Method for generating an image representation of a vehicle's surroundings as the vehicle approaches a destination, control unit, vehicle, computer program and data carrier

Abstract

Method for generating an image representation (23) of a vehicle environment of a vehicle (1) as the vehicle (1) approaches a destination (24), wherein the image representation (23) is generated on the basis of camera images from one or more cameras (3) of the vehicle (1), wherein when a predetermined distance between the vehicle (1) and the destination (24) is undershot, a virtual perspective view is generated from the camera images as an image representation (23) starting from a field of view (20) of a virtual camera (21) in a virtual space (14), wherein a camera position and a camera orientation of the virtual camera (20) are set such that the field of view (20) in the virtual space (14) is directed from a position next to the vehicle (1) towards the destination (24).

Description

[0001] The invention relates to a method for generating an image of a vehicle's surroundings as the vehicle approaches a destination, wherein the image is generated based on camera images from one or more cameras of the vehicle. The invention further relates to a control unit, a computer program, and a data storage medium.

[0002] Modern vehicles typically have one or more cameras that capture images of the vehicle's surroundings. These images, or views of the vehicle's environment created from them, can be displayed within the vehicle to provide the driver with improved visibility and facilitate maneuvering. Displays generated from these images can include, for example, bird's-eye views or other perspectives different from the vehicle's own camera view.

[0003] Furthermore, it is known to offer other information displays in the vehicle that facilitate driving. These can include, for example, map information that shows details about roads, the vehicle's current position, and / or a destination at various scales.

[0004] German patent application DE 10 2010 034 140 A1 describes a method for displaying images on a vehicle's display device. Navigation data is received by a driver assistance system, and sensor data about the vehicle's surroundings are acquired by at least one sensor of the driver assistance system. A control unit processes the sensor data to create an image of the surroundings, which shows at least one area adjacent to the vehicle. A map image is displayed on the display device, generated from stored map data and taking the navigation data into account. The map image can be displayed at various zoom levels, and once a predetermined scale or zoom factor is reached, the display switches from the map image to the image of the surroundings.Furthermore, upon reaching a destination, the map image can be automatically switched to the surrounding area image, which is a bird's-eye view.

[0005] DE 10 2010 042 063 A1 relates to a method for determining processed image data about a vehicle's surroundings. This method includes a step of combining map information with the vehicle's position and orientation and an image of the surroundings captured by the vehicle's environmental sensing device to obtain a position-related image of the surroundings from a bird's-eye view or as a panorama. Furthermore, the method includes a step of processing the position-related image with at least one symbol assigned to a classified object within the image. This symbol identifies a parking space in the vehicle's vicinity.

[0006] The invention is based on the objective of providing an improved method for generating an image representation, which in particular simplifies the navigation of a vehicle in the vicinity of a destination.

[0007] To solve this problem, a method of the type mentioned at the outset provides that, when a predetermined distance between the vehicle and the destination is undershot, a virtual perspective view is generated from the camera images as an image representation, starting from a field of view of a virtual camera in a virtual space, wherein a camera position and a camera orientation of the virtual camera are set such that the field of view in the virtual space is directed from a position next to the vehicle towards the destination.

[0008] The procedure can in particular be a computer-implemented procedure, which can be implemented, for example, by a computing device of the vehicle, such as a microcontroller or a processor or a control unit.

[0009] The camera images used to generate the visual representation of the vehicle's surroundings are captured by one or more cameras on the vehicle. The vehicle can, in particular, have several cameras, each capturing a portion of the vehicle's surroundings, whereby the entire area of ​​the vehicle's surroundings is within the field of view of at least one of the cameras, so that camera images of the complete vehicle environment around the vehicle can be captured (so-called 360° surround view).

[0010] The image display is generated as the vehicle approaches a destination. This destination, also known as the target position, is, for example, a parking lot or any other location accessible to or approached by a vehicle. The destination is determined before the vehicle arrives, with the distance between the vehicle's current position and the destination being continuously measured and analyzed. The vehicle's current position can be determined, for example, using its navigation system.

[0011] If the distance between the vehicle and the destination falls below a predetermined threshold, a virtual perspective view is generated from the camera images, based on the field of view of a virtual camera. This predetermined distance between the current position of the vehicle and the destination could be, for example, between 5 m and 200 m, or more specifically, between 25 m and 100 m.

[0012] The camera position and orientation of the virtual camera are set such that the camera's field of view in the virtual space, defined by its position and orientation, is directed from a position next to the vehicle towards the target location. The virtual perspective view is generated from an oblique angle, either from above or from the side, with the viewing angle of the image determined by the virtual camera's field of view. In other words, the virtual perspective view is generated from the virtual camera's field of view at an angle between a central ray of the camera's field of view and a normal to a plane parallel to the road surface, where the angle is greater than 0° and less than 90°. This results in a virtual top-down view of the scene.

[0013] The perspective of the virtual camera can differ from that of the vehicle's actual cameras when generating the image. This can be achieved by projecting or transforming the camera images into a different perspective, for example, using a curved projection surface.

[0014] According to the invention, as the vehicle approaches its destination, a 3D view of the vehicle's surroundings is generated, directed towards the destination. This provides the driver with assistance in approaching the destination. The three-dimensional representation advantageously allows the driver to perceive the proportions of surrounding objects and / or objects defining the destination, as well as any differences in elevation in the vehicle's vicinity, such as curbs or similar features. This facilitates collision-free maneuvering of the vehicle in the vicinity of the destination and, if applicable, precise approach to the destination, particularly compared to bird's-eye view representations of the surroundings.

[0015] The method according to the invention has the advantage over views of street scenes which are based on older images of a street environment, for example taken by means of a camera car, that the destination can be represented according to its current state and in particular together with a section of the current vehicle environment.

[0016] In a preferred embodiment of the invention, the vehicle is represented in the virtual perspective view by a virtual vehicle image, wherein the camera position in the virtual space is located on a side of the vehicle opposite the destination, and the virtual vehicle image lies at least partially within the field of view of the virtual camera. In other words, the virtual camera is positioned such that a position and / or a representation of the destination in the camera images, at least a part of the virtual vehicle image, and a representation of an area of ​​the vehicle's surroundings located between the vehicle and the destination are within the field of view of the virtual camera.Because a vehicle image corresponding to the actual vehicle is also partially or completely displayed in the image representation, it is particularly easy for a driver of the vehicle to maneuver the vehicle to the destination or to control the vehicle relative to the destination and to objects in the vehicle's environment.

[0017] According to the invention, the camera orientation can be adjusted such that the position of the destination and / or its representation in the camera images is located in the center of the virtual perspective view. Displaying the destination in the center of the virtual perspective view focuses the vehicle user's attention on the destination and thus further facilitates approaching the destination or maneuvering in its vicinity.

[0018] To highlight the destination in the virtual perspective view and thus make it more easily recognizable, the destination to be approached and / or at least one alternative destination located in the immediate vicinity of the destination to be approached can, according to the invention, be marked in the virtual perspective view with at least one graphic overlay that is superimposed on the camera images. The graphic overlay is an image graphic that is superimposed on the camera images or the vehicle environment depicted in the camera images. The superimposition can depend on the current perspective and / or on the destination and / or the current vehicle environment. The graphic overlay can, for example, be a frame or a semi-transparent colored area that is superimposed on the camera images.Other types of overlays, such as text, animated graphics, semi-transparent vehicle representations, or similar, can also be used as an alternative or in addition.

[0019] The size of a boundary area assigned to a destination can be determined, for example, based on the type of destination and / or on other available information about the destination. If the destination is a parking lot, for instance, information about its dimensions can be obtained from a navigation system map. Additionally or alternatively, further information about the destination can also be obtained by analyzing the image content of camera images, for example, using machine vision functions such as semantic segmentation. Such methods also allow the boundaries of a destination, such as a parking lot, to be identified and highlighted in the image display using an appropriately sized overlay.

[0020] An alternative destination could be, for example, another available parking space located in the immediate vicinity, such as adjacent to or less than a specified distance from the intended destination. The alternative destination can be determined, for instance, as the vehicle approaches the intended destination, using its environmental sensors, such as ultrasonic, radar, or lidar sensors. It is also possible for one or more alternative destinations to be determined additionally or alternatively by analyzing the camera images generated by the vehicle's at least one camera using machine vision techniques, such as semantic segmentation.

[0021] According to the invention, the destination to be traveled to can be a destination selected by a user or a destination determined by a driver assistance function and suggested to the user of the vehicle. The user can select the destination, for example, using a map from the vehicle's navigation system. Alternatively, another method of selection is possible, in particular via a user interface of the vehicle. The determination of the destination by a driver assistance function can be carried out, for example, by evaluating map data or the like. It is also possible for the driver assistance system to determine several possible destinations and display them for user selection, whereby the user can then select the final destination from the suggested destinations.

[0022] According to the invention, the zoom factor of the virtual perspective view can be adjusted depending on the vehicle's speed and / or the distance between the vehicle and the destination, with the zoom factor increasing continuously or incrementally as the speed and / or distance decreases. A larger zoom factor means that less of the vehicle's surroundings is visible in the image, but the destination is displayed larger. Conversely, a smaller zoom factor means that more of the vehicle's surroundings is visible, resulting in a smaller destination being displayed smaller. The closer the vehicle gets to the destination, or the slower the vehicle is traveling, the larger the destination can be displayed in the image by using a larger zoom factor.The zoom factor can be reduced accordingly as speed or distance increases.

[0023] In a preferred embodiment of the invention, it can be provided that, after the predetermined distance is undershot, the camera position and / or the camera orientation are changed, in particular continuously, as the vehicle continues to approach the destination, so that the field of view in the virtual space is always directed towards the destination from a position next to the vehicle. Thus, when a vehicle is moving relative to the destination and is at a distance of less than the predetermined distance, the virtual camera moves along with the vehicle, so that the view of the destination is always from a position next to the vehicle.This ensures that the destination is always in focus in the image display and that the vehicle is always shown relative to the destination in the image display when moving towards it, so that the driver can always recognize the relative arrangement between the vehicle, the destination and any objects that may be present in the vicinity of the destination.

[0024] Before the predetermined distance between the vehicle and the destination is reached, a map view, in particular showing the current position of the vehicle and the destination, and / or a perspective view of at least part of a virtual representation of the vehicle and part of its surroundings can be displayed according to the invention. It is possible that, at greater distances to the destination, a map view is displayed showing the current position of the vehicle and the location of the destination. When the distance falls below the predetermined distance, the perspective view can be displayed as an image instead of, or in addition to, the map view. Which image(s) are displayed on the vehicle's display device can be determined, for example, by a user selection.

[0025] According to the invention, a top-view image, generated from the vehicle cameras and depicting the current vehicle environment, can be superimposed, at least partially, on the map view. This allows the current vehicle environment around the vehicle to be displayed in a top-view or bird's-eye view at distances greater than the predetermined distance to the destination. Compared to the map data, this allows the actual vehicle environment, and thus in particular objects and / or road users in the vicinity of the vehicle, to be displayed virtually in real time. The top-view image can be integrated into the map data in a scale- and orientation-accurate manner, so that it seamlessly overlaps with the abstracted representation of the vehicle environment from the map data.The top-view display can be switched on or off, particularly by user selection.

[0026] In a preferred embodiment of the invention, the image can be displayed on a vehicle display unit and / or on a mobile device, in particular a smartphone or tablet. The vehicle display unit can, for example, be a screen or display located in the vehicle's interior and visible to the driver. Additionally or alternatively, the image can also be displayed on a mobile device. The mobile device can be located inside the vehicle, for example in a designated mounting device, and have an interface for communication with a vehicle control unit, via which the image generated by the control unit can be transmitted to the mobile device by means of a communication link, in particular a wireless one.

[0027] Alternatively, the vehicle's control unit can transmit camera images generated by one or more of the vehicle's cameras to the mobile device. The mobile device then uses these camera images, the vehicle's position (determined by the device itself or received from the control unit), and the location of the destination to generate the image display. The mobile device may use dedicated software, such as an app, to display this image.

[0028] For a control device according to the invention, it is provided that, when a vehicle position of a vehicle, a position of a destination to be approached and several camera images from one or more cameras of the vehicle are provided, it is configured to execute a method according to the invention.

[0029] A vehicle according to the invention is provided to include a control device according to the invention.

[0030] For a computer program according to the invention, it is provided that it includes instructions which cause a computing device to execute a method according to the invention when a vehicle position, a destination position and several camera images from one or more cameras of the vehicle are provided.

[0031] A data carrier according to the invention is provided to include a computer program according to the invention.

[0032] All advantages and features described above in relation to the method according to the invention also apply analogously to the other invention items, namely the control device, the vehicle, the computer program, and the data carrier. The advantages and features described in relation to the other invention items are also analogously transferable to the method according to the invention and to the other invention items.

[0033] Further advantages and details of the invention will become apparent from the exemplary embodiments described below and from the drawings. These are schematic representations and show: Fig. 1 an embodiment of a vehicle according to the invention, Fig. 2 a block diagram of an embodiment of a method according to the invention, Fig. 3 a first representation of a virtual space used for generating a virtual perspective view, Fig. 4 a second representation of the virtual space used to generate the virtual perspective view and Fig. 5 an example of a virtual perspective view generated using the embodiment of the method according to the invention, as an image representation.

[0034] In Fig. Figure 1 shows an embodiment of a vehicle 1. The vehicle 1 can be, for example, a motor vehicle, in particular a passenger car, a truck, or another type of commercial vehicle. It is also possible that the vehicle 1 is an unmotorized vehicle, such as a trailer, or that it is a combination of a towing vehicle and a trailer. The vehicle 1 can also be a rail-bound vehicle, such as a tram or the like, or a robot.

[0035] The vehicle 1 comprises an embodiment of a camera system 2, which includes one or more cameras 3 and a control unit 4. In the present embodiment, the vehicle 1 comprises four cameras 3, which form a camera arrangement configured as a surround-view system. A first camera 5 is arranged as a front camera of the vehicle 1, a second camera 6 as a rear-view camera of the vehicle 1, and a third camera 7 and a fourth camera 8 each as a side camera of the vehicle 1. The number and arrangement of the cameras 3 are exemplary; the camera system 2 can also comprise a different number and / or cameras 3 arranged at different locations on the vehicle 1.

[0036] The control unit 4 can be configured, for example, as a microcontroller, a processor, or another type of computing device. The control unit 4 includes a storage device 9 in which data can be stored and / or in which one or more computational instructions or algorithms can be implemented. The control unit 4 is configured to implement one or more driver assistance functions for the vehicle 1 by evaluating the camera images from the cameras 3. Additionally or alternatively, the one or more driver assistance functions can also be implemented by at least one other control unit of the vehicle 1.

[0037] The vehicle 1 further includes a display device 10, which can present graphical information to a driver or user of the vehicle 1. The display device 10 can, for example, be one or more screens or displays arranged in the interior of the vehicle 1, or the like.

[0038] The cameras 3 can each generate image data from a sub-area of ​​the vehicle 1's surroundings. The cameras 3 are connected to the control unit 4 via a communication link 11. The communication link 11 can, for example, comprise multiple point-to-point connections or be a bus connection such as a CAN bus or the like. Image information or image data is transmitted from the cameras 3 to the control unit 4 via the communication link 11, in particular continuously and / or as a video stream. The control unit 4 can process this image data and use the image data or the processed image data to provide at least one driver assistance function.

[0039] Vehicle 1 further includes a wireless communication module 12, which enables the control unit 4 to communicate wirelessly with a mobile device located inside vehicle 1, such as a smartphone or tablet. Vehicle 1 also has a navigation unit 13, which is configured to determine the absolute position of vehicle 1, for example, using satellite navigation. The navigation unit 13 includes a memory in which map data can be stored, so that, for example, a map can be displayed on the display unit 10 of vehicle 1, showing the map data of the area surrounding vehicle 1 depending on the current position of vehicle 1.

[0040] The control unit 4 is designed and configured to perform a method for generating an image of the vehicle's surroundings as the vehicle 1 approaches a destination. The image is generated based on camera images from the vehicle 1's cameras 3. When the distance between the vehicle 1 and the destination falls below a predetermined threshold, a virtual perspective view is generated from the camera images. This virtual perspective view is generated from the field of view of a virtual camera. The camera position and orientation of the virtual camera are set within a virtual space used to generate the virtual perspective view such that the field of view of the virtual camera in this virtual space is directed from a position next to the vehicle 1 towards the destination.

[0041] In Fig. Figure 2 shows a block diagram of an exemplary embodiment of such a method.

[0042] In step S1 of the procedure, the destination is defined. The destination can be one selected by a user of vehicle 1, for example, using the navigation system 13 or the maps it contains. Alternatively, or in addition, the destination can be determined by a driver assistance function and suggested to a user of vehicle 1. The driver assistance function can select the destination, for example, based on map data and / or other information describing the current state of the destination or its surroundings. The destination could, for example, be a parking space selected by the driver using the navigation system 13.Alternatively, one or more destinations near a desired destination, such as a tourist attraction or the like, can be suggested to the user, who then selects one of these suggested destinations as the actual destination.

[0043] In step S2 of the procedure, the distance between the actual position of vehicle 1 and the destination is continuously determined during a movement of vehicle 1, for example, while driving along a suggested route to the destination. The actual position of vehicle 1 can be determined, for example, using the navigation device 13 of vehicle 1 and compared with the position of the destination.

[0044] While the vehicle is moving, a map view, showing the current position of vehicle 1 and, if applicable, the destination, can be displayed on the display unit 10. This map view can be partially overlaid with a top-view image generated from the camera images of vehicle 1's cameras 3, depicting the current surroundings of vehicle 1. Additionally or alternatively, a perspective view of at least part of a virtual representation of vehicle 1 and part of its surroundings can also be displayed.

[0045] If the distance between the current position of vehicle 1 and the destination falls below a predefined distance, the control unit 4 generates a virtual perspective view from the camera images of the cameras 3 of vehicle 1 in step S3. The virtual perspective view is generated based on the field of view of a virtual camera in a virtual space.

[0046] In the Fig. 3 and Fig. Figure 4 shows a schematic representation of the virtual space 14 to illustrate the generation of the image display, where in Fig. 3 a bird's-eye view of the road surface Fig. 4 a side view of vehicle 1 is shown in virtual space 14.

[0047] In the virtual space 14 there is a vehicle representation 15 of vehicle 1 and a projection surface 16 surrounding this vehicle representation 15, which in this exemplary embodiment is bowl-shaped. The camera images recorded by the cameras 3 of vehicle 1 are projected onto the projection surface 16. For the sake of clarity, in Fig. 3. Cameras 3, 5-8 are also shown, although these are located on the actual vehicle 1 and not in the virtual space 14. The fields of view 17 of cameras 3, 5-8 of vehicle 1 are schematically represented by the respective dashed field-of-view boundaries 18. The images captured by the respective cameras 3, 5-8 are projected onto the corresponding sections of the projection surface 16 that overlap with the depicted fields of view 17. In overlap areas 19, where the fields of view 17 of cameras 3, 5-8 and thus also the image data generated by these cameras overlap, a weighted superimposition of the overlapping camera images can, for example, take place. The projection of the camera images onto the projection surface 16 makes it possible to generate an image representation from a perspective that differs from the fields of view of cameras 3 of vehicle 1.

[0048] The image is generated from the field of view 20 of a virtual camera 21. The camera position and orientation of the virtual camera 21 are set such that the field of view 20 in the virtual space 14 is directed from a position next to the vehicle 1 or the vehicle representation 15 towards the destination located at position 22. If the destination is an area such as a parking lot, the displayed position 22 of the destination can, for example, be the center point of the area or another defined reference point.

[0049] As in Fig. As can be seen in Figure 3, the camera position of the virtual camera 20 is located in the virtual space 14 on a side of the vehicle 1 opposite the destination or the position 22 of the destination, so that the virtual vehicle image 15 lies at least partially within the field of view 20 of the virtual camera 21. This is shown in Figure 3. Fig. 4. The height of the virtual camera 21 (in the z-direction) can be higher than the height of the vehicle representation 15 in the virtual space 14. In this way, a perspective view obliquely from above is obtained of the vehicle representation 15 and the destination. The orientation of the virtual camera 21 is set such that the position 22 of the destination, and thus also the representation of the destination in the camera images projected onto the projection surface 16, is located in the center of the virtual perspective view.

[0050] In Fig. Figure 5 shows an example of an image representation 23 generated in this way. The generated image representation 23 is processed in step S4 of the process described in Figure 5. Fig. 2 shown embodiment of the method, for example on the display device 10 of the vehicle 1 and / or on a mobile device, in particular a smartphone or a tablet.

[0051] Image 23 is a perspective view of the destination 24, which in this case is a parking lot. To improve the recognizability of the destination 24 in image 23, its representation is overlaid with a graphic overlay 25, which in this case corresponds to a target pose of the vehicle 1. Alternatively, the graphic overlay 25 could also have a different representation; for example, the destination 24 could be marked with a frame, by a colored area, and / or using other types of images and / or text.

[0052] In image 23, two alternative destinations 26 and 27 are marked by additional overlays 28 and 29. These overlays are each represented as a colored area and indicate further available parking spaces in the vicinity of the parking space selected as destination 24. The alternative destinations 26 and 27 can be determined, for example, via the vehicle's 1 environmental sensors, such as radar, ultrasonic, and / or lidar sensors, and / or by evaluating the camera images 3. The driver 1 can select one of the alternative destinations 26 or 27 as the new destination 24, whereupon the position and / or orientation of the virtual camera 21 can be adjusted accordingly, so that the field of view is aligned with the newly selected destination.

[0053] The zoom factor of the virtual perspective view is adjusted depending on the current speed of vehicle 1 and / or the current distance between vehicle 1 and destination 24. The zoom factor can, for example, increase continuously or incrementally as the speed and / or distance decreases. Conversely, the zoom factor can decrease as the vehicle's speed or the distance between vehicle 1 and destination 24 increases.

[0054] Furthermore, after the specified distance between the position of vehicle 1 and the position 22 of the destination 24 has been undercut, the camera position and the camera orientation of the virtual camera 21 are changed, in particular continuously, as vehicle 1 approaches the destination 24 further, for example when vehicle 1 parks at the destination 24, so that the field of view 20 of the virtual camera 21 in the virtual space 14 is always directed from a position next to vehicle 1 towards the destination 24.

[0055] In addition to implementing the procedure in the control unit 4 of the vehicle 1, it is possible for the camera images from the cameras 3 to be transmitted from the control unit 4 to a mobile device via the wireless communication module 12, whereby the mobile device determines the virtual perspective view as an image representation from the camera images analogously to the preceding description and displays this on a display device of the mobile device. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2010 034 140 A1

[0004] DE 10 2010 042 063 A1

[0005]

Claims

[1] Method for generating an image representation (23) of a vehicle environment of a vehicle (1) as the vehicle (1) approaches a destination (24), wherein the image representation (23) is generated on the basis of camera images from one or more cameras (3) of the vehicle (1), wherein when a predetermined distance between the vehicle (1) and the destination (24) is undershot, a virtual perspective view is generated from the camera images as an image representation (23) starting from a field of view (20) of a virtual camera (21) in a virtual space (14), wherein a camera position and a camera orientation of the virtual camera (20) are set such that the field of view (20) in the virtual space (14) is directed from a position next to the vehicle (1) towards the destination (24). [2] Method according to claim 1, characterized by, that the vehicle (1) is represented in the virtual perspective view by a virtual vehicle image (15), wherein the camera position in the virtual space is on a side of the vehicle (1) opposite the target location (24) and the virtual vehicle image (15) is at least partially within the field of view (20) of the virtual camera (21). [3] Method according to claim 1 or 2, characterized by , that the camera orientation is set such that a position (22) of the target location (24) and / or the representation of the target location (24) in the camera images is located in a center of the virtual perspective view. [4] Method according to any of the preceding claims, characterized by, that the destination to be traveled to (24) and / or at least an alternative destination to be traveled to (26, 27) in the immediate vicinity of the destination to be traveled to (24) is marked in the virtual perspective view with at least one graphic overlay (25) which is superimposed on the camera images. [5] Method according to any of the preceding claims, characterized by , that the destination to be traveled to (24) is a destination selected by a user or a destination determined by a driver assistance function and suggested to a user of the vehicle (1). [6] Method according to any of the preceding claims, characterized by, that a zoom factor of the virtual perspective view is set depending on the speed of the vehicle (1) and / or depending on the distance between the vehicle (1) and the destination (24), wherein the zoom factor is increased continuously or in steps as the speed and / or distance decreases. [7] Method according to any of the preceding claims, characterized by , that after the specified distance is undercut, as the vehicle (1) approaches the destination (25) further, the camera position and / or the camera orientation are changed, in particular continuously, so that the field of view (20) in the virtual space (21) is always directed from a position next to the vehicle (1) towards the destination (24). [8] Method according to any of the preceding claims, characterized by, that before reaching the specified distance between the vehicle (1) and the destination (24), a map view is displayed, in particular showing the current position of the vehicle (1) and the destination (24), and / or a perspective view of at least part of a virtual vehicle image (15) of the vehicle (1) and part of a vehicle environment. [9] Method according to claim 8, characterized by , that the map view is partially overlaid with a top-view view generated from the camera images of the cameras (3) of the vehicle (1), which represents the current vehicle environment. [10] Method according to any of the preceding claims, characterized by , that the image display (23) is displayed on a display device (10) of the vehicle (1) and / or on a mobile device, in particular a smartphone or a tablet. [11] Control device which, when provided with a vehicle position of a vehicle (1), a position (22) of a destination (24) and several camera images from one or more cameras (3) of the vehicle (1), is configured to execute a method according to one of the preceding claims. [12] Vehicle comprising a control device according to claim 11. [13] Computer program comprising instructions which cause a computing device to execute a method according to one of claims 1 to 10 when provided with a vehicle position of a vehicle (1), a position (22) of a destination (24) and several camera images from one or more cameras (3) of the vehicle (1). [14] Data carrier comprising a computer program according to claim 13.

Images