Vehicle environment display device with a system architecture and method

Abstract

The invention relates to a vehicle environment display device (1) with a system architecture (3) for a vehicle, the vehicle environment display device (1) comprising several sensors arranged on the vehicle for detecting the environment as raw sensor data, wherein the system architecture (3) has several subsystems which host different modules, the modules accessing each other.

Description

[0001] The invention relates to a vehicle environment display device with a system architecture for a vehicle, the vehicle environment display device comprising several sensors arranged on the vehicle for capturing the environment as raw sensor data.

[0002] In recent years, surround-view systems have evolved into modern driver assistance systems that combine images from multiple cameras mounted externally on the vehicle into a single, comprehensive view, simulating, for example, a bird's-eye perspective. Most surround-view systems for capturing a vehicle's surroundings use four cameras mechanically attached to the vehicle. Surround-view systems are now widespread and in use. One goal of current surround-view systems is to assist the driver during maneuvers, such as parking.

[0003] DE102017206175A1 discloses a surround-view system for a vehicle, the surround-view system comprising: several cameras which can be arranged on a vehicle in such a way that the several cameras can capture images of an external environment of the vehicle, and a processor, wherein the processor is configured to analyze a position and / or a movement of a moving part of the vehicle, to generate a composite image of the external environment of the vehicle from images of the external environment of the vehicle captured by the several cameras, to calculate an image processing area within the composite image for adaptive image processing, to determine, based on the analyzed position and / or movement of the moving part, that a rear projection of the moving part exceeds the image processing area, and to modify the image processing area accordingly.that the rear projection of the moving part lies within the modified image processing area.

[0004] DE112023000385T5 discloses a method and a processor comprising: determining a distance from an ego object to one or more detected objects in an environment; generating a three-dimensional shell or 3D shell that adaptively models the environment with a shape, at least based on the distance to the one or more detected objects; and generating a visualization of the environment, at least based on the 3D shell.

[0005] It is an object of the invention to provide an improved vehicle environment display device and a method as well as a vehicle with such a vehicle environment display device.

[0006] The problem is solved by a vehicle environment display device with the features of claim 1 and a vehicle with the features of claim 10, as well as a method with the features of claim 14. Advantageous embodiments of the invention are the subject of the dependent claims.

[0007] The problem is solved by a vehicle environment display device with a system architecture for a vehicle, the vehicle environment display device comprising several sensors arranged on the vehicle for capturing the environment as raw sensor data, wherein the system architecture a first subsystem comprising an input data module for receiving and recognizing driver inputs, wherein the driver inputs include at least an activation request for requesting activation of the vehicle environment display device as well as a gear selector position, and wherein the input data module is configured to generate an activation request signal and a gear selector position signal based thereon, and a second subsystem comprising a management module, wherein the management module is configured to receive the activation request signal and the gear selector position signal as well as a vehicle speed as information, wherein the management module is configured to recognize a reverse gear or a forward gear based on the received gear selector position signal, and wherein the management module is configured toto detect a speed below a predetermined threshold based on the received signals in combination with a detected reverse gear, and subsequently generate an activation signal which causes further modules to be activated in a predetermined sequence, and wherein the management module is configured to abort the activation of the vehicle environment display device at a speed above the predetermined threshold and / or a detected forward gear, a fourth subsystem comprising an energy module for receiving the activation signal, wherein the energy module is configured to provide electrical energy based on the received activation signal, and to generate an electrical energy signal which provides the electrical energy for the required sensors as a low-voltage supply voltage, a fifth subsystem comprising a sensor module designed to receive the electrical energy signal and designed to acquire raw sensor data in a near-field detection area of ​​the vehicle using the sensors and the energy signal, and to generate a sensor signal carrying the raw sensor data, and an eighth subsystem with a detection horizon module, which is designed to identify existing blind spots as areas not visible in relation to the vehicle and to provide them as a horizon signal, a sixth subsystem with a processing module configured to receive the sensor signal as well as the horizon signal and to receive a position and a vehicle orientation, and further configured to recognize static and dynamic objects present in the raw sensor data, in particular taking into account the areas not visible, as environmental data in relation to the vehicle, based on the sensor signal, the horizon signal and the position and vehicle orientation, and to generate an environmental data signal which carries the environmental data as a signal, and a seventh subsystem with a prediction module configured to receive at least the environmental data signal as well as the position and the vehicle orientation, and which is configuredBased on the environmental data signal, to determine object-specific information relating to the static and dynamic objects, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic and fully characterized static objects relating to the vehicle, and based on the fully characterized dynamic and fully characterized static objects, to generate a SurroundView view signal with the fully characterized dynamic and fully characterized static objects, and wherein the first subsystem has an output module for receiving the SurroundView view signal and for outputting the SurroundView view signal as a SurroundView view.

[0008] Modules can be implemented as software that performs a specific function, or as hardware, for example, a chip, SoC, etc., with a corresponding software component. The modules can, for example, be located within the same computer system.

[0009] The individual subsystems can serve as hosts for the corresponding modules; the subsystems can be executed in ascending order. If no value generated by another subsystem exists, a temporary default value can be used.

[0010] In this process, one signal can be received and others can be requested. According to the invention, the individual subsystems / modules access all other subsystems / modules directly or indirectly and thus process the outputs / inputs or provide input signals.

[0011] The management module manages the entire system behavior of the architecture, that is, what behavior occurs when the modules are executed, in what order, and under what conditions and circumstances.

[0012] A SurroundView view is essentially a 360-degree view of the vehicle's surroundings for the driver.

[0013] The vehicle's surround-view display assists the driver during parking maneuvers or, for example, when turning, by providing a surround-view view. This helps the driver avoid accidents.

[0014] The vehicle environment display device uses cameras or other sensors / image sensors to detect and display the vehicle's surroundings. The system architecture according to the invention, i.e., the signals, carry all necessary information and are interconnected and logically structured.

[0015] The architecture allows the vehicle environment display device to generate a SurroundView view.

[0016] All signals are received sequentially and contribute to the safe operation of the vehicle environment display device.

[0017] According to the invention, an input data module is provided for receiving and recognizing driver inputs, wherein the driver inputs include at least an activation request for requesting the vehicle environment display device as well as a switch lever position for recognizing an engaged forward or reverse gear.

[0018] One of the driver inputs is an activation request for the vehicle's surroundings display device, which can be triggered, for example, by manually pressing a button. Other activation methods are also possible, such as a corresponding display input. Based on this, the input data module is designed to generate a digital activation request signal, which then activates the vehicle's surroundings display device.

[0019] The position of the gear selector lever can encompass anything that serves to detect whether a reverse or forward gear is engaged. This position can be changed / adjusted, for example, by automatically or manually adjusting the gear selector lever.

[0020] According to the invention, the management module is configured to receive the activation request signal and the switch lever position signal, which indicates that reverse gear is engaged. The management module also receives the vehicle's speed. The management module is configured to activate the activation signal, for example, when the vehicle speed falls below 10 km / h (as a threshold value) and an activation request signal is detected and reverse gear is engaged.

[0021] The management module can also append processed signal inputs to the activation signal. It manages the entire system behavior of the architecture, i.e., which behaviors occur in which sequence and under which conditions and circumstances. The management module is designed to detect the technical status of required sensors and / or actuators, at least with regard to functional safety, reliability, and / or availability. The management module generates the activation signal, which carries this information and is forwarded to the corresponding modules. This ensures that the sequence of signals and the individual modules / functions to be addressed are known.

[0022] According to the invention, a prediction module is provided which is configured to receive at least the environmental data signal as well as the position and the vehicle orientation, and which is configured to determine object-specific information relating to the static objects and dynamic objects based on the environmental data signal, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic and fully characterized static objects relating to the vehicle, and to generate a SurroundView view signal with the fully characterized dynamic objects and fully characterized static objects based on the fully characterized dynamic objects and fully characterized static objects.

[0023] The prediction module is designed to receive the environmental data signal as well as, if available, map data relating to the area / route in which the vehicle is currently moving and to which it intends to travel, along with its absolute position. The map is primarily a road map.

[0024] Based on the environmental data signal and the detected objects, as well as information about the objects and, if applicable, the relevant road map and the absolute position, the prediction module determines how the current driving scene develops with regard to the dynamic and static objects, with a focus on trajectories and state changes for the detected dynamic objects.

[0025] An example of a prediction for a dynamic object is a vehicle that has just activated its left turn signal and is about to turn left. Based on this, the dynamic objects are fully characterized as characterized dynamic objects, for example, with regard to object types such as pedestrians, trucks, cars, the prediction (e.g., where the object is moving), its various states (e.g., driving, waiting, etc.), and the trajectory of the detected objects. Similarly, the static objects are fully characterized as characterized static objects, for example, with regard to detailed object data, predictions, various states, etc. Static objects can have states that can change dynamically, such as when a traffic light turns red or a tollbooth closes.

[0026] Based on the fully characterized dynamic objects and fully characterized static objects, the prediction module generates a SurroundView view signal with the fully dynamic objects and fully characterized static objects.

[0027] According to the invention, the vehicle environment display device of the vehicle thus interacts with the driver through the input data module and the output module.

[0028] The driver transmits and receives physical or digital information to and from the vehicle environment display device.

[0029] The vehicle environment display device according to the invention ensures compliance with the guidelines for model-based systems engineering (MBSE).

[0030] The vehicle environment display device is also guaranteed to be free of warnings and errors. Furthermore, it can be simulated, which has the advantage of ensuring the flawless execution of the logical sequence and the absence of deadlocks (closed loops).

[0031] Such a vehicle environment display device is further characterized by a reduction in costs and risks, as well as a generalization of requirements, standardization of the system description, optimization of development effort, increased product quality, and a shorter time-to-market. It also facilitates product compatibility through the standardization of interfaces. Such a vehicle environment display device enables a shared understanding with customers to facilitate agreements and serves as a basis for SoTIF analysis (Safety of Intended Functionality).

[0032] In further development, the sensors are configured as image sensors. Specifically, the image sensors are configured at least as front, rear, and side cameras for generating the raw sensor data, particularly video data. The image sensors are arranged in such a way that a surround view is enabled when the raw sensor data is combined. This means that cameras are arranged at the front, rear, and sides (e.g., on the side mirror) in such a way that, when the images are combined, they enable a surround view.

[0033] In particular, a ninth subsystem with a position module can be present, which is configured to determine the current position of the vehicle relative to a starting position, i.e., the vehicle's initial position, as well as the vehicle's orientation. This corresponds to the vehicle's position measured relative to a starting point / reference point from which the vehicle actually started. Furthermore, the vehicle's orientation is determined, for example, with respect to yaw, pitch, and roll. The position and vehicle orientation are implemented as digital signals that include the vehicle orientation and vehicle position.

[0034] In further training, the prediction module can be trained to receive the environmental data signal as well as map data relating to the area in which the vehicle is located, wherein the prediction module is trained to determine object-specific information relating to the static and dynamic objects based on the environmental data signal and the map data, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic and fully characterized static objects relating to the vehicle, and to generate a SurroundView view signal with the fully characterized dynamic and fully characterized static objects based on the fully characterized dynamic and fully characterized static objects.

[0035] In particular, the prediction module is designed to display the SurroundView signal as a bird's-eye view. The vehicle is also displayed along with its surroundings as a SurroundView view.

[0036] In particular, the driver can adjust the vehicle's surround view display. This means, for example, that a different display, such as a driver's perspective, can be shown. The management module is designed to generate a setting signal upon receipt, which then allows the driver's perspective to be generated and displayed. Other displays can also be selected in this way.

[0037] In particular, the output module can be designed as a display, which is located, for example, in the vehicle, and / or the output module can function as an interface for transmitting the SurroundView view to a mobile device, such as a smartphone or tablet.

[0038] Furthermore, the task is solved by a vehicle as described above, equipped with a vehicle environment display device.

[0039] Furthermore, a start module may be present, which is configured to receive physical driver inputs and forward these inputs to the input data module. These driver inputs include the setting of the switch lever and / or an activation request to activate the vehicle environment display device. Additionally, a deactivation module may be provided to receive a deactivation signal as a driver input. This deactivation module is configured to generate a deactivation output signal that indicates the vehicle environment display device is deactivated. The deactivation module then deactivates the vehicle environment display device.

[0040] Furthermore, the problem is solved by a method for implementing a vehicle environment display device with a system architecture for a vehicle, the vehicle environment display device comprising several sensors arranged on the vehicle for capturing the environment as raw sensor data, comprising the steps: - Providing in a first subsystem of an input data module for receiving and recognizing driver inputs, wherein the driver inputs include at least an activation request to request activation of the vehicle environment display device as well as a switch lever position, and wherein the input data module is configured thereon to generate an activation request signal and a switch lever position signal, and - Provision in a second subsystem of a management module, wherein the management module is configured to receive the activation request signal and the gear selector position signal as well as a vehicle speed as information, wherein the management module is configured to detect a reverse gear or a forward gear based on the received gear selector position signal, and wherein the management module is configured to detect a speed below a predetermined threshold in combination with a detected reverse gear based on the received signals and subsequently generate an activation signal which causes further modules to be activated in a predetermined sequence, and wherein the management module is configured to abort the activation of the vehicle environment display device at a speed above the predetermined threshold and / or a detected forward gear. - Providing in a fourth subsystem of an energy module for receiving the activation signal, wherein the energy module is configured to provide electrical energy based on the received activation signal, as well as to generate an electrical energy signal which provides the electrical energy for the required sensors as a low-voltage supply voltage, - Provision in a fifth subsystem of a sensor module, which is configured to receive the electrical energy signal and which is configured to acquire raw sensor data in a near-field detection area of ​​the vehicle using the sensors and the energy signal, and to generate a sensor signal that carries the raw sensor data, and - Provided in an eighth subsystem of a detection horizon module, which is designed to identify existing blind spots as areas not visible in relation to the vehicle and to provide them as a horizon signal, - Providing in a sixth subsystem of a processing module, which is configured to receive the sensor signal as well as the horizon signal and to receive a position and a vehicle orientation, and is further configured to recognize existing static and dynamic objects in the sensor raw data, in particular taking into account the areas that are not visible, as environmental data in relation to the vehicle, based on the sensor signal, the horizon signal and the position and vehicle orientation, and to generate an environmental data signal which carries the environmental data as a signal, and - Providing in a seventh subsystem of a prediction module, which is configured to receive at least the environmental data signal as well as the position and the vehicle orientation, and which is configured to determine object-specific information relating to the static and dynamic objects based on the environmental data signal, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic and fully characterized static objects relating to the vehicle, and to generate a SurroundView view signal with the fully characterized dynamic and fully characterized static objects based on the fully characterized dynamic and static objects. and wherein the first subsystem has an output module for receiving the SurroundView view signal and for outputting the SurroundView view signal as a SurroundView view.

[0041] The advantages of the vehicle environment display device can be transferred to the method. In particular, the method according to the invention can be carried out on the vehicle environment display device.

[0042] The vehicle / sensors / actuators can also exist in virtual form, as can the vehicle environment display device as a simulation.

[0043] Further features and advantages of the present invention will become apparent from the following description with reference to the accompanying figures. These show: Fig. 1: a system architecture in detail, Fig. 2: a vehicle environment display device with a system architecture for a vehicle, Fig. 3: a vehicle environment display device with a deactivation module.

[0044] Fig. Figure 1 shows a vehicle environment display device 1 with a system architecture 2 for a vehicle.

[0045] The vehicle environment display device 1 has a first subsystem C1, which includes an input data module EM for receiving and recognizing driver inputs. The input data module EM generates digital signals based on these driver inputs.

[0046] One of the driver inputs is an activation request for the vehicle environment display device 1, which is triggered, for example, by manually pressing a switch / button. Other activation methods are also possible, such as illuminating a corresponding switch. Based on this, the input data module EM is designed to generate a digital activation request signal (Scenario Activation Request), which activates the vehicle environment display device 1.

[0047] Furthermore, subsystem C1 is designed to detect the position of the gearshift lever. This position can be changed / adjusted, for example, by automated or manual adjustment of the gearshift lever.

[0048] These entries can be made manually and physically by the driver, or automatically.

[0049] The input data module EM is designed to recognize, based on the detected information, a digital gear lever position signal (Gear Lever Position Input), which contains information about the selected gear lever position, in particular an engaged forward or reverse gear, and to generate an activation request signal, which contains an activation of the vehicle environment display device 1.

[0050] Furthermore, a third subsystem, C3, is present, comprising a motion module, EgoM, which is designed to determine the vehicle's speed using suitable sensors. The EgoM motion module provides motion data, such as speed, through the use of sensors and / or a compass.

[0051] Other vehicle movement data can also be recorded. Wheel sensors or other sensors can be used for this purpose.

[0052] Furthermore, a second subsystem C2 is present, which has a management module VM.

[0053] The second subsystem C2 is entangled with the first subsystem C1 and the third subsystem C3.

[0054] Furthermore, the VM management module is designed to receive the activation request signal, the gear selector position signal, and the vehicle speed. Additionally, the VM management module is designed to recognize whether a reverse or forward gear is engaged based on the gear selector position signal.

[0055] Furthermore, the management module VM is designed to generate an activation signal (Scenario Activation Command) up to a predetermined threshold speed, a detected engaged reverse gear, and the activated activation request signal. This signal serves to activate the other modules of the vehicle environment display device 1 and to generate an information signal that carries activation information (active) for the vehicle environment display device 1.

[0056] The threshold can be set at 10 km / h. The VM management module also includes the display of the technical status of sensors, actuators, support systems, and computing units, considering aspects such as functional safety, reliability, availability, and security perspectives of support systems and computing units. This information is either included in the activation signal or can be used by future modules.

[0057] To run the VM management module, neither energy information, such as battery status, nor driver status indicators, such as awake, tired, etc., nor information about the technical status of peripheral objects, including sensors and actuators, which indicates the availability and readiness of these peripheral objects, is necessary.

[0058] Likewise, a fourth subsystem C4 with an energy module EngM for receiving the activation signal is present, wherein the energy module EngM provides electrical energy for the required sensors based on the received activation signal, and generates an electrical energy signal (low voltage) which provides the electrical energy for the sensors as a low-voltage supply voltage.

[0059] Furthermore, a fifth subsystem, C5, is present, comprising a sensor module, SM. This module is designed to receive the electrical energy signal and to acquire raw sensor data within a defined proximity range of the vehicle using the necessary sensors. It then generates a sensor signal carrying this raw data. The sensor module SM thus scans the environment, specifically the predefined proximity range, and makes this data available for perception. The sensor module SM delivers raw sensor data within the predefined proximity range of the vehicle's surroundings using sensors such as cameras, radar, ultrasonic sensors, etc., and the electrical energy signal. The proximity range can be predefined by the detection range of the sensors used.

[0060] The sensors used here are primarily image sensors such as cameras. These image sensors can be mounted, for example, on the front, rear, and sides, such as under the exterior mirrors. The raw sensor data captures at least the entire surroundings of the vehicle, thus providing a surround-view image.

[0061] Furthermore, an EMH detection horizon module is present in an eighth subsystem, C8, which identifies areas of interest for the vehicle's surroundings display device 1. These areas are of particular significance / importance and provide the identified area as a horizon signal (blind spot region). This can be configured as a blind spot area, i.e., the area within the driver's blind spot. In road traffic, a blind spot is defined as the area to the side, in front, and behind the vehicle that drivers cannot see inside closed vehicles, even with the use of rearview mirrors. The size of this area varies depending on the number of windows and rearview mirrors. The blind spot encompasses those areas outside the vehicle that the driver cannot see despite using the mirrors.The term "blind spot" generally refers to an area that is difficult or impossible to see despite technical aids (mirrors or video cameras). Therefore, the horizon signal carries specific information about the location of blind spots that are difficult or impossible for the driver to see.

[0062] The horizon is therefore the region for which data for the vehicle environment display device 1 is of interest. Based on the detected horizon, sensors or algorithms are configured, for example with regard to resolution / processing, so that they are directed towards the horizon. Subsequently, other algorithms can be applied during processing based on the horizon signal.

[0063] Furthermore, a position module (PosM) is present in subsystem C9, which is configured to determine the current position of the vehicle relative to its initial position. This corresponds to the vehicle's position measured against a starting point / reference point from which the vehicle actually began. Additionally, the vehicle's orientation is determined, for example, with respect to yaw, pitch, and roll. The position and vehicle orientation are implemented as digital signals that include the vehicle orientation and position.

[0064] This position module (PosM) uses all available information regarding the global extended vehicle position and the vehicle's local orientation within the current road segment, for example, based on received data such as road user data, GNSS data, map data, v2x data, and other processed environmental data. This allows for precise location determination.

[0065] Furthermore, a sixth subsystem C6 with a POV processing module is available, which is designed to receive the sensor signal (subsystem C5) as well as the horizon signal (subsystem C8) and to receive the position and vehicle orientation as digital signals.

[0066] Similarly, the POV processing module is designed to recognize existing static and dynamic objects, especially those in the blind spot, in the raw sensor data based on the sensor signal, the position and vehicle orientation and the horizon signal, and to provide them as processed environmental data, and to generate an environmental data signal that carries the processed environmental data as a signal.

[0067] In addition to recognizing dynamic objects, information about their position, direction and speed can be recorded, for example cars, trucks, bicycles, pedestrians, as well as the object type such as bicycle, pedestrian, etc.

[0068] In addition to recognizing static objects, object-specific information such as signs, traffic lights, etc., or position and direction can also be captured. Such objects can be identified in the raw sensor data using conventional methods, such as pattern recognition.

[0069] Furthermore, a seventh subsystem, C7, with a predictive module VorM, is present. This module receives the environmental data signal as well as map data relating to the area / route in which the vehicle is currently moving and to which it intends to travel. The map is primarily a road map.

[0070] Based on the environmental data signal, the detected objects, and information about the objects, as well as, if applicable, the relevant road map, the VorM prediction module determines how the current driving scene will develop, focusing on trajectories and state changes for the detected dynamic objects. An example of a prediction for a dynamic object is a vehicle that has just activated its left turn signal and is about to turn left. Based on this, the dynamic objects are fully characterized as Characterized Dynamic Objects (Characterized Dynamic Objects), for example, with regard to object types such as pedestrians, trucks, and cars; the prediction of where the object is moving, for example, with regard to different states such as driving, waiting, etc.; and with regard to the trajectory of the detected objects.

[0071] Similarly, static objects are identified as characterized static objects in the driving scene, which affect the drivable space that the vehicle and other road users can occupy. Characterized static objects can have states that can change dynamically, for example, when a traffic light turns red or a toll barrier closes. Time-varying states of traffic signals and variable message signs can also be described as dynamically changing static objects.

[0072] Based on this information, the VorM prediction module generates a surround-view signal, i.e., a 360-degree view of the vehicle's surroundings for the driver, which includes the characterized static and characterized dynamic objects. The representation is designed as a bird's-eye view. If a road map is available, it can be used to generate the surround-view signal from this bird's-eye perspective.

[0073] Furthermore, the first subsystem C1 can have an output module AusM for receiving the SurroundView view signal and for displaying the SurroundView view from a bird's-eye view.

[0074] Similarly, driver input can include a setting of the vehicle environment display device 1, for example by selecting the view of the surround-view signal on a display. The management module VM can be configured to generate a setting signal upon receipt, based on which the predictive module VorM, for example, generates a driver perspective.

[0075] Fig. Figure 2 shows an activation of the vehicle environment display device 1 with a system architecture 3 in a vehicle.

[0076] A start module (StM) may be present, which is designed to receive an instruction from the driver or a user. The start module (StM) may, for example, include a display for receiving the request to activate the vehicle environment display device 1 (activation request, scenario activation request).

[0077] Furthermore, the output module AusM can be configured to receive the SurroundView view signal and to display the SurroundView view from a bird's-eye view.

[0078] The output module AusM can, for example, be configured as a display. A switch lever can also be provided for detecting and changing the switch lever position. Based on the switch lever position, the system can detect whether a forward or reverse gear is engaged. The input data module EM is configured to recognize the forward or reverse gear based on the detected switch lever position and to generate a gear lever position signal (Gear Lever Position Input) that carries information about the switch lever's position.

[0079] Furthermore, an interface for receiving map data may be provided. Thus, the StM start module comprises several separate modules / devices for inputting driver inputs, such as gearshift levers, switches / buttons, etc., and for forwarding the driver inputs to the EM input data module.

[0080] Furthermore, the vehicle can have a deactivation module (DeM) for receiving a deactivation signal (Scenario Deactivation Request). This can be generated, for example, by inputting a signal to a display. The vehicle environment display device 1 can be deactivated using the DeM module. The DeM module can also generate a deactivation output signal, which can also be displayed on the output module (AusM).

[0081] Fig.Figure 3 shows a deactivation module DeM for receiving a deactivation request as a driver input (Deactivation Request scenario) from the vehicle environment display device 1 in detail. The start module StM can generate the deactivation signal (Deactivation Request scenario) by pressing a corresponding input field and forward it to the deactivation module DeM.

[0082] The deactivation module DeM can be part of the management module VM. Reference symbol list 1 Vehicle surroundings display device 3 System architecture EM Input Data Module EgoM movement module VM Management Module EngM Energy Module SM Sensor Module EMH Acquisition Horizon Module PosM Position Module POV Processing Module Pre-M prediction module From output module DeM deactivation module StM Starter Module

Claims

[1] Vehicle environment display device (1) with a system architecture (3) for a vehicle, the vehicle environment display device (1) comprising several sensors arranged on the vehicle for capturing the environment as sensor raw data, characterized by , that the system architecture (3) comprises a first subsystem (C1) which includes an input data module (EM) for receiving and recognizing driver inputs, wherein the driver inputs include at least an activation request to request activation of the vehicle environment display device (1) as well as a switch lever position, and wherein the input data module (EM) is configured to generate an activation request signal and a switch lever position signal based thereon, and a second subsystem (C2) comprising a management module (VM), wherein the management module (VM) is configured to receive the activation request signal and the gear selector position signal as well as a vehicle speed as information, wherein the management module (VM) is configured to recognize a reverse gear or a forward gear based on the received gear selector position signal, and wherein the management module (VM) is configured to recognize a speed below a predetermined threshold in combination with a detected reverse gear based on the received signals and subsequently generate an activation signal which causes further modules to be activated in a predetermined sequence, and wherein the management module (VM) is configured toto cancel the activation of the vehicle environment display device (1) at a speed above the specified threshold and / or a detected forward gear, a fourth subsystem (C4) comprising an energy module (EngM) for receiving the activation signal, wherein the energy module (EngM) is configured to provide electrical energy based on the received activation signal, and to generate an electrical energy signal which provides the electrical energy for the required sensors as a low-voltage supply voltage, a fifth subsystem (C5) comprising a sensor module (SM) configured to receive the electrical energy signal and configured to acquire raw sensor data in a near-field detection area of ​​the vehicle using the sensors and the energy signal, and to generate a sensor signal carrying the raw sensor data, and an eighth subsystem (C8) with a detection horizon module (EMH) configured to identify existing blind spots as areas not visible in relation to the vehicle and to provide them as a horizon signal; a sixth subsystem (C6) with a processing module (POV) configured to receive the sensor signal as well as the horizon signal and to receive a position and a vehicle orientation; and further configured to recognize existing static and dynamic objects in the raw sensor data, in particular with regard to the areas not visible, as environmental data in relation to the vehicle, based on the sensor signal, the horizon signal, and the position and vehicle orientation; and to generate an environmental data signal that carries the environmental data as a signal; and a seventh subsystem (C7) with a prediction module (VorM) which is configured to receive at least the environmental data signal as well as the position and the vehicle orientation, and which is configured to determine object-specific information relating to the static objects and dynamic objects based on the environmental data signal, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic and fully characterized static objects relating to the vehicle, and to generate a SurroundView view signal with the fully characterized dynamic objects and fully characterized static objects based on the fully characterized dynamic objects and fully characterized static objects. and wherein the first subsystem (C1) has an output module (AusM) for receiving the SurroundView view signal and for outputting the SurroundView view signal as a SurroundView view. [2] Vehicle environment display device (1) according to claim 1, characterized by that the sensors are designed as image sensors. [3] Vehicle environment display device (1) according to claim 2, characterized by , that the image sensors are designed at least as front cameras, rear cameras and side cameras to generate the sensor raw data, wherein the image sensors are arranged in such a way that a surround view is enabled by appropriate compression of the sensor raw data. [4] Vehicle environment indicator device (1) according to any one of the preceding claims, characterized by, that a ninth subsystem (C9) with a position module (PosM) is present, which is designed to determine a current position of the vehicle in relation to an initial position of the vehicle as well as a vehicle orientation of the vehicle. [5] Vehicle environment indicator device (1) according to any one of the preceding claims, characterized by, that the prediction module (VorM) is configured to receive the environmental data signal as well as map data relating to the area in which the vehicle is located, wherein the prediction module (VorM) is configured to determine object-specific information relating to the static objects and dynamic objects based on the environmental data signal and the map data, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic and fully characterized static objects relating to the vehicle, and to generate a SurroundView view signal with the fully characterized dynamic objects and fully characterized static objects based on the fully characterized dynamic objects and fully characterized static objects. [6] Vehicle environment display device (1) according to claim 5, characterized by , that the prediction module (VorM) is designed to shape the SurroundView view signal as a bird's-eye view. [7] Vehicle environment indicator device (1) according to any one of the preceding claims, characterized by , that the driver inputs include a setting of the vehicle environment display device (1), wherein the management module (VM) is configured to generate a setting signal upon receiving the setting, from which a driver perspective can be generated and displayed. [8] Vehicle environment indicator device (1) according to any one of the preceding claims, characterized by , that the output module (AusM) is designed as a display. [9] Vehicle environment indicator device (1) according to any one of the preceding claims, characterized by , that the output module (AusM) is designed as an interface for transmitting the SurroundView view to a mobile device. [10] Vehicle with a vehicle environment indicator device (1) according to any of the preceding claims. [11] Vehicle according to claim 10, characterized by , that a start module (StM) is present which is trained to receive physical driver inputs from a driver, wherein the start module (StM) is trained to forward the driver inputs to the input data module (EM). [12] Vehicle according to claim 10 or 11, characterized by , that a deactivation module (DeM) is provided for receiving a deactivation as driver input, wherein the deactivation module (DeM) is configured to generate a deactivation output signal which carries the deactivation of the vehicle environment display device (1) as information. [13] Vehicle according to any one of the preceding claims 11 to 12, characterized by, that a deactivation module (DeM) is provided to receive a deactivation as a driver input, wherein the deactivation module (DeM) is configured to effect a deactivation of the vehicle environment display device (1). [14] Method for implementing a vehicle environment display device (1) with a system architecture (3) for a vehicle, the vehicle environment display device (1) comprising several sensors arranged on the vehicle for capturing the environment as sensor raw data, comprising the steps: - Providing in a first subsystem (C1) of an input data module (EM) for receiving and recognizing driver inputs, wherein the driver inputs include at least an activation request to request activation of the vehicle environment display device (1) as well as a switch lever position, and wherein the input data module (EM) is configured thereon to generate an activation request signal and a switch lever position signal, and - Provision in a second subsystem (C2) of a management module (VM), wherein the management module (VM) is configured to receive the activation request signal and the gear selector position signal as well as a vehicle speed as information, wherein the management module (VM) is configured to detect a reverse gear or a forward gear based on the received gear selector position signal, and wherein the management module (VM) is configured to detect a speed below a predetermined threshold in combination with a detected reverse gear based on the received signals and subsequently generate an activation signal which causes further modules to be activated in a predetermined sequence, and wherein the management module (VM) is configured toto cancel the activation of the vehicle environment display device (1) at a speed above the specified threshold and / or a detected forward gear, - Providing in a fourth subsystem (C4) of an energy module (EngM) for receiving the activation signal, wherein the energy module (EngM) is configured to provide electrical energy based on the received activation signal, as well as to generate an electrical energy signal which provides the electrical energy for the required sensors as a low-voltage supply voltage, - Provision in a fifth subsystem (C5) of a sensor module (SM) which is configured to receive the electrical energy signal and which is configured to acquire sensor raw data in a near-field detection area of ​​the vehicle using the sensors and the energy signal, and to generate a sensor signal which carries the sensor raw data, and - Provision in an eighth subsystem (C8) of a detection horizon module (EMH) which is designed to identify existing blind spots as areas not visible in relation to the vehicle and to provide them as a horizon signal, - Provision in a sixth subsystem (C6) of a processing module (POV), which is configured to receive the sensor signal as well as the horizon signal and to receive a position and a vehicle orientation, and is further configured to recognize existing static and dynamic objects in the sensor raw data, in particular taking into account the areas that are not visible, as environmental data in relation to the vehicle, based on the sensor signal, the horizon signal and the position and vehicle orientation, and to generate an environmental data signal which carries the environmental data as a signal, and - Providing in a seventh subsystem (C7) of a prediction module (VorM), which is configured to receive at least the environmental data signal as well as the position and the vehicle orientation, and which is configured to determine object-specific information relating to the static objects and dynamic objects based on the environmental data signal, taking into account the development of a current driving scene, and to provide this information as fully characterized dynamic objects and fully characterized static objects relating to the vehicle, and to generate a SurroundView view signal with the fully characterized dynamic objects and fully characterized static objects based on the fully characterized dynamic objects and fully characterized static objects. and wherein the first subsystem (C1) has an output module (AusM) for receiving the SurroundView view signal and for outputting the SurroundView view signal as a SurroundView view.

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