and safety of driving maneuvers.

[0061] As explained above, the information provided in a visual representation 200 may exceed the information content required for the current driving task (for example, a parking maneuver). Therefore, there is a risk that the driver 110 will be distracted by one or more objects 212 in the visual representation 200 that are not relevant to the driving task. Examples of possible, irrelevant objects 212 in a visual representation 200 are: • a pedestrian who is relatively far away from the vehicle 100 and therefore cannot influence the driving task; • Parking area boundaries that are distracting (e.g., billboards or busy surfaces); • Road markings that do not affect the driving task; and / or • Road signs that do not affect the driving task (e.g., a notice about a truck driving ban, which is not relevant for a car user).

[0062] The surrounding image (i.e., the visual representation 200) displayed to the driver 110 can be simplified, and it can be ensured that the visual representation 200 contains only the information relevant to the driving task. For this purpose, the camera data from one or more surround-view cameras 102 can be analyzed, and one or more objects 211, 212 can be detected. The relevance of each detected object 211, 212 to the current driving task (i.e., the current driving maneuver) can then be assessed. Using image processing (for example, via "image inpainting"), one or more distracting and / or irrelevant objects 212 can be removed from the visual representation 200 (in particular, from a camera image of the surround-view camera 102).Alternatively or additionally, a distracting area from a camera image, such as a busy surface, text or a marker, can be simplified, blurred or represented as a monochrome area in the image representation 200.

[0063] Machine learning methods can be applied for object identification and / or risk assessment in relation to the driving task and / or driving maneuver. For static objects 211, 212, image analysis can be supported by a database of already known environmental data and its simplification. From a backend, the known, simplified image data can be transferred to vehicle 100 according to the planned route (geodata) of vehicle 100.

[0064] Alternatively or additionally, individual locations can be measured using high-resolution, possibly not vehicle-mounted, separate camera systems and simplified offline, automatically and / or manually. This image data can be stored in the backend and transferred to the vehicle 100 as needed. Furthermore, the image data can be combined with the camera data acquired by the vehicle 100's onboard sensors 102.

[0065] Alternatively or additionally, the driver 110 of the vehicle 100 may be enabled to select certain objects 212 to be hidden (e.g. via touch operation on a screen 104).

[0066] The one or more identified objects 212 with low relevance to the driving task may not be completely removed from the displayed image 200. The one or more non-relevant objects 212 may be displayed less prominently than the rest of the image 200 (especially the camera image). This can be achieved, for example, by darkening and / or fading.

[0067] As a result, the one or more non-relevant objects 212 are still present in the pictorial representation 200, so that when the driver 110 compares the pictorial representation 200 shown on the screen 104 (e.g. by looking in a mirror 105) with reality, no logical discrepancies occur.

[0068] Alternatively or additionally, one or more relevant objects 211 (with particularly high relevance) can be highlighted (e.g. by making one or more objects 211 appear brighter).

[0069] Alternatively or additionally, the one or more objects 212 to be hidden and / or modified can be limited to those that cannot be seen by the driver 110 via other means (e.g., in the rearview mirror 105). If necessary, only the one or more (non-relevant) objects 212 that are visible to the driver 110 only via the surround-view camera 102 can be modified (i.e., adjusted) in the graphical representation 200 on the screen 104. When determining the one or more (non-relevant) objects 212 that are visible to the driver 110 only via the surround-view camera 102, one or more of the following parameters can be taken into account: • the driver's seating position 110; • the driver's height 110; • the driver's direction of view 110; • the location and / or orientation of one or more mirrors 105 of the vehicle 100; and / or • the position, orientation and / or opening angle of one or more surrounding cameras 102.

[0070] Fig. Figure 3 shows a flowchart of an exemplary (possibly computer-implemented) procedure 300 for supporting the driver 110 of a motor vehicle 100 in a driving situation (especially during the execution of a driving maneuver). The procedure 300 can be executed by a control device 101 of the motor vehicle 100. The procedure 300 comprises detecting 301, based on camera data from at least one surround-view camera 102 of the motor vehicle 100, at least one object 211, 212 in the (rear) surroundings of the motor vehicle 100. The camera data can comprise one or more camera images, in particular a sequence of camera images. The object 211, 212 can be detected using an object recognition algorithm.

[0071] Furthermore, the procedure 300 includes determining 302 relevance information regarding the relevance of the detected object 211, 212 to the driving situation (especially for the execution of the driving maneuver). The relevance information can be determined based on the camera data. The relevance of the detected object 211, 212 can depend on the distance 215 of the detected object 211, 212 from the predicted driving trajectory 202 and / or from the predicted driving path 203 of the driving maneuver.

[0072] The procedure 300 further comprises the adjustment, in particular the retraction, 303 of the (pictorial) representation of the detected object 211, 212 in the pictorial representation 200 of the environment of the motor vehicle 100 depending on the relevance information. The retraction 303 can in particular include reducing the conspicuousness of the detected object 212 in the pictorial representation 200 of the environment of the motor vehicle 100 depending on the relevance information.

[0073] The visual representation 200 can, for example, be based on a camera image. In particular, the visual representation 200 can include a camera image captured by the surround-view camera 102. The image section of the detected object 211, 212 in the camera image can be selectively adjusted depending on the relevance information. The detected object 211, 212 can be highlighted or made less prominent (e.g., transparent, darkened, or not displayed at all) depending on its relevance to the driving situation (especially the driving maneuver).

[0074] Furthermore, the procedure 300 includes causing 304 the graphical representation 200 to be displayed on a screen 104 of the motor vehicle 100 during the driving situation (especially during the execution of the driving maneuver). This allows the driver 110 of the motor vehicle 100 to be conveniently supported in the safe execution of the driving maneuver.

[0075] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Driver assistance device (101) for supporting a driver (110) of a motor vehicle (100) in a driving situation; wherein the driver assistance device (101) is configured, - to detect at least one object (212) in the vicinity of the motor vehicle (100) based on camera data from at least one surrounding camera (102) of the motor vehicle (100); - To determine relevance information regarding the relevance of the detected object (212) to the driving situation; - to reduce the representation of the detected object (212) in a pictorial representation (200) of the motor vehicle's (100) surroundings depending on the relevance information, in particular to reduce the conspicuousness of the detected object (212) in the pictorial representation (200) of the motor vehicle's (100) surroundings depending on the relevance information; and - to cause the pictorial representation (200) to be displayed on a screen (104) of the motor vehicle (100) in the driving situation. [2] Driver assistance device (101) according to claim 1, wherein - the pictorial representation (200) corresponds to a camera image of the surroundings of the motor vehicle (100) captured by the surround camera (102), which has been optionally filtered; and - the pictorial representation (200) on an image section with the detected object (212) shows a pictorial representation for the detected object (212) that differs from the image section of the captured, and optionally filtered, camera image. [3] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, - to reduce the visual representation of the detected object (212) in the visual representation (200) of the motor vehicle's environment (100) depending on the relevance information; and / or - to reduce the conspicuousness of the pictorial representation of the detected object (212) in the pictorial representation (200) of the environment of the motor vehicle (100) depending on the relevance information. [4] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured to reduce the visual representation for the detected object (212) in the visual representation (200) compared to one or more other objects (211) represented in the visual representation (200), in particular to reduce the prominence of the visual representation for the detected object (212) in the visual representation (200) relative to the prominence of the visual representation for the one or more other objects (211) represented in the visual representation (200), when the relevance information indicates that the detected object (212) has a lower relevance for the driving situation than the one or more other objects (211). [5] Driver assistance device (101) according to claim 4, wherein the driver assistance device (101) is configured to enhance the visual representation for the one or more other objects (211) depicted in the visual representation (200), in particular to increase the prominence of the visual representation for the one or more other objects (211) depicted in the visual representation (200). [6] Driver assistance device (101) according to one of the preceding claims, wherein - the driver assistance device (101) is configured to adjust one or more parameters of the image reproduction for the detected object (212) in the image display (200) depending on the relevance information; and - which include one or more parameters, - the brightness of the image reproduction; - a color in the pictorial representation; and / or - transparency in the visual reproduction. [7] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, - To determine relevance information indicating whether the detected object (212) is relevant to the driving situation or not; and - not to reproduce the detected object (212) in the pictorial representation (200) of the environment of the motor vehicle (100) if the relevance information indicates that the detected object (212) is not relevant to the driving situation. [8] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, - to predict a driving trajectory (202) and / or a driving path (203) of the motor vehicle (100) for the driving situation; and - to determine the relevance information based on the predicted travel trajectory (202) and / or on the basis of the predicted travel path (203), in particular based on a distance (215) of the detected object (212) from the predicted travel trajectory (202) and / or from the predicted travel path (203). [9] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, - to determine whether the detected object (212) is directly or indirectly visible to a driver (110) of the motor vehicle (100) via a mirror (105); and - to adjust the pictorial representation of the detected object (212) in the pictorial representation (200) depending on whether the detected object (212) is directly or indirectly visible to the driver (110) of the motor vehicle (100) via a mirror (105) of the motor vehicle (100) or not. [10] Driver assistance device (101) according to claim 9, wherein the driver assistance device (101) is configured, - to reproduce the detected object (212) in the pictorial representation (200) of the motor vehicle's (100) surroundings if the detected object (212) is directly or indirectly visible to the driver (110) of the motor vehicle (100) via a mirror (105), especially even if the relevance information indicates that the detected object (212) is not relevant to the driving situation; and / or - to adjust, and in particular to reverse, the pictorial representation of the detected object (212) in the pictorial representation (200) of the environment of the motor vehicle (100) only if the detected object (212) is not directly or indirectly visible to the driver (110) of the motor vehicle (100) via a mirror (105) of the motor vehicle (100). [11] Driver assistance device (101) according to one of claims 9 to 10, wherein the driver assistance device (101) is configured to determine whether the detected object (212) is directly or indirectly visible to a driver (110) of the motor vehicle (100) via a mirror (105) or not, based on - a seat height of a driver's seat of the motor vehicle (100); - the driver's height (110); - an arrangement of the driver's head (110) inside the motor vehicle (100); - a direction of view of the driver (110); - an arrangement and / or alignment of one or more rearview mirrors (105) of the motor vehicle (100); - an arrangement, orientation and / or opening angle of the surrounding camera (102); and / or - from data from a driver camera (106) of the motor vehicle (100) directed at the driver (110). [12] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, - to recognize that the detected object (212) is a static, in particular immobile, object; - to receive from a backend server an adapted image for at least a sub-area of ​​a camera image of the surroundings of the motor vehicle (100) captured by the surround camera (102), which instead of an image section with the detected object (212) shows a visual representation of the detected object (212) that differs from the image section of the captured, and optionally filtered, camera image; and - to determine the pictorial representation (200) based on the adapted image. [13] Driver assistance device (101) for supporting a driver (110) of a motor vehicle (100) in a driving situation; wherein the driver assistance device (101) is configured, - to determine a pictorial representation (200) of the environment of the motor vehicle (100) based on camera data from at least one environment camera (102) of the motor vehicle (100); - To determine relevance information regarding the relevance of a sub-area of ​​the pictorial representation (200) to the driving situation; - to simplify a pictorial representation of the sub-area in the pictorial representation (200) of the environment of the motor vehicle (100) depending on the relevance information, in particular in such a way that - the sub-area is displayed in a uniform color; and / or - text and / or markings and / or surfaces displayed in the sub-area are simplified, obscured, and / or blurred; and - to cause the pictorial representation (200) to be displayed on a screen (104) of the motor vehicle (100) in the driving situation. [14] Method (300) for assisting a driver (110) of a motor vehicle (100) in a driving situation; wherein the method (300) comprises, - Detect (301), based on camera data from at least one environment camera (102) of the motor vehicle (100), at least one object (212) in an environment of the motor vehicle (100); - Determining (302) relevance information regarding the relevance of the detected object (212) to the driving situation; - Retracting (303) a representation of the detected object (212) in a pictorial representation (200) of the environment of the motor vehicle (100) depending on the relevance information; wherein the retraction (303) particularly includes reducing the conspicuousness of the detected object (212) in the pictorial representation (200) of the environment of the motor vehicle (100) depending on the relevance information; and - Causing (304) the pictorial representation (200) to be displayed on a screen (104) of the motor vehicle (100) in the driving situation. [15] Method for assisting a driver (110) of a motor vehicle (100) in a driving situation; wherein the method comprises, - Determine, based on camera data from at least one environment camera (102) of the motor vehicle (100), a pictorial representation (200) of the environment of the motor vehicle (100); - Determining relevance information regarding the relevance of a sub-area of ​​the pictorial representation (200) to the driving situation; - Simplifying a pictorial representation of the sub-area in the pictorial representation (200) of the environment of the motor vehicle (100) depending on the relevance information, in particular in such a way that - the sub-area is displayed in a uniform color; and / or - text and / or markings and / or surfaces displayed in the sub-area are simplified, obscured, and / or blurred; and - Causing the pictorial representation (200) to be displayed on a screen (104) of the motor vehicle (100) in the driving situation. [16] Software program configured to run on a processor and thereby execute the method (300) according to claim 14 or 15.

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