Method for adapting a virtual vehicle model, and vehicle comprising at least one sensor and at least one computing device

Abstract

The invention relates to a method for adapting a virtual vehicle model (12). The method comprises using at least one sensor integrated in and / or on a vehicle (10) to determine whether at least one attachment (16) of the vehicle (10) changes, adapting the vehicle model (12) upon detection of the change to the at least one attachment (16), generating an adapted vehicle model (121) by integrating the change into the vehicle model (121), and displaying the adapted vehicle model (121) on a mobile device.

Description

[0001] The invention relates to a method for adapting a virtual vehicle model and a vehicle comprising at least one sensor and at least one computing device, wherein the vehicle is configured to perform the method for adapting a virtual vehicle model.

[0002] A vehicle, in particular a motor vehicle, may have a virtual vehicle model stored in a memory, especially an internal vehicle memory. The virtual vehicle model may be a two-dimensional or three-dimensional representative image of the vehicle, i.e., a representative external view (view from the outside of a representative vehicle) of the vehicle.

[0003] Such a virtual model is known, for example, from DE 10 2018 100 212 A1. This document discloses a method for representing the environment of a vehicle, in which a virtual image of the environment is generated from at least one camera image, and a model of the vehicle can be displayed in the virtual image. A disadvantage here is that the model of the vehicle is representative of the vehicle, which means that the actual appearance of the vehicle can differ from the model.

[0004] The same disadvantage arises in DE 10 2020 112 549 A1, which discloses a method for measuring an attachment mounted on a vehicle. The method involves using the camera of a mobile device to take an image of the vehicle's exterior with the attachment, whereby the vehicle's exterior is assigned to a model encompassing the vehicle's spatial dimensions.

[0005] German patent DE 10 2008 057 671 A1 describes a method for monitoring the vehicle's surroundings, whereby a composite image is generated from individual images captured by an image acquisition unit and displayed by a display unit. This composite image depicts the vehicle and its surroundings from a bird's-eye view and under realistic lighting conditions. The disadvantage of this method is that details may be difficult to discern due to the real-world lighting conditions, and no other perspectives are available.

[0006] DE 10 2016 207 983 A1 discloses a collision monitoring system for a vehicle with additional attachments, wherein the attachments on the vehicle are automatically detected and the external dimensions of the vehicle have been extended by the dimensions of the automatically detected attachment.

[0007] DE 10 2006 028 627 A1 discloses a method for vehicle and / or load monitoring, wherein image information of the vehicle and the load is captured by means of an optical sensor and evaluated using a difference image method and the difference image is displayed on a display unit in the vehicle interior.

[0008] DE 10 2017 203 129 A1 discloses a method for monitoring an environment, wherein a warning signal is issued when an object is detected by means of an ultrasonic sensor whose distance to the vehicle falls below a minimum distance, but the warning signal is not issued when an imaging sensor of the motor vehicle detects a trailer.

[0009] The purpose of the invention is to indicate changes and / or modifications to the vehicle.

[0010] The problem is solved by the subject matter of the independent patent claims. Advantageous embodiments of the invention are described by the dependent patent claims, the following description, and the figures.

[0011] As a solution, the invention comprises a method for adapting a virtual vehicle model (hereinafter also referred to as the vehicle model; i.e., vehicle model and virtual vehicle model describe the same thing). This means, in particular, that a virtual vehicle model is present which is modified and / or changed. The virtual vehicle model can be a two-dimensional and / or three-dimensional representation of the vehicle model, in particular of the vehicle itself. This means, for example, that when the virtual vehicle model is displayed on the display surface, a vehicle is depicted whose body resembles the body of the vehicle, in particular in shape and / or color. In particular, the virtual vehicle model is a virtual image of the vehicle itself.

[0012] The virtual vehicle model is adapted by using at least one sensor integrated in and / or on the vehicle to determine whether at least one vehicle component is changing. This means, for example, determining whether at least one component is attached to the vehicle and / or fastened to it, i.e., added to the vehicle, and / or whether at least one component is removed from the vehicle, in particular detached and / or disassembled, and / or whether at least one component changes at least one property, such as its size and / or dimensions and / or weight, for example, because the component is being loaded or unloaded.

[0013] The at least one sensor can be a sensor that, in addition to detecting whether at least one vehicle component is changing, also performs at least one other function. For example, it could be a sensor that provides data for at least one driver assistance system. Additionally or alternatively, it could be a sensor that covers a safety aspect, such as trailer detection and / or an axle load sensor.

[0014] The add-on part can be a component that is attached and / or fastened to the vehicle itself, preferably to the outer shell and / or body of the vehicle. After the add-on part has been attached and / or fastened to the vehicle, the vehicle differs, at least by virtue of the add-on part, from the vehicle in its original delivery condition, that is, from the vehicle as it was produced and delivered, and / or from a vehicle of the same model that is only equipped with the basic equipment. For example, the add-on part can be a device for transporting loads and / or luggage, such as a trailer and / or a roof box and / or a roof rack and / or a car luggage carrier and / or a bicycle carrier.Additionally or alternatively, the add-on part may be a modification of the vehicle's body shape, for example, a tuning part, which could include a spoiler, exhaust components, a bumper, side skirts, a body kit, and / or a fender. Additionally or alternatively, the add-on part may be a license plate and / or decorative elements for a vehicle.

[0015] When a change to at least one add-on part is detected, the vehicle model is adjusted by integrating the change into the existing model. This means that the change to the at least one add-on part is reflected in the virtual vehicle model. Specifically, the digital vehicle model at a given point in time includes all add-on parts mounted on the vehicle at that point in time. Therefore, the virtual vehicle model can represent the vehicle at that given point in time as accurately as possible in terms of detail and / or form.

[0016] The modified vehicle model, which describes the vehicle model with the integrated change, is displayed on a mobile device. Additionally, the modified vehicle model can be displayed in the vehicle itself. This means, in particular, that a representation and / or image of the vehicle is displayed on the mobile device, preferably including all attachments fitted to the vehicle at the time of display. Furthermore, a representation and / or image of the vehicle can be displayed on a display device in the vehicle, preferably including all attachments fitted to the vehicle at the time of display.

[0017] The vehicle model can, for example, be displayed in an environment captured by at least one camera and / or at least one lidar system on the vehicle. Additionally or alternatively, the vehicle model can be displayed, for example, as part of an application on a mobile device and / or as part of a vehicle application on a display device in the vehicle, together with vehicle data such as mileage, current charge level, current fuel level, current range, and / or vehicle identification number.

[0018] The advantage of this method is that all vehicle components are displayed to the user, thus presenting the vehicle in the most realistic way possible. This allows, for example, a better assessment of the vehicle's dimensions and / or better identification of the vehicle with the vehicle model, because the discrepancies between the displayed vehicle model and the actual vehicle are smaller. This effectively prevents confusion, as it becomes clearer that the displayed vehicle model corresponds to the actual vehicle.

[0019] The invention also includes further developments that result in additional advantages.

[0020] Further development includes the ability of at least one sensor to monitor a connection and / or mounting point for the respective add-on component. This means that the add-on component can be attached to and / or connected to the vehicle at at least one predefined location (connection and / or mounting point). The mounting point could be, for example, a mechanical fastening device, such as the vehicle's roof rails and / or a trailer hitch and / or fastening components for attaching the add-on component to the vehicle and / or load securing elements (such as lashing rings for securing tie-down straps) on the vehicle. Additionally or alternatively, the connection could be an interface for data transmission and / or power transmission, particularly between the vehicle and the at least one add-on component.The advantage lies in the simple and reliable detection of at least one attachment being connected to the vehicle. Specifically, data from the attachment, such as dimensions and / or a unique identification number, can be transmitted to the vehicle via the data transmission interface, enabling reliable identification of the at least one attachment. This advantage can also be achieved if the attachment point is a mechanical mounting device designed for only one specific attachment, meaning that only one predefined attachment can and / or may be mounted on it.

[0021] Additionally or alternatively, the sensor can include at least one environmental sensor for detecting at least part of the vehicle's surroundings and / or at least part of the vehicle itself. This environmental sensor could be, for example, a camera, radar, lidar, or ultrasonic sensor. An add-on component can be detected, for instance, by the environmental sensor detecting a stationary object relative to the vehicle while it is in motion. This object is not part of the vehicle, particularly not of the original vehicle, such as the vehicle in its delivered state, and / or it was not detected by the environmental sensor during at least one previous detection. The advantage is that a vehicle component is used as the sensor, which, in addition to its sensor function, has at least one other function.This means, in particular, that even if the process is not implemented, the sensor provides data for at least one function of the vehicle. This results in a cost-effective implementation of the process, as the sensor is already integrated into the vehicle. Additionally, the sensor can be used to determine which add-on part is involved, for example, through object recognition and / or comparison of the sensor data with stored data for various add-on parts.

[0022] Additionally or alternatively, the at least one sensor can include at least one tilt sensor to determine the vehicle's inclination (for example, the tilt of the body relative to the chassis) and / or an axle load sensor to determine the axle load and / or determine the vehicle's weight and / or weight distribution. The sensor can be located, for example, in the vehicle's floor and / or on at least one of the vehicle's axles and / or on the vehicle's chassis and / or suspension. This advantageously allows for the detection of changes in the weight of at least one attachment, which can indicate a change in the attachment's dimensions, for example, in the case of a bicycle carrier.Additionally or alternatively, it can be easily determined whether a component is being added or removed (weight gain or loss and / or change in vehicle tilt due to a change in weight distribution). In particular, a vehicle sensor can be used as the sensor, providing data for automatic headlight range control, and / or based on the sensor and / or the vehicle model, automatic headlight range control or a display indicating the target value for manual headlight range adjustment can be implemented.

[0023] Further training involves recording the change relative to a baseline model. The baseline model can be the vehicle model without attachments, i.e., a two- or three-dimensional representation and / or image of the vehicle without attachments. Additionally or alternatively, the baseline model can be the vehicle model of the vehicle in its delivery condition, i.e., a two- or three-dimensional representation and / or image of the vehicle in its delivery condition. Additionally or alternatively, the baseline model can be the vehicle model of a comparable vehicle, where the comparable vehicle belongs to the same model variant but only includes the basic equipment.

[0024] The initial model can be created by capturing the vehicle from various perspectives at the end of a production line along which it is manufactured. The production line can therefore be the location and / or process of automotive and / or vehicle manufacturing. This can mean that the vehicle is assembled and / or mounted and / or manufactured along the production line. The end of the production line can be defined by the point at which the vehicle, viewed from the outside, no longer changes or no longer changes significantly; in particular, the vehicle's exterior is complete and will no longer change or no longer change significantly until the vehicle is sold and / or delivered.A non-essential change may be present if less than 5%, in particular less than 2%, of the outer shell changes and / or has changed, and / or if, when viewing the vehicle from outside the vehicle, less than 8%, in particular less than 5%, preferably less than 2%, of the total area of ​​the vehicle visible from outside the vehicle changes.

[0025] The vehicle is captured from various perspectives. This can mean that at least one image of the vehicle is taken from different angles and / or perspectives, by capturing the vehicle from each angle and / or perspective using at least one production sensor, in particular at least one camera and / or at least one lidar. The images can then be combined to create a composite image showing the entire vehicle and / or at least the entire body of the vehicle. This composite image can then form the basis for the vehicle model.

[0026] Additionally or alternatively, the initial model can be created using a template. This template is then modified and / or populated with predefined parameters based on captured images, predefined vehicle product specifications, and / or manual input. The initial model template can be a vehicle model that corresponds to the vehicle in its basic configuration and / or exhibits the features found in at least 50% of vehicles of the corresponding model variant. The predefined parameters may not yet be included in the template but may be selectable. Therefore, the template can be a vehicle model to which at least one predefined parameter is assigned a value to create the initial model.The configurable parameters can include, for example, the vehicle model variant and / or individually selectable vehicle features and / or optional equipment and / or the appearance of the vehicle's exterior and / or body, such as the choice of vehicle color and / or lights and / or wheels and / or roof. These configurable parameters can be selected when creating the template to adapt it to the vehicle and / or to ensure the initial model accurately represents the vehicle.

[0027] The further training offers the advantage that changes are recorded based on a template that ideally reflects the vehicle as delivered. This eliminates the need for the customer to create the initial model, thus reducing their workload.

[0028] Further training involves adapting the vehicle model based on at least one image and / or at least one video depicting at least one part of the vehicle, particularly at least one add-on part. This means that the image material, comprising at least one image and / or at least one video, depicts the vehicle and / or the vehicle with at least one add-on part. By comparing this image material with the existing vehicle model, it can be determined which add-on part has changed compared to the existing model, and / or where the changed add-on part is located relative to the vehicle, and / or the add-on part can be integrated into the vehicle model accordingly, thus creating the adapted vehicle model. Additionally or alternatively, the vehicle model can be created by combining multiple images using software.For this purpose, several images can preferably be combined in such a way that the entire vehicle is depicted in the composite image, for example by overlaying identical image sections from multiple images. Additionally or alternatively, the composite image can be derived from the video. From the composite image, a three-dimensional reconstruction of the vehicle can be performed using a method known from the prior art, thereby creating the vehicle model.

[0029] The image data can be captured by at least one camera and / or at least one environmental sensor on the vehicle. This means that the vehicle includes the at least one camera and / or the at least one environmental sensor used to capture the image data. The advantage of this is that, due to the fixed location of the at least one camera and / or the at least one environmental sensor, its position and orientation relative to the vehicle are fixed and / or known, and in particular known to the vehicle. Consequently, the perspective of the at least one camera and / or the at least one environmental sensor relative to the vehicle is also fixed and / or known, and in particular known to the vehicle. This allows the position of the add-on part relative to the vehicle to be determined particularly easily and / or precisely.Additionally or alternatively, it is possible to easily check at predefined time intervals whether a modification to an attachment has occurred. This can be particularly useful for trailers with tarpaulin covers, where the tarpaulin can, for example, billow due to wind, causing a change in size, especially height, of the trailer. This can unintentionally and / or erroneously trigger a height check, which can be avoided, particularly through further training.

[0030] Additionally or alternatively, the image material can be captured by a person using a mobile device, particularly with at least some assistance. This could mean that a person uses a mobile device, such as a mobile phone and / or a camera and / or a tablet, to capture the image material of the vehicle. This image material can then be transmitted wirelessly and / or via cable, for example, to the vehicle for adjustment of the vehicle model. The transmission can be carried out using transmission methods known from the prior art.

[0031] It may be possible to collect and analyze additional sensor data from the mobile device, such as data from the device's tilt sensor, data on the device's movement, and / or 3D data from a time-of-flight camera. This allows for more precise assistance and / or a more accurate composite of the images.

[0032] The assistance system can include communication between the vehicle and the mobile device, and a display on the mobile device and / or a display for the person operating the mobile device, informing them how to capture the image. This could include, for example, from which perspective at least one more shot needs to be taken and / or which part of the vehicle still needs to be included in the image. To this end, the vehicle can compare the already captured image with the previously valid vehicle model and determine which parts and / or areas of the vehicle are not visible in the captured image.For those parts and / or areas that have been determined to be missing from the captured imagery, a prompt may appear, for example, as a notification on a mobile device and / or a screen and / or output device in the vehicle, requesting that these parts and / or areas of the vehicle be photographed. Additionally or alternatively, it may be possible to select that no changes have occurred to the parts and / or areas that have been determined to be missing from the captured imagery compared to the previously valid imagery. It may be possible to adopt the previously valid vehicle model for the areas and / or parts that are not yet visible in the captured imagery and for which no changes have been selected.This allows for particularly easy customization of the vehicle model.

[0033] Additionally or alternatively, the image data can be captured by another vehicle and / or infrastructure facility and transmitted to the vehicle. For example, while the vehicle is moving and / or stationary, another vehicle equipped with at least one environmental sensor can detect the vehicle using its environmental sensor and transmit the sensor data to the vehicle.Additionally or alternatively, at least one infrastructure facility, for example a tunnel and / or a traffic monitoring station and / or a traffic sign, in particular a sign bridge where the display can be adjusted and / or set, and / or a traffic light, and / or a light source and / or a parking facility, for example an underground garage and / or a parking space and / or a parking garage and / or a parking deck, may include at least one environmental sensor, for example at least one camera, and transmit the data from the environmental sensor to the vehicle.This makes it advantageous to capture particularly good images from above the vehicle, allowing for especially good aerial shots of the vehicle and / or attachments on the roof of the vehicle and / or attachments visible from above the vehicle (for example, a roof box and / or a bicycle carrier) to be captured particularly reliably and / or accurately.

[0034] Additionally or alternatively, the advantage arises that when the vehicle is stationary, for example, when parked in one of the aforementioned parking facilities (such as an underground garage, a parking space, a multi-story car park, or a parking deck), images of the vehicle can be captured by an infrastructure facility and / or another vehicle, transmitted to the vehicle, a customized vehicle model can be created, and sent to a mobile device, which can then be forwarded to a person assigned to the vehicle, such as the vehicle owner. This allows the person assigned to the vehicle to obtain information about it, such as its currently installed accessories, even without direct visual contact.

[0035] Further training includes storing descriptive data for each add-on part. This means, in particular, that descriptive data is stored for each add-on part, allowing for its unique identification. For example, a name and / or designation can be assigned to the add-on part. Additionally or alternatively, the descriptive data can include data from at least one sensor that determines whether the add-on part changes, preferably recording how the sensor data changes when the add-on part changes. Additionally or alternatively, the descriptive data can include data about the appearance and / or position of the add-on part, preferably derived from a previous vehicle model update resulting from a change to the add-on part.

[0036] In particular, when recording a change, it may be possible to offer the driver of the vehicle the option to select from the descriptive data relating to at least one, and especially all, add-on parts for which descriptive data is stored. This may mean that the driver can be shown the descriptive data and / or a part of the descriptive data, for example, the assigned name and / or the assigned designation and / or an assigned image and / or an assigned illustration and / or an assigned symbol, from which the driver can make a selection, whereby it can be assumed that the add-on part whose descriptive data has been selected is changing and / or has changed.

[0037] Additionally or alternatively, particularly when detecting a change, the descriptive data relating to the current component can be automatically selected by comparing at least part of the descriptive data with the stored descriptive data. This data was previously acquired by the sensor and stored in the vehicle after a change to the at least one component. Specifically, this means that the descriptive data includes how the data from the at least one sensor changes when the respective component changes. This is compared with the change in data that the sensor experiences during the current change to the component. This allows the system to determine which previous change and / or reversal of a previous change to a component corresponds to the current change. This, in turn, allows the system to determine and / or select which component is changing and / or has changed.

[0038] The vehicle model is adapted based on the selected add-on part. This means that the adapted vehicle model is created by adopting the selected add-on part from a previous vehicle model. The advantage of this advanced training is the simple and / or automated recognition of the add-on part, which eliminates the need for the driver to manually record the part when it is changed, especially if the part has already been used at least once.

[0039] Further development includes displaying the vehicle model at the vehicle's location when its surroundings are displayed. This means, in particular, that the vehicle's environment is captured using at least one environmental sensor. The captured environment can be displayed on a screen in the vehicle and / or on a mobile device. The vehicle model can be displayed at the location and / or within the area of ​​the captured environment where the vehicle itself is located. This advantageously results in a realistic representation of the vehicle within its surroundings.Additionally or alternatively, the vehicle's dimensions can be compared with the dimensions of the surroundings using the representation, for example by a person, which makes it easy to determine, especially by the person, whether the vehicle can travel a given distance in the surroundings based on its dimensions and the dimensions of the surroundings, or whether the dimensions are too large for the given distance in the surroundings, for example in the case of a passage with restricted height and / or width.

[0040] Further training involves determining the vehicle's dimensions from the adapted vehicle model. This can be done by providing the dimensions of a representative vehicle that corresponds to the vehicle with and / or without specified add-on parts, and / or to the vehicle in its basic configuration, and / or to the vehicle as described by the original model. For example, the dimensions could be provided in a vehicle model that describes the representative vehicle.By knowing the dimensions of the representative vehicle and the relative size of the add-on part relative to the vehicle and / or representative vehicle (this can be derived, for example, from image material, i.e., from at least one photo and / or video, on which the add-on part and at least a part of the vehicle are depicted), the dimensions of the add-on part and thus the dimensions of the vehicle, in particular the dimensions of the vehicle with the at least one add-on part, can be determined.

[0041] The dimensions can be displayed in and / or based on the adapted vehicle model. For example, the adapted vehicle model can display arrows and / or lines extending from one point on the model to another, with each line and / or arrow assigned a number indicating the distance between those points on the vehicle. This offers the advantage that a person viewing the adapted vehicle model with its dimensions can easily and / or intuitively determine and / or read the vehicle's dimensions, preferably including all currently mounted and / or attached components.

[0042] Additionally or alternatively, information regarding a route can be determined and displayed to the driver based on the vehicle's dimensions. For example, this could include a warning about at least one bottleneck, particularly along the route; a check to see if the vehicle fits into a detected parking space; route planning that avoids areas impassable due to the vehicle's dimensions; and / or the calculation and display of tolls (especially those dependent on the vehicle's dimensions and / or attachments, such as trailers) for toll sections of the route. The necessary information, such as map data with dimensions, can be stored in the vehicle and / or determined by the vehicle using a known technical method.This provides the driver with advantageous information that the driver may need to take into account due to the dimensions, in particular due to at least one attachment having altered dimensions.

[0043] Additionally or alternatively, the dimensions can be provided as input data to at least one driver assistance system. This allows the driver assistance system to advantageously react to changes in the vehicle's dimensions, for example, due to the addition of at least one accessory, and / or to incorporate the new dimensions into its calculations.

[0044] Further training includes the following: When a height control is triggered by a vehicle described by the adapted vehicle model, the minimum height at which the height control is activated is assigned. This means, in particular, that when the height control is triggered, it is determined whether the vehicle triggered the control, for example, by displaying a message on a display device in the vehicle to which at least one person can react. If it is determined that the vehicle was the trigger for the height control, the height at which the height control was activated can be stored in the adapted vehicle model as the minimum height of the vehicle described by the adapted vehicle model. The height at which the height control is triggered can be determined, for example, from map data and / or by means of sign recognition, in particular using a method known from the prior art.In particular, a warning can be issued if a vehicle corresponding to the adapted vehicle model, in which the minimum height is entered due to the triggering of the height control, travels along a route, in particular a predefined one, at a height that is less than or equal to the minimum height.

[0045] This is particularly advantageous for vehicles with add-on parts where the dimensions of the add-on parts can change due to external conditions. This effectively prevents the repeated triggering of a height control and / or damage to at least one add-on part.

[0046] An example of an attachment whose dimensions can change due to external circumstances is a trailer with a tarpaulin cover. The tarpaulin of the trailer can, for example, be billowed by wind and / or the wind generated while driving, which can change the size and / or height of the trailer. Another example is a roof tent and / or a roof box that might open unexpectedly while driving, for instance, because a mechanism that keeps the roof tent folded and / or the roof box closed is defective and / or malfunctioning.

[0047] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0048] As a further solution, the invention comprises a system including a mobile device and a vehicle, in particular a motor vehicle, wherein the vehicle includes at least one sensor and at least one computing unit, wherein the sensor is configured to detect whether at least one add-on part of the vehicle changes, wherein, upon detection of the change, the computing unit and / or the vehicle is configured to integrate the change of the at least one add-on part into the vehicle model and thereby generate the adapted vehicle model. The adapted vehicle model, which describes the vehicle model with the integrated change, is displayed on a mobile device.

[0049] If the application states that the vehicle generates the adapted vehicle model, this is done in the computing unit included in the vehicle.

[0050] The invention also includes further developments of the vehicle according to the invention, which have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the vehicle according to the invention are not described again here.

[0051] The vehicle according to the invention is preferably a motor vehicle, which is preferably designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle.

[0052] As a further solution, the invention also includes a computer-readable storage medium comprising program code which, when executed by a computer or a computer network, causes it to execute an embodiment of the method according to the invention. The storage medium can be provided at least partially as a non-volatile data storage medium (e.g., as flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data storage medium (e.g., as RAM - random access memory). The storage medium can be located within the computer or computer network. However, the storage medium can also be operated, for example, as an app store server and / or cloud server on the internet. The computer or computer network can provide a processor circuit with, for example, at least one microprocessor.The program code can be provided as binary code, assembly code, source code in a programming language (e.g., C), or a program script (e.g., Python). Alternatively, the computer-readable storage medium can be implemented as a signal containing computer-readable data, such as a time-varying voltage signal or a radio signal.

[0053] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0054] The following are exemplary embodiments of the invention described. This is illustrated by: Fig. 1 an exemplary embodiment of the method according to the invention.

[0055] The exemplary embodiments described below are preferred embodiments of the invention. In these exemplary embodiments, the described components each represent individual features of the invention, which can be considered independently of one another and each further develops the invention independently. Therefore, the disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0056] In the figures, identical reference symbols denote functionally equivalent elements.

[0057] Fig. Figure 1 shows a vehicle 10 for which a virtual vehicle model 12 (hereinafter referred to as vehicle model 12) exists, which can be displayed, for example, on a display device 14 in the vehicle 10 and / or on a mobile device (not shown). Furthermore, in Fig. Figure 1 represents vehicle 101, which is derived from vehicle 10 by modifying at least one attachment 16, for example, by adding a roof box. A modified vehicle model 121 is created for this vehicle 101, which is derived from vehicle 10 by modifying at least one attachment 16 and which specifically represents vehicle 101.

[0058] The creation of the adapted vehicle model 121 is achieved by detecting the change to at least one attachment 16 of the vehicle 10 using at least one sensor. The sensor can, for example, be a sensor that monitors a connection and / or a mounting option for the respective attachment 16. For instance, the sensor can monitor a mounting device by which the attachment 16, in particular the roof box, can be attached to the vehicle 10. Additionally or alternatively, the sensor can be an environmental sensor that, for example, also provides data to at least one driver assistance system. The environmental sensor can detect the surroundings and / or parts of the vehicle 10 and thereby detect whether an attachment 16 on the vehicle 10 is changing, for example, whether a roof box is being attached.Additionally or alternatively, a sensor can be used to measure the weight and / or weight distribution and / or inclination of the vehicle 10, and from this, a change in the attached component can be inferred. For example, mounting and / or filling a roof box can detect a weight increase evenly distributed across the vehicle's base area 10.

[0059] The changes detected by at least one sensor due to a modification of at least one add-on part 16 can be stored as descriptive data, for example, locally in the vehicle 10. If the same change is detected again and / or a change is detected that contradicts a stored change, it can be concluded that the add-on part 16 has already been modified at least once, for example, by being attached. This allows the adapted vehicle model 121 to be easily created from already known vehicle models by integrating the at least one add-on part 16 from a known vehicle model into the vehicle model 12, thereby creating the adapted vehicle model 121. This can be done automatically. Additionally or alternatively, detected add-on parts 16 can be offered to a driver for selection, from which the driver can choose the appropriate add-on part 16.

[0060] The recorded change to at least one add-on part 16 is integrated into the vehicle model 12, thereby generating the adapted vehicle model 121. This can be based, for example, on an initial model, which can be created at the end of a production line when the external appearance of vehicle 10 no longer changes or no longer changes significantly along the production line, with vehicle 10 being produced along the production line. Additionally or alternatively, an adaptable template, for example, of a vehicle of the same model variant as vehicle 10, can be available, which can be adapted by adjusting and / or entering predefined parameters.

[0061] Additionally or alternatively, the modification of at least one add-on part 16 can be integrated into the vehicle model 12 using image material. For this purpose, image material, which includes at least one image and / or at least one video, can be taken of vehicle 101, in which the modification of at least one add-on part 16 has already been made, and transmitted to vehicle 101. The changes to at least one add-on part 16 can be determined from the difference between the previously valid vehicle model 12 and the image material. The adapted vehicle model 121 can then be generated from this. The image material can be taken, for example, by at least one camera and / or at least one environmental sensor of vehicle 10 and / or by another vehicle and / or by an infrastructure facility and / or by a person using a mobile device.If the recording of the footage is done with a mobile device operated by a person, assistance may be provided to that person, for example, by informing them which areas of vehicle 10 still need to be recorded and / or from which perspectives a shot is still missing. Additionally or alternatively, the person may be guided by having the mobile device display instructions on how to move it.

[0062] Additionally or alternatively, the adapted vehicle model 121 can be determined from descriptive data, as already described elsewhere regarding the Fig. 1 was described.

[0063] After the adapted vehicle model 121 has been created, it is displayed, for example, on a display device 14 in the vehicle 101 and / or on a mobile device, for example, as part of an application. In addition to the adapted vehicle model 121, data from the vehicle 101 and / or its environment can be displayed. For example, the dimensions of the vehicle 101, which can be determined from the adapted vehicle model 121, can be displayed alongside the adapted vehicle model 121. To determine the dimensions, it may be necessary, for example, that the dimensions of a vehicle described by a predefined vehicle model, such as the original model, and which corresponds to the vehicle with at least one modification of at least one add-on part 16, are known and stored in the predefined vehicle model.From images of vehicle 101 with the modified attachment 16, the relative dimensions of the attachment 16 relative to the dimensions of vehicle 101 can be determined. From these relative dimensions and the dimensions of the vehicle described by the predefined vehicle model, the dimensions of at least one attachment 16 and / or thus the dimensions of vehicle 101 (in which at least one attachment 16 has been modified) can be determined. The dimensions can be represented, for example, as arrows 18 and / or lines in the adapted vehicle model 121, connecting, for example, two points of the adapted vehicle model 121. A number 20 can be assigned to the arrow 18 and / or the line, describing the length of the path 181 between the respective points of vehicle 101.

[0064] For add-on parts 16 whose dimensions can change due to external influences, for example, a trailer with a tarpaulin cover and / or an add-on part 16 that can be opened, such as a roof box and / or a roof tent, the dimensions of the vehicle 101 with the add-on part 16 can increase, for example, due to wind and / or slipstream, which can cause the trailer's tarpaulin to billow and / or if a locking mechanism on the add-on part 16 that can be opened gives way. In this case, for example, the height of the vehicle 101 with the add-on part 16 may be greater than that specified by the adapted vehicle model 121. If, for example, a height control is triggered, particularly due to the increased height of the vehicle 101, it may be provided that the height at which the height control is triggered is stored as the minimum height in the adapted vehicle model 121.If a passage is encountered along the route with a lower clearance than the stored minimum clearance, a warning may be issued.

[0065] In addition to or as an alternative to displaying the vehicle's dimensions, the environment around the vehicle 10, 101 can be detected, for example, by means of at least one environmental sensor in the vehicle 10, 101. The detected environment can be displayed, for example, on a display device in the vehicle 10, 101 and / or on a mobile device. At the location of the vehicle 10, 101 within this environment, the vehicle model 12 and / or the adapted vehicle model 121 can be displayed on the display device in the vehicle 10, 101 and / or on the mobile device.

[0066] A particularly preferred embodiment is described below.

[0067] Photorealistic representations of a vehicle are known from the prior art, for example, during parking and / or when viewing the surroundings. A predefined vehicle can be superimposed onto a live-recorded exterior image. In particular, the vehicle's surroundings can be captured using at least one environmental sensor, especially at least one camera, displayed on a screen in the vehicle, and a predefined vehicle superimposed onto the displayed environment. The superimposed vehicle can be referred to as a vehicle model. The vehicle model can be stored as a three-dimensional model in a vehicle, especially in a vehicle control unit, and superimposed onto a recorded image and / or video from a corresponding perspective.It may be intended that only the surroundings and / or environment represent the real-world conditions, i.e., are real, while the displayed vehicle is predefined and / or not realistically represented. According to the state of the art, the displayed vehicle is, in particular, a pre-generated three-dimensional model which, for example, does not correspond to the real vehicle it is intended to represent in terms of color and / or attachments and / or modifications (e.g., roof rack, bicycle carrier, and / or color).

[0068] Additionally or alternatively, at least one add-on (modifications and / or additions to the vehicle) may restrict the vehicle's clearance height and / or width, such that the permissible clearance height and / or width may be exceeded by this add-on, for example, if the driver forgets about its presence. This can occur, for instance, when entering a parking garage. Exceeding the permissible clearance height and / or width can damage the vehicle and / or the add-on. Additionally or alternatively, at least one driver assistance system may not function correctly if the dimensions of the add-on are not correctly detected.

[0069] To enable the customer and / or driver to see their own vehicle displayed, for example, with a mounted and / or attached roof rack, in the corresponding color, including all attachments (modifications and / or modifications), with license plates, and / or with at least one sticker affixed to the vehicle, a virtual vehicle model (hereinafter referred to as the vehicle model) can be provided. Additionally or alternatively, the dimensions can be determined from the vehicle model and / or the dimensions of the vehicle with at least one attachment can be displayed, for example, on a display device and / or a screen in the vehicle.

[0070] To create the vehicle model, it may be necessary to capture at least one image and / or at least one video showing the vehicle from multiple perspectives. The recording can be done, for example, using a mobile device such as a smartphone, and / or using an application, which preferably provides assistance with the recording process (e.g., size, distance, position, number, direction of the shots, and / or speed of movement), and / or using at least one environmental sensor, in particular at least one camera, such as an exterior camera, of the vehicle. Additionally, sensor data, such as the tilt, speed, and / or movement of the mobile device and / or the camera, and / or 3D data from a time-of-flight camera, can be analyzed.From the images and / or at least one video and / or the sensor data, software can determine a three-dimensional model of the vehicle (= vehicle model), for example by comparing it with existing 3D vehicle data, for example using data from an existing vehicle model or the original model, and / or software can map the depicted surfaces of the vehicle onto a known three-dimensional model of the vehicle and thereby create the vehicle model.

[0071] The images and / or at least one video can be processed using image processing software.

[0072] It may be possible to use at least one additional sensor on the vehicle, for example in the roof rails and / or the trailer hitch, to detect changes to the attachments and / or a modification of at least one attachment component (for example, removing a bicycle from a luggage rack). If a change in the data from at least one sensor is detected, it may be possible to request new images and / or, if disassembly is detected, to access a previous vehicle model and / or to generate the new display automatically or via a query.

[0073] Information about a previous load can be stored and offered for selection when a change to at least one attachment is detected.

[0074] The vehicle model can be used for a bird-eye view, where the vehicle's surroundings are shown from above the vehicle, and the vehicle model is displayed in place of the vehicle.

[0075] In particular, a personalized real-time display is possible.

[0076] Additionally or alternatively, the actual current dimensions—that is, the dimensions of the vehicle with at least one attachment—can be determined from the vehicle model and / or the images and / or at least one video used to create the vehicle model. For example, the vehicle height of a vehicle with a roof box can be determined.

[0077] The actual dimensions of the vehicle may be important, for example, due to limited clearance height and / or width and / or limited length for ferry loading and / or rail loading and / or tolls.

[0078] Overall, the examples show how a realistic three-dimensional vehicle model can be provided.

Claims

[1] Method for adapting a virtual vehicle model (12) wherein • by means of at least one sensor integrated in and / or on a vehicle (10) it is determined whether at least one attachment part (16) of the vehicle (10) changes, • when the change to at least one add-on part (16) is detected, the vehicle model (12) is adapted, whereby an adapted vehicle model (121) is created by integrating the change into the vehicle model (121), characterized by , that • the adapted vehicle model (121) is displayed on a mobile device. [2] Method according to claim 1, wherein the at least one sensor a. monitors and / or a connection and / or mounting option for the respective attachment part (16) b. includes at least one environmental sensor for detecting at least part of a vehicle's environment and / or at least part of the vehicle (10, 101) and / or c. includes at least one tilt sensor for determining the tilt of the vehicle (10, 101) and / or d. a weight and / or weight distribution of the vehicle (10, 101) was determined. [3] A method according to any of the preceding claims, wherein the change is captured relative to an initial model, which is created in particular by a. at the end of a production line along which the vehicle (10) is produced, the vehicle (10) is captured from various predefinable perspectives and / or b. a template of the original model is available, in which parameters of the template that can be specified are adapted and / or entered using captured images and / or specified product specifications and / or manual input. [4] Method according to one of the preceding claims, wherein the adaptation of the vehicle model (12) is based on at least one image and / or at least one video on which at least one part of the vehicle (101), in particular the at least one attachment part (16), is depicted and a. that is recorded by at least one camera and / or an environmental sensor of the vehicle (10, 101) and / or b. that is recorded by a person using a mobile device, in particular with at least some assistance provided and / or c. which was picked up by another vehicle and / or infrastructure facility and transmitted to the vehicle (10, 101). [5] Method according to one of the preceding claims, wherein descriptive data relating to the respective attachment (16) are stored and, in particular when the change is recorded, a. the driver of the vehicle (101) is offered the option to select the descriptive data relating to at least one, in particular all, attachment part (16) for which descriptive data are stored and / or b. by comparing at least part of the description data with the stored description data, which were recorded by the at least one sensor after a previous change of the at least one add-on part (16) and were stored in the vehicle (10), the description data relating to a current add-on part (16) are automatically selected and the adaptation of the vehicle model (12) is carried out on the basis of the current add-on part (16). [6] Method according to one of the preceding claims, wherein when displaying an environment of the vehicle (10) at the location where the vehicle (10) is located, the vehicle model (12) is displayed. [7] Method according to one of the preceding claims, wherein the dimensions of the vehicle (101) are determined from the adapted vehicle model (121) and a. the dimensions are displayed in the adapted vehicle model (121) and / or based on the adapted vehicle model (121) and / or b. information for the driver regarding a route is determined and output from the dimensions, in particular i. a warning of at least one bottleneck and / or ii. a check to see if the vehicle (101) fits into a detected parking space, and / or iii. a route planning that avoids places which are impassable for the vehicle (101) due to its dimensions, and / or iv. an investigation and display of fees that are incurred for toll sections of the route and / or c. the dimensions are provided as input data to at least one driver assistance system. [8] Method according to one of the preceding claims, wherein when a height control is triggered by the vehicle (101), the vehicle (101), which is described by the adapted vehicle model (121), is assigned as a minimum height the height from which the height control is triggered and, in particular, at least a warning is issued when a height less than or equal to the minimum height is traversed along a route. [9] System comprising a mobile terminal and a vehicle (10), wherein the vehicle comprises at least one sensor and at least one computing unit, wherein the sensor is configured to detect whether at least one attachment (16) of the vehicle (10) changes, wherein, upon detection of the change, the computing unit and / or the vehicle (10) is configured to integrate the change of the at least one attachment (16) into a vehicle model (12) and thereby generate the adapted vehicle model (121), characterized by , that the mobile device is set up to display the adapted vehicle model (121).

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