METHOD AND DEVICE FOR PROJECTING OBJECTS

Description

[0001] The present disclosure relates in general to projection methods. In particular, the present disclosure relates to a method and a device for projecting objects using a projection device of a vehicle.

[0002] Methods for projecting objects are known. In particular, methods for projecting objects such as symbols and / or geometric figures onto a road surface, serving as traffic information and / or orientation aids, are known. These projected objects can provide relevant information to a vehicle driver and thus contribute to improved vehicle control. However, when projecting objects, situations can arise where the driver assistance system cannot correctly distinguish the projected objects from real objects, such as road markings, in the vehicle's surroundings. This confusion between projected and real objects when the driver assistance system perceives the vehicle's environment can lead to malfunctions in vehicle control and even life-threatening situations.

[0003] From US patent 2019 / 0344713 A1, a headlight system with two headlights for a vehicle with a camera-based gaze detection module is known.

[0004] US 2021 / 0107356 A1 concerns a head-up display and a method for controlling it.

[0005] Furthermore, US 2017 / 0261315 A1 describes a method and a device for calculating the self-position of a vehicle using a light projector and an image acquisition unit.

[0006] One objective of the embodiments of the present disclosure is to provide an improved method for projecting objects, which makes it possible to reduce the impairment of the detection of the vehicle environment by projected objects.

[0007] To solve this problem, a method for projecting objects is provided, in which the objects are projected using a vehicle's projection device. The projection device is designed to project an object within an adjustable projection field that is at least partially captured by the field of view of a vehicle camera or camera system. Projected objects are understood to be images or symbols perceptible to the driver, which are projected onto the roadway and / or other surfaces, such as building walls, to serve the driver as an orientation aid and / or traffic information. In particular, the objects can include arrows and / or lines as directional guides or guiding lines to assist vehicle control.The projected objects can include, in particular, standardized symbols with predefined warning functions for the driver or the driver assistance system. Specifically, a malfunction can be caused by another vehicle alongside and / or traveling in the opposite direction.

[0008] The projection field or projection area can, in particular, comprise one or more roadway sections in the vehicle's vicinity, onto which the projection objects can be projected by the projection device. Specifically, the projection field can include one or more areas on a roadway section located in front of the vehicle.

[0009] The procedure comprises determining a target projection field for setting the adjustable projection field and setting the projection field according to the determined target projection field. Setting the projection field according to the target projection field can be achieved, in particular, by controlling the projection device using a control device.

[0010] Determining the target projection field involves acquiring at least one current operating parameter of the vehicle and determining a first target projection field corresponding to this at least one operating parameter. Acquiring the at least one current operating parameter of the vehicle can be done, in particular, by means of sensors or vehicle sensors. The at least one current operating parameter can, in particular, include one or more parameters characterizing the current driving state of the vehicle. The target projection field can thus be adjusted according to the current driving state of the vehicle.

[0011] Determining the target projection field further includes checking whether a residual field of view of the vehicle camera, unobstructed by the target projection field, would satisfy a sufficiency criterion for the vehicle camera to capture the surroundings. If the check reveals that the sufficiency criterion is not met, a second, corrected target projection field is determined based on the first target projection field and the sufficiency criterion. This second target projection field is then used as the new target projection field to adjust the projection field of the projection device so that the residual field of view, unobstructed by the target projection field, satisfies the sufficiency criterion for the vehicle camera to capture the surroundings. The sufficiency criterion may, in particular, include one or more conditions that the residual field of view must fulfill for adequate capture of the surroundings by the vehicle camera.Adequate environmental perception in this context means that the vehicle camera's perception of the surroundings provides the driver assistance system with sufficient and reliable information about the environment to perform its functions, such as lane keeping, automatic braking, and so on. By using the corrected target projection field, the projection field can be adjusted so that the remaining field of view, or the area of ​​view unobstructed by the vehicle camera, is sufficient for reliable environmental perception. Adherence to the sufficiency criterion through the remaining field of view can thus protect the driver assistance system from interference caused by projections within the projection field.

[0012] At least one operating parameter can include the vehicle's current speed and / or turning radius. The target projection field can be determined, in particular, based on a functional relationship derived from the vehicle's current speed and / or turning radius. The target projection field can essentially be designed as an elongated strip located in front of the vehicle and extending along the roadway. Specifically, the target projection field can have a length and a curve radius that correlate with the vehicle speed and turning radius. The length and curvature of the target projection field can, for example, change depending on the current speed and / or turning radius in such a way as to improve the driver's visual perception of projected objects while driving.For example, the length of the projection field can increase at high speeds, and the bending radius of the projection field can shorten in sharp curves.

[0013] The sufficiency criterion may include a condition that the remaining field of view encompasses a core field of view of the vehicle camera. Fulfillment of the sufficiency criterion with this condition means, in particular, that the core field of view lies outside the projection field and is therefore free of projections or projection objects. The core field of view of the vehicle camera may, in particular, encompass a portion of the field of view in which, based on experience, environmental features important for the driver assistance system, such as road markings, may appear. Specifically, the core field of view of the vehicle camera may encompass an area of ​​the field of view whose capture by the vehicle camera is sufficient for essential, particularly safety-relevant, functionalities or core functions of the driver assistance system.

[0014] The sufficiency criterion may include a condition that a predefined minimum distance is maintained between the projection field and the front of the vehicle. Maintaining this minimum distance ensures that the vehicle camera can capture the roadway in the immediate vicinity of the vehicle without interference from projections.

[0015] The sufficiency criterion may include a condition that a predefined minimum distance is maintained between the projection field and a vehicle ahead. Maintaining this predefined minimum distance ensures that the vehicle camera can capture the roadway in the immediate vicinity of the vehicle ahead without interference from projections.

[0016] The procedure can include identifying one or more corrective actions to adjust a current projection field, with adjusting the projection field comprising adapting the current projection field according to the identified one or more corrective actions. Adjusting the current or existing projection field can simplify or accelerate the process of setting the projection field to the target projection field.

[0017] One or more corrective measures may involve shifting and / or deforming the current projection field. In particular, deforming the projection field may involve changing its length. By shifting or changing its length, the projection field can be easily adjusted.

[0018] A second aspect involves providing a device for projecting objects. The device comprises a projection device configured to project one or more objects within an adjustable projection field that is at least partially detectable by the field of view of a vehicle camera. The device further comprises an evaluation unit for determining a target projection field and a control unit for controlling the projection device so that the projection field can be adjusted according to the determined target projection field. The evaluation unit is configured to evaluate at least one current operating parameter of the vehicle, received in particular from a sensor, and to determine a first target projection field corresponding to the at least one current operating parameter.The evaluation unit is further designed to check whether a residual field of view of the vehicle camera, remaining unobstructed by the first target projection field, would meet a predefined sufficiency criterion for capturing the environment by the vehicle camera. If not, it is designed to determine a second, corrected target projection field based on the first target projection field and the sufficiency criterion, and to provide this to the control unit for use as the new target projection field for setting the projection field. In particular, by using the second target projection field, the projection field can be adjusted so that the residual field of view, or the field of view unobstructed by the projection field, of the vehicle camera is sufficient for reliable capture of the environment.Compliance with the sufficiency criterion through the residual field of vision can thus protect the driver assistance system from impairments caused by projections occurring in the projection field.

[0019] The projection device can be designed, in particular, as part of a vehicle's driver assistance system, for example as part or module of a vehicle headlight, or as a separate device. In particular, the projection device can comprise one or more projection modules of an LED headlight, which may be housed in a left and / or a right vehicle headlight.

[0020] The at least one vehicle camera can be configured, in particular, as part of a front camera system of the vehicle or as a separate camera, especially a digital camera. The evaluation unit can, in particular, comprise a processor and a memory unit for storing machine-readable instructions and data for the processor, wherein the machine-readable instructions can contain instructions for the processor to evaluate the current operating parameters of the vehicle. The evaluation unit can, in particular, be configured as a separate unit, as part of the vehicle camera, or as part of the vehicle's control unit.

[0021] The projection device can be configured to project an object onto the road surface, comprising one or more longitudinal lines for visualizing the vehicle dimensions, wherein the longitudinal lines have one or more characteristic breaks. The longitudinal lines can, in particular, be shaped as dashed lines so that they can be more easily distinguished from road markings or lane markings in the form of solid lines by means of the breaks.

[0022] The evaluation unit can be configured to determine one or more corrective measures for adjusting a current projection field, so that the projection field can be adjusted by modifying it according to the determined one or more corrective measures. Starting from the current projection field, corrective measures can thus be determined, simplifying or accelerating the adjustment of the projection field to the target projection field.

[0023] A third aspect defines a vehicle that includes a driver assistance system, a vehicle camera for capturing the vehicle's surroundings for the driver assistance system, and at least one device for projecting objects as described in the second aspect. The vehicle is characterized by reliable environmental perception by the driver assistance system, which also improves driving safety and the overall driving experience.

[0024] The invention will now be explained in more detail with reference to the accompanying figures. The same reference numerals are used in the figures for identical or equivalently functioning parts. Fig. 1 schematically shows a vehicle with a device for projecting objects according to one embodiment, Fig. 2 schematically shows a vehicle according to Fig. 1 In a first traffic situation, Fig. 3 schematically shows a vehicle according to Fig. 1 In a second traffic situation, Fig. 4 schematically shows a vehicle according to Fig. 1 in a third traffic situation, and Fig. 5 shows a flowchart of a method for projecting objects according to an exemplary embodiment.

[0025] Fig. 1 schematically shows a vehicle with a device for projecting objects according to an exemplary embodiment. Fig. 1 The figure shows, in particular, a vehicle 1 traveling on lane 2. Lane 2 is in Fig. 1 The vehicle 1 is symbolically represented by a horizontal straight line. A device 10 for projecting objects according to an exemplary embodiment is implemented in the vehicle 1. The device 10 comprises a projection device 11 for projecting objects onto the roadway 2. The vehicle 1 has a vehicle camera 20 for capturing the vehicle 1's surroundings. The vehicle camera 20 can be configured, in particular, as part of the device 10, as a separate component, or as part of a driver assistance system of the vehicle 1. The vehicle camera 20 can, in particular, be configured as part of a camera system or front camera system of the vehicle 1. The camera system can, in particular, comprise several cameras that can be arranged at different positions on and / or in the vehicle 1. The device 10 further comprises an evaluation unit 30 and a control unit 40 for controlling the projection device 11.In the illustrated embodiment, the evaluation unit 30 and the control unit 40 are designed as part of the control unit 50 of the vehicle 1.

[0026] The vehicle camera 20 is designed to capture a field of view of 100. The field of view of 100 of the vehicle camera 20 is in Fig. 1 The projection device 11 is symbolically represented as a section of the roadway 2. The projection device 11 is designed to project a projection object within an adjustable projection field 200, wherein the adjustable projection field 200 is at least partially captured by the field of view 100 of the vehicle camera 20. In this embodiment, the projection device 11 is designed as part of a vehicle headlight 60. The projection device can, in particular, comprise one or more HD (High Definition) projection modules for providing high-resolution projections. A residual patch field 300 remaining free of the projection field 200 is... Fig. 1 also shown symbolically.

[0027] The evaluation unit 30 can be designed or configured to evaluate at least one current operating parameter of the vehicle 1 received from a sensor (not shown) and to determine a first target projection field corresponding to the at least one current operating parameter. The evaluation unit 30 can further be designed to check whether a residual field of view 300 of the vehicle camera 20 remaining free of the first target projection field would satisfy a predefined sufficiency criterion for capturing an environment by the vehicle camera 20. The evaluation unit 30 can also be designed to determine a second, corrected target projection field based on the first target projection field and the sufficiency criterion and to provide it to the control unit 40 for use as a new target projection field when setting the projection field.

[0028] In some embodiments, the evaluation unit 30 is configured to determine one or more corrective measures for adjusting a current projection field, so that the setting of the projection field can be carried out by adjusting the current projection field according to the determined one or more corrective measures.

[0029] Fig. 2 schematically shows a vehicle according to Fig. 1 in an initial traffic situation. In the Fig. 2 In the depicted traffic situation, vehicle 1 is traveling on the right side of lane 2. Lane 2 has shoulders 3 and 4 (shown as solid lines) and a median strip 5 (shown as a dashed line). Vehicle 1 includes the projection device 11 according to Fig. 1 for projecting objects into an adjustable projection field 200. The projection field 200 is located in front of the vehicle 1 and has the form of an essentially rectangular elongated section of the roadway 2. The projection field 200 lies within the field of view 100 of the vehicle camera 20. The projection field 200 is limited longitudinally by a first free field 310 of the remaining field of view 300 and by a second free field 320 of the remaining field of view 300. The first free field 310 extends between a first end 110 of the field of view 100 that is closer to vehicle 1 and a first boundary 210 of the projection field 200 that is closer to vehicle 1. The second free field 320 extends between a second end 120 of the field of view 100 that is farther from vehicle 1 and a second boundary 220 of the projection field 200 that is farther from vehicle 1.

[0030] The shape or length of the projection field 200, the first free field 310, and the second free field 320 depend on the current driving situation. Specifically, the vehicle's sensors 1 detect the current driving situation, and the control unit 40 controls the projection device 11 accordingly to adjust the projection field 200 to the current driving situation. The positions of the field boundaries along the roadway are defined in Fig. 2 The distances are given in meters, measured from the front of vehicle 1. The first boundary 210, or the beginning of the projection field 200, is approximately 7 m from the front of vehicle 1, and the second boundary 220 of the projection field 200 is approximately 20 m from the front of vehicle 2. The first end of the field of view 110 of the field of view 100 lies 2.5 m in front of vehicle 1. The in Fig. 2 The depicted field configuration corresponds to a driving situation when the vehicle is traveling on a straight roadway 2 at a relatively low speed. In a driving situation when the vehicle is traveling in a curve with a current curve radius, the projection field 200 can exhibit a bend with a bend radius corresponding to the current curve radius.

[0031] Fig. 3 schematically shows a vehicle according to Fig. 1 in a second traffic situation. The one in Fig. 3 The depicted traffic situation essentially corresponds to the traffic situation according to Fig. 2 , where vehicle 1 is traveling at an increased speed. As shown by the Fig. 3 As can be seen, at higher speeds both the length and the position of the projection field 200 change. Compared to the one in Fig. 2 In the depicted situation, the first boundary 210 of the projection field 200 has shifted from 7 m to 12 m, and the second boundary 220 of the projection field 200 has shifted from 20 m to 40 m. The first boundary of the field of view 100 has not shifted and remains at a distance of 2.5 m in front of the vehicle 1. In the illustrated embodiment, this distance corresponds to the absolute or geometrically determined detection limit of the vehicle camera 20.

[0032] Fig. 4 schematically shows a vehicle according to Fig. 1 in a third traffic situation. The third traffic situation essentially corresponds to the second traffic situation, except that a vehicle 6 is driving ahead of vehicle 1. The vehicle sensors of vehicle 1 detect the driving situation, and the control unit 40 controls the projection device 11 so that a sufficient distance remains between the vehicle 6 driving ahead and the second boundary 220 of the projection field 200 for the vehicle camera 20 to detect the roadway 2. This reduces the projection field 200 from 28 m, as shown in Fig. 3 shown, on 18 m and the distance between the second boundary 220 of the projection field 200 and the front of the vehicle 1 of 40 m, as in Fig. 3 shown at 30 m.

[0033] Fig. 5Figure 350 shows a flowchart of a method for projecting objects according to an embodiment. According to the method, in a process step 400 at least one current operating parameter of the vehicle 1 is acquired, and in a subsequent process step 500 a first target projection field corresponding to the at least one current operating parameter is determined. The at least one operating parameter can, in particular, include the current driving speed, curve radius, and / or yaw rate of the vehicle 1. The first target projection field can, in particular, be determined based on a functional dependency between the projection field 200 and the at least one operating parameter of the vehicle 1 stored in the memory unit of the evaluation unit 30, and / or based on a lookup table. In some embodiments, in a preceding process step, in particular immediately after the activation of the device 10, a preset orInitial projection field set.

[0034] In a query step 550, it is checked whether, when setting the first target projection field determined in process step 500, a residual field of view remaining unobstructed by the projection field would meet a sufficiency criterion for the vehicle camera to capture the surroundings. If the residual field of view does not meet the sufficiency criterion, a second corrected target projection field is determined in process step 600 based on the first target projection field and on the sufficiency criterion, and used to set the projection field when controlling the projection device 11 in process step 600. For example, if the check in process step 550 shows that the length of the first unobstructed field 320 in front of the first target projection field is insufficient for capturing the surroundings or the roadway 2, the second corrected target projection field is determined in process step 600.The projection device 11 can then, for example, be controlled in process step 700 such that the length of the projection field 200 is shortened and / or the projection field 200 is moved forward or away from the vehicle 1. If, on the other hand, query step 550 shows that the remaining field of view meets the sufficiency criterion, then in process step 700 the first target projection field is used to adjust the projection field 200 of the projection device 11.

[0035] In some embodiments, step 550, or a separate process step, particularly one preceding process step 550, verifies whether the first target projection field determined in process step 500 corresponds to the current projection field 200 of the projection device 11. If it is determined that the determined target projection field corresponds to the current projection field 200, the process continues with process step 400. Thus, a correct setting of the projection device 11 can be maintained in a resource-efficient manner, without requiring additional control of the projection device 11 in process step 700.

[0036] In some embodiments, in process step 400, or in a separate process step, a current driving situation is recorded, and in step 500 the first target projection field is determined at least partially based on the current driving situation. In particular, other road users can be detected using the vehicle sensors. For example, other vehicles located within the field of view 100 of the vehicle camera 20 can be detected using the vehicle camera 20.

[0037] For example, if a vehicle 6 ahead is detected in the field of view 100 of the vehicle camera 20, it is checked whether the remaining available field of view 300, in particular the second free field 320 of the remaining field of view 300, is sufficient for the vehicle camera 20 to detect the roadway 2. If the check shows that the length of the second free field 320 is insufficient for detecting the roadway 2, the length of the projection field 200 is shortened and / or the projection field 200 is moved closer to the vehicle 1 in order to achieve adequate and reliable detection of the vehicle's surroundings and / or the roadway 2.

[0038] The procedural steps described above can be repeated in particular so that the projection field 200 can be adapted to the current driving situation.

[0039] In some embodiments, in process step 400, or in a separate process step, the field of view 100 is captured with the vehicle camera 20, and a first sequence of images or frames is generated. In some embodiments, the vehicle camera 20 is activated beforehand, particularly in conjunction with the driver assistance system of the vehicle 1. A sequence of frames can generally comprise one or more frames or images. In a subsequent process step 500, the first sequence of frames can be evaluated to detect at least one projection object in at least one partial field of view 200. In query step 550, or in a separate process step, it can be checked whether a projection object is detectable in the partial field of view.If, during the evaluation of the first sequence of frames, it is determined that no projection object was detected within the partial field of view, the first sequence of frames is used for transmission to the driver assistance system. However, if the query step detects that a projection object is located within the partial field of view, the detected projection object can be masked in a subsequent step. Masking the detected projection object can, in particular, involve generating a second sequence of frames while masking the detected projection object. The second sequence of frames or images is then provided to the driver assistance system for capturing the vehicle's surroundings. The process can also include a marking step, particularly after the evaluation step or before generating the second sequence of frames in that step.During marking, a projection object detected in at least one partial field of view is marked, and the detected projection object is indicated as marked. When marking a detected projection object, a label or identification mark can be assigned to it. In some embodiments, the marking of detected objects occurs frame by frame (on a frame-to-frame basis), whereby a mark made in one frame can be transferred to a subsequent frame. Transferring an existing mark to subsequent frames can reduce the computational effort required for re-detection or re-marking of the already detected projection object.

[0040] The adjustment or correction of the projection field 200 can, in particular, include a displacement and / or deformation of the projection field 200. The displacement can, in particular, be determined based on the vehicle speed and / or the curve radius.

[0041] In some embodiments, the projection field 200 begins at a predefined fixed position, for example, approximately 10 m in front of the vehicle 1. As the vehicle's speed increases, the projection field 200 lengthens. Above a certain speed, e.g., 50 km / h, in addition to the lengthening of the projection field, the beginning or first boundary 210 of the projection field 200 can also shift. This shift moves the first boundary 210 of the projection field 200 away from the vehicle 1. Due to this movement, the area in front of the vehicle free of projections becomes larger, so that despite the lengthening of the entire projection field 200, the roadway remains large enough for the vehicle camera 20 to reliably detect the roadway 2. A lane keeping or detection algorithm of the driver assistance system can then utilize this area free of projections more effectively.They give greater weight to areas with projection objects than to more distant areas, which can increase the reliability of the driver assistance system and overall driving safety. Reference symbol list

[0042] 1 vehicle, 2 lanes 10 Device 11 Projection device 20 Vehicle camera 30 Evaluation unit 40 Control unit 50 Control unit 60 Vehicle headlights 100 Field of view 110 First end of the field of view 120 Second end of the field of view 200 Field of view 210 First boundary of the projection field 220 Second boundary of the projection field 300Remaining field of view 310First free field 320Second free field 350 process 400 process step 500 process step 550 process step 600 process step 700 process step

Claims

1. Method for projecting objects by means of a projection device (11) of a vehicle (1), wherein the projection device (11) is designed to project a projection object within an adjustable projection field (200) at least partially detectable by a field of view (100) of a vehicle camera (20), and wherein the method determining a target projection field for adjusting the adjustable projection field (200) and adjusting the projection field (200) according to the determined target projection field, wherein the determining of the target projection field comprises the following steps: - detecting (400) at least one current operating parameter of the vehicle (1) and determining (500) a first desired projection field corresponding to the at least one operating parameter, characterised in that the determination of the desired projection field further comprises the following steps - checking (550) whether a residual field of view (300) of the vehicle camera (20) remaining free of the target projection field would satisfy a predefined sufficiency criterion for detecting an environment by the vehicle camera (11), and, if not, - determining (600) a second corrected target projection field based on the first target projection field and on the sufficiency criterion, and - using the second desired projection field as a new desired projection field for adjusting the projection field (200) of the projection device (11), so that the residual field of view (300) free from the projection field (200) meets the sufficiency criterion for detecting the environment by the vehicle camera (20).

2. Method according to claim 1, wherein the at least one current operating parameter comprises a current driving speed and / or a current curve radius of the vehicle (1).

3. Method of claim 1 or 2, wherein the sufficiency criterion includes a condition that the residual field of view (300) comprises at least one core field of view of the vehicle camera (20).

4. Method according to any one of the preceding claims, wherein the sufficiency criterion includes a condition that between the projection field (200) and a front side of the vehicle (1) a predefined minimum distance is maintained.

5. Method according to any preceding claim, wherein the sufficiency criterion includes a condition that a predefined minimum distance is maintained between the projection field (200) and a vehicle (6) travelling ahead.

6. Method according to any one of the preceding claims, wherein the method further comprises determining one or more corrective measures for adjusting a current projection field, and wherein the adjustment of the projection field the adjustment of the current projection field according to the determined one or more corrective measures comprises.

7. Method according to claim 6, wherein the one or more corrective measures comprise a displacement and / or deformation of the current projection field.

8. Apparatus for projecting objects comprising: - a projection device (11), wherein the projection device (11) is designed for this purpose, a projection object within an adjustable at least partially of a field of view (100) of a vehicle camera (20) to be detected projection field (200) to project, - an evaluation unit (30) for determining a target projection field, and - a control unit (40) for controlling the projection device (11), so that the projection field (200) according to the determined desired projection field can be adjusted, wherein the evaluation unit (30) is designed for this purpose: - evaluate at least one current operating parameter of the vehicle (1) received by a sensor system and determine a first target projection field corresponding to the at least one current operating parameter, - check whether a residual field of view (300) of the vehicle camera (20) remaining free of the first target projection field would satisfy a predefined sufficiency criterion for detecting an environment by the vehicle camera (20), and, if not, - on the basis of the first desired projection field and on the sufficiency criterion, a second corrected desired projection field and the control unit (40) for use as a new desired projection field for adjusting the projection field (200) to provide.

9. Apparatus of claim 8, wherein the evaluation unit (30) is adapted to determine one or more corrective measures for adjusting a current projection field, so that the adjustment of the projection field (200) can be done by adjusting the current projection field according to the determined one or more corrective measures.

10. Vehicle, wherein the vehicle a driver assistance system, a vehicle camera for detecting an environment of the vehicle (1) for the driver assistance system and at least one device (10) for projecting objects according to any one of claims 8 or 9 having.