COMBINATION OF PARTIAL IMAGES OF A VEHICLE'S ENVIRONMENT

Description

[0001] The present invention relates to the merging of partial images from a vehicle environment. In particular, the invention relates to the merging of partial images that are produced from different positions and / or with different fields of view.

[0002] A vehicle, in particular a motor vehicle, comprises a camera monitor system (CMS) designed to replace a conventional exterior mirror. The CMS includes a camera mounted laterally on the vehicle, the field of view of which opens in the opposite direction of travel. An image provided by the camera can be displayed on a monitor inside the vehicle. The monitor is preferably located within the driver's line of sight to the camera. The CMS may additionally include a processing unit for processing an image provided by the camera, for example, with regard to image cropping, brightness, or contrast.

[0003] The camera cannot see an area directly behind the vehicle. It has been proposed to install another camera at the rear of the vehicle and to combine the images from both cameras to create a single, unified image. This unified image can be horizontally offset into two sections, each originating from a different camera. A seam line can separate the two sections. The stitching process is preferably performed in such a way that no optical aberrations occur along the seam line. In particular, an object extending across the seam line in the unified image should be depicted as completely and without distortion as possible.

[0004] DE 10 2014 213 536 A1 proposes a driver assistance system for combining partial images into a complete image from a continuous surrounding area of ​​a vehicle.

[0005] DE 10 2017 217 870 A1 describes a similar method in which a joining line between a first and a second section of the overall image is determined on the basis of a signal from a sensor arrangement.

[0006] DE 10 2020 109 997 A1 describes a system and method for stitching images.

[0007] DE 10 2019 104 397 A1 describes an image synthesis device consisting of several units.

[0008] WO 20013 / 113373 A1 describes a method in an electronic device for creating a combined image. The method comprises capturing a first set of at least two partial images with an array camera and capturing a second set of at least two partial images.

[0009] Since the cameras have different optical perspectives, stitching together or selecting a suitable section of one of the camera images may be subject to different requirements if the object is located at different distances.

[0010] Existing techniques cannot always reliably prevent an object located behind the vehicle from being fully displayed, particularly if the object is moving relative to the vehicle. One of the problems underlying the present invention is to provide an improved technique for combining partial images of a vehicle's surroundings into a complete image of an object that overlaps both partial images. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0011] According to a first aspect of the present invention, a method for assembling partial images of a vehicle's environment into a complete image comprises the steps of capturing a first partial image in a first area of ​​the environment, wherein the first area is located laterally behind the vehicle; capturing a second partial image in a second area of ​​the environment, wherein the second area is located behind the vehicle; capturing an object, at least a portion of which lies in one of the areas; determining a distance of the object from the vehicle; adjusting the second partial image as a function of the distance; and assembling the partial images into the complete image.

[0012] The first area can be scanned, for example, by means of a side camera mounted on the side of the vehicle and facing rearward. This first area preferably corresponds essentially to the area visible with a conventional exterior mirror. The second area can be scanned by means of a rear-view camera mounted centrally or laterally, preferably on the same side as the side camera, on the vehicle and facing directly rearward. This second area can resemble an area visible with a conventional interior mirror, but has a rearward-shifted viewpoint and is not obstructed by a rear window.

[0013] The adjustment of the second image sub-image can, in particular, include scaling. This scaling is preferably performed homographically, enabling line-preserving mapping, especially collineation. The object preferably lies at least partially within the second area. Should the object move laterally relative to the vehicle, it can enter the first area. Due to the early adjustment of the second image sub-image, no noticeable visual anomaly can occur in the overall image.

[0014] Since only one of the partial images is dynamically adjusted, the process can be less susceptible to interference. A complete image provided can appear more stable overall and be subject to fewer changes. In particular, it can prevent the object from being partially or completely lost when the partial images are stitched together, so that it does not appear, or does not appear completely, in the final image. A person using the complete image to assess a traffic situation in the vicinity of the vehicle, especially a driver on board the vehicle, can be better informed by the overall image. The likelihood of overlooking the object is reduced. Thus, a collision with the object can be more easily avoided.

[0015] The object can include, in particular, another road user, such as a motor vehicle, a cyclist, or a pedestrian. The road user can be stationary, moving in the same or a different direction than the vehicle, or moving laterally to the vehicle. The object can also include other structures, such as a traffic sign, a park bench, or a building. Such structures can be potential collision partners, especially when the vehicle is reversing, for example, when parking or pulling out of a parking space. By improving their representation in the overall image, the risk of a collision can be better avoided.

[0016] In one embodiment, the adjustment only occurs when the object is depicted in both sub-images or when it occupies both areas. A transition area can be formed at the interface between the first and second sub-images, following the joining line but with a predetermined horizontal extent. For example, the transition area can be approximately 50 pixels wide on both the left and right sides of the joining line. The adjustment can occur when the object extends beyond a left or right boundary of the transition area. In this case, a boundary that is either forward or backward with respect to the object's movement can be evaluated.

[0017] It is preferred that the overall image comprises a first section taken from the first partial image, representing an area of ​​the environment outside the vehicle; and a second section taken from the second partial image, representing an area of ​​the environment behind the vehicle.

[0018] Sensors that provide the partial images can be mounted at different positions along the vehicle's length, meaning they may have different distances to the object. Furthermore, the sensors' viewing angles can vary, so the misaligned partial images can depict the same object at different sizes.

[0019] It is preferred that a merging line, which delimits the first section on the overall image, is fixed and predetermined based on the perspectives and imaging parameters of the sub-images. A perspective may depend on the position of an associated sensor relative to the vehicle. An imaging parameter may, in particular, include a viewing angle or a focal length of the sensor.

[0020] The joining line can run between the first and second sections. Optionally, the joining line is shown in the overall image or visually highlighted. The joining line can follow a contour of the vehicle in the first partial image. The path of the joining line in the overall image can be predetermined and unchangeable. The second partial image is preferably adjusted so that a section of the object lying within the area of ​​the joining line appears the same size in the first partial image and in the adjusted second partial image.

[0021] Preferably, the overall image includes a third section that obscures an area between the vehicle and the object if another object is located in that area. The third section may be encompassed by the second section. In particular, for a viewer of the overall image, the third area appears to lie below the object in the second section. If no other object is located in this area, an optical error between the third section and an area beyond the merging line can be accepted. However, if another object is located between the vehicle and the object, its depiction can be omitted to avoid an image error in that area. A driver can thus be better informed about the object without having to assess a potentially distorted representation of another object in the overall image.

[0022] The second object can move independently of the first object relative to the vehicle. If the second object enters the area between the vehicle and the first object, the third section can be smoothly faded out with a predetermined transition. This reduces confusion and alarm for viewers of the overall image.

[0023] In a further preferred embodiment, the third section is taken from the first partial image and shows the vehicle. In other words, in the second section, an area located behind the vehicle can be displayed in such a way that a viewer of the overall image has the impression that the vehicle is transparent. To conceal the third section, a corresponding part of the vehicle can again be displayed opaquely. In another embodiment, a predetermined image can be displayed instead of the vehicle. A viewer can be alerted by means of the image that a detected object in this area is intentionally not shown.

[0024] Similarly, the overall image can include a fourth section that obscures an area seemingly located above the object. Like the third, the fourth section can be filled with a predetermined image or a portion of the first sub-image, if necessary, to avoid depicting an image defect in that area.

[0025] It is further preferred that adjustments to the second sub-image are predefined for several predetermined distances between the vehicle and the object. For example, the distances can each be multiples of approximately 5 meters. In one embodiment, approximately 11 distances are provided. The shortest distance can be in the range of approximately 1 to 2 meters. The furthest distance can be in the range of approximately 47 to 50 meters. It has been shown that many rendering tasks can be satisfactorily solved with a single-digit or small double-digit number of predetermined distances without having to dynamically generate an adjustment. In this embodiment, it is preferred that an adjustment is used whose assigned distance is closest to the specified distance. Alternatively, for a specific distance, an adjustment can also be used whose assigned distance is the next shorter or the next longer distance.

[0026] In another embodiment, an adjustment is interpolated with respect to a first predetermined adjustment, whose associated distance is smaller than the specified distance, and a second predetermined adjustment, whose associated distance is larger than the specified distance, and applied to the second partial image. The interpolation can be performed with respect to one or more parameters of an adjustment. In one embodiment, an adjustment is determined by a scaling factor. In another embodiment, a displacement in the horizontal and / or vertical direction can additionally be included as a parameter. Further parameters are also possible. Optionally, the adjustments can also be extrapolated if the object's distance lies outside the range in which predetermined adjustments are known.

[0027] The procedure can take into account that there are multiple objects in the vicinity of the vehicle. An object can be located at least partially in the first or second area.

[0028] In one embodiment, from several objects in the vicinity of the vehicle, one is selected whose distance to the vehicle is smallest. The object closest to the vehicle may be most relevant for driving the vehicle.

[0029] In another embodiment, one of several objects in the vicinity of the vehicle is selected based on its shortest estimated time of arrival at the vehicle. In particular, an object can be considered relevant if it is approaching the vehicle, rather than another whose distance to the vehicle remains constant or increases.

[0030] In yet another embodiment, one of several objects in the vicinity of the vehicle is selected based on its sensitivity to collision. In other words, an object can be chosen whose collision with the vehicle would result in the greatest expected damage. For example, a pedestrian could be classified as more sensitive than a cyclist, the cyclist as more sensitive than a motorcycle, the motorcycle as more sensitive than a car, and the car as more sensitive than a truck.

[0031] It should be noted that the aforementioned strategies for selecting one of several objects in the vehicle's vicinity can also be combined. For example, only one approach can be used initially, as long as it identifies only one object. If more than one object is identified as equivalent using the selected approach, a second predefined approach can be used to select one object from among them. Optionally, a further approach can be applied subsequently.

[0032] It should also be noted that the technique described herein aims at improving the display of combined partial images to the driver of the vehicle and not at controlling the vehicle, which might base the determination of the most relevant object on other criteria. However, common sensors or scanning systems can be used for both systems. Preprocessing of a provided partial image, for example by generating a frame around an object, is also possible for both systems.

[0033] A first sensor for providing the first partial image can be calibrated based on an optically detectable feature of the vehicle in the first area. In other words, the alignment of the first sensor with respect to the vehicle or its surroundings can be checked and, if necessary, corrected by verifying the position of the feature in the provided partial image. This ensures that the first section of the overall image, extracted from the first partial image, is correctly oriented.

[0034] A second sensor for providing the second image sub-image can be calibrated using a position sensor. The position sensor can indicate the orientation of the second sensor relative to the vehicle or its surroundings. A gyroscope or an inertial platform can be used for this purpose. Any drift of the position sensor relative to the first image sub-image can be corrected.

[0035] According to a second aspect of the present invention, a device for merging partial images of a vehicle's surroundings into a complete image comprises the following elements: a first sensor for capturing a first partial image in a first area of ​​the surroundings, wherein the first area is located laterally behind the vehicle; a second sensor for capturing a second partial image in a second area of ​​the surroundings, wherein the second area is located behind the vehicle; a third sensor for determining the distance of an object, of which at least a portion is located in both the first and second areas, from the vehicle; and a processing unit. The processing unit is configured to adjust the second partial image depending on the distance and to merge the partial images into the complete image.

[0036] The processing equipment may be configured to execute all or part of a method described herein. For this purpose, the processing equipment may be electronic and, for example, include a programmable microcomputer or microcontroller, and the method may be in the form of a computer program product with program code. The computer program product may also be stored on a computer-readable data carrier. Features or advantages of the method may be transferred to the equipment or vice versa.

[0037] The first sensor can, in particular, comprise a side camera, preferably mounted in an area where a conventional exterior mirror would otherwise be located. The second sensor can comprise a rear camera mounted at the rear of the vehicle. The rear camera can be mounted centrally or laterally on the vehicle, preferably in the direction of the side camera. The third sensor can, for example, comprise a radar sensor, a LiDAR sensor, or an ultrasonic sensor. The third sensor is preferably also mounted in the rear of the vehicle. The positions of the sensors on the vehicle and the viewing angles of the first and second sensors are preferably predetermined and unchanging.

[0038] In a further embodiment, a position sensor is provided to determine the orientation of the second sensor relative to its surroundings. The position sensor can provide a signal that corresponds to the orientation of the second sensor. The second partial image it provides can thus be adjusted to be correctly oriented relative to the first partial image.

[0039] According to yet another aspect of the present invention, a vehicle comprises a device as described herein.

[0040] The invention will now be described in more detail with reference to the attached drawings, in which: Figure 1: a device on board a vehicle; Figure 2: a flowchart of a process; Figure 3: a composite image in a first embodiment, composed of a first partial image and a second partial image; Figure 4: a composite image in a second embodiment, composed of a first partial image and a second partial image; Figure 5: a schematic relationship between a distance and a scaling factor illustrated.

[0041] Figure 1 Figure 1 shows a device 100 on board a vehicle 105. The vehicle 105 preferably comprises a motor vehicle, in particular a motorcycle, a passenger car, a truck, or a bus. One direction of travel of the vehicle 105 is shown in the illustration as follows: Figure 1From bottom to top. Behind vehicle 105 is an object 110, which is shown by way of example as another vehicle. The device 100 preferably comprises a first camera 115, a second camera 120, a distance sensor 125, and a processing unit 130. The first camera 115 is mounted laterally on vehicle 105 and is configured to scan an area located to the side and behind vehicle 105. The second camera 120 is mounted in an area at the rear of vehicle 105 and is configured to scan an area located behind vehicle 105. Preferably, the two areas overlap. The distance sensor 125 is also preferably mounted at the rear of vehicle 105.

[0042] The processing unit 130 is configured to combine a first partial image provided by the first camera 115 and a second partial image provided by the second camera 120 into a complete image. In one embodiment, a monitor 135 is provided to display the complete image on board the vehicle 105. The device 100 can thus operate as a camera-monitor system.

[0043] Optionally, a position sensor 140 is provided in the area of ​​the second camera 120 to determine its orientation. The processing unit 130 is preferably configured to detect and optionally compensate for deviations in the orientation of the second camera 120 from a predetermined orientation based on signals from the position sensor 140. This can be achieved by changing the orientation of the second camera 120 using a suitable actuator or by shifting the provided second partial image accordingly.

[0044] The processing unit 130 can also check the alignment of the first camera 115 relative to the vehicle 105, for example by comparing the position of an optically identifiable feature of the vehicle 105 in the first partial image with a predetermined position. Optionally, compensation can also be performed here by means of an actuator or by adjusting the first partial image.

[0045] It should be noted that two devices 100 can be used on the vehicle 105, which are optionally partially integrated. In the illustrated embodiment, the first camera 115, the second camera 120, the monitor 135, and the position sensor 140 are located on the left side of the vehicle 105. Corresponding elements can also be provided on the right side of the vehicle 105. For example, the processing unit 130 and / or the distance sensor 125 can be used on both sides.

[0046] Figure 2Figure 1 shows a flowchart of a method 200 for merging partial images. The method 200 can be carried out, in particular, using a device 100.

[0047] In step 205, a first area of ​​the vehicle 105's surroundings can be scanned using the first camera 115, and a first partial image can be created. Similarly, in step 210, a second area of ​​the vehicle 105's surroundings can be scanned using the second camera 120, and a second partial image can be created. It is preferred that the areas overlap so that an object can be visible in both the first and the second partial image.

[0048] In step 215, one or more objects 110 in the vicinity of the vehicle 105 can be detected. Detection preferably takes place on the basis of the first partial image, but in other embodiments it can also be based on the second partial image or a scanning of the environment using the distance sensor 125.

[0049] If several objects 110 were identified in step 215, one of them can be selected in step 220. In particular, it can be determined which of the objects 110 is most relevant for guiding or moving the vehicle 105. In one embodiment, the object 110 whose distance to the vehicle 105 is shortest can be selected. In another embodiment, the object 110 whose estimated time to reach the vehicle 105 is shortest can be selected. This determination may require calculating relative velocities between different objects 110 and the vehicle 105. An object 110 that is moving away from the vehicle 105 can be discarded as irrelevant. In a third embodiment, the object that is most sensitive with regard to a collision with the vehicle 105 can be selected.The object can be classified, and classes of different specific objects can be compared with each other.

[0050] In step 225, a distance between the vehicle 105 and the selected object 110 can be determined. This can be done by scanning the surroundings using the distance sensor 125. The distance sensor 125 can simultaneously determine the distances of several objects 110 in the vicinity of the vehicle 105.

[0051] Depending on the specified distance, the second sub-image provided in step 210 can be adjusted in step 230. In particular, the size of the second sub-image can be adjusted depending on the specified distance.

[0052] Preferably, a number of adjustments are predefined, each corresponding to a different distance from the vehicle 105. In an exemplary embodiment, adjustments are provided for distances of 2 meters, 3 meters, 5 meters, 7 meters, 12 meters, 17 meters, 22 meters, 27 meters, 32 meters, 37 meters, and 47 meters. Preferably, each adjustment includes a scaling factor that allows the second sub-image to be enlarged or reduced. Other possible parameters include a focus point for scaling, a horizontal and / or vertical shift, a rotation, or a distortion correction.

[0053] Based on the specified distance, a predetermined adjustment can be selected. Alternatively, an adjustment can be interpolated with respect to two or more predetermined adjustments. The adjustment can be applied to the second sub-image so that the second sub-image, at the distance of the selected object 110, has the same magnification as the first sub-image.

[0054] In step 235, the first and second partial images can be merged. This merging preferably occurs with respect to a predetermined joining line, which can be formed by a silhouette of the vehicle 105 on the first partial image.

[0055] In an optional step 240, an area of ​​the overall image taken from the second sub-image and located below or above the displayed object 110 can be hidden. The area below can be hidden, in particular, if it contains another object. The area above can also be hidden, in particular, if it contains another object. Hiding the area can involve filling it with content taken from the first sub-image. Alternatively, a predetermined representation can be displayed, such as a predetermined signal color or pattern.

[0056] In step 245, the overall picture can be displayed, especially on monitor 135.

[0057] Figure 3Figure 305 shows an overall image comprising a first section 310, taken from a first partial image, and a second section 315, taken from a second partial image. A joining line 320 runs between sections 310 and 315, preferably having the shape of a silhouette of the vehicle 105 in the first partial image. The joining line 320 runs along a boundary of the vehicle 105. A door handle of the vehicle 105 is visible in the joining line 320 in a vertically central area.

[0058] A portion of the surroundings of vehicle 105, which is not visible through vehicle 105 in the first image, is supplemented in the overall image 305 by a corresponding section from the second image. For this purpose, the second image is scaled and, in particular, enlarged depending on the distance of object 110 from vehicle 105.

[0059] The overall image 305 comprises a third section 325 and a fourth section 330, each forming a section of the second section 315. The third section 325 lies below the representation of object 110 in the second section 315, and the fourth section 330 lies above the representation.

[0060] Object 110 is depicted true to size in both sections 310 and 315 of the overall image. The representation is line-preserving, so that a straight line extending across both sections 305 and 310 experiences neither discontinuity nor a change in direction.

[0061] If this is the case, the merging can be adjusted depending on the distance to this object 110. Otherwise, if no further object 110 is present, or if an existing object 110 has not been determined to be more relevant than the other object 110, the third section 325 can be hidden. For example, a suitable section of the vehicle 105 or a predefined graphic can be displayed in the third section 325. The predefined graphic can be visually prominent to indicate that the third section 325 does not include a representation of an area located behind the vehicle 105.

[0062] Similarly, the fourth section 330 can be hidden or covered by another representation if another object 110 is located in an area that, from the depicted perspective, lies above or behind object 110, and in particular if this object 110 lies at least partially within the second section 315. Again, only one object 110 relevant to driving the vehicle 105 can be considered.

[0063] It can be seen that an image defect along the joining line 320 in the area of ​​the fourth section 330 is small when the object is in Figure 3 For example, a tree is located at a significantly greater distance from vehicle 105 than object 110, which is used for the adjustment. Therefore, hiding the fourth section 330 is unnecessary.

[0064] Figure 4 shows an overall picture 305 according to the type of representation of Figure 3under different conditions. Here, the distance between vehicle 105 and object 110 is smaller, and object 110 appears larger in the overall image 305. The third section 325 is smaller than in the representation of Figure 3 and the fourth section 330 is omitted. Here too, image content representing object 110 connects to each other with high accuracy on different sides of the joining line 320. However, image content that is at a different distance from vehicle 105 than object 110 cannot connect to each other seamlessly at the joining line 320 or may exhibit a kink in the area of ​​the joining line 320.

[0065] In Figure 4An exemplary transition area 405 is shown with dashed lines. The transition area 405 has, as an example, the vertical course of the joining line 320 and a predetermined horizontal width. Preferably, the joining line 320 lies horizontally centered on the transition area 405, such that a left boundary is the same distance from the joining line 320 as a right boundary.

[0066] The second sub-image can only be adjusted if an object 110 touches or crosses a left and / or right boundary of the transition area 405. An object 110 on the first or second sub-image can be bounded, and the adjustment can occur if the bounding box touches or crosses one of the boundaries. The adjustment can only occur if the object 110 has also been determined to be the most relevant.

[0067] Figure 5This diagram illustrates a schematic and exemplary relationship between a distance and a scaling factor. The horizontal axis represents the distance between vehicle 105 and object 110. The vertical axis represents a scaling factor by which the second image must be adjusted to scale identically to the first image within the specified distance range.

[0068] In the illustrated embodiment, the second image sub-image must be scaled by a factor of approximately 4.5 if the object 110 to be displayed is located at a distance of approximately one meter. The field of view of the first sensor 115 should therefore be at least this factor larger than the field of view of the second sensor 120. For example, if the field of view of the second sensor 120 is approximately 34°, then the field of view of the first sensor 115 should be at least approximately 34 x 4.5 = 153°. These considerations apply to the vertical field of view; similar considerations can be made for the horizontal field of view. Reference sign

[0069] 100 Device 105 Vehicle 110 Another vehicle 115 First camera 120 Second camera 125 Distance sensor 130 Processing device 135 Monitor 140 Position sensor 200 Procedure 205 Create first partial image 210 Create second partial image 215 Recognize objects 220 Select object 225 Determine distance to object 230 Adjust second partial image 235 Merge partial images 240 Hide area 245 Display overall image 305 Overall image 310 First section 315 Second section 320 Joining line 325 Third section 330 Fourth section 405 Transition area

Claims

1. Method (200) for combining partial images of a surrounding area of a vehicle (105) into an overall image (305), wherein the method (200) comprises the following steps: - capturing (205) a first partial image in a first region of the surrounding area, wherein the first region is located laterally behind the vehicle (105); - capturing (210) a second partial image in a second region of the surrounding area, wherein the second region is located behind the vehicle (105); - capturing (215) an object (110), of which at least one portion is located in one of the regions; characterized by: - determining (225) a distance of the object (110) from the vehicle (105); - adapting (230) the second partial image in dependence on the distance; and - combining (235) the partial images into the overall image (305).

2. Method (200) according to claim 1, wherein the overall image (305) comprises a first section (310), which is taken from the first partial image and which represents a region of the surrounding area outside the vehicle (105); and a second section (315), which is taken from the second partial image and which represents a region of the surrounding area located behind the vehicle (105).

3. Method (200) according to claim 2, wherein a joining line (320), which delimits the first section (310) on the overall image (305), is firmly predetermined on the basis of perspectives and imaging parameters of the partial images.

4. Method (200) according to one of the preceding claims, wherein the overall image (305) comprises a third section (325), which covers a region located between the vehicle (105) and the object (110), if a further object (110) is located in this region.

5. Method (200) according to claim 4, wherein the third section (325) is taken from the first partial image and shows the vehicle (105).

6. Method (200) according to one of the preceding claims, wherein for a plurality of predetermined distances between the vehicle (105) and the object (110), adaptations of the second partial image are predetermined.

7. Method (200) according to claim 6, wherein with respect to a first predetermined adaptation, whose associated distance is smaller than the determined distance, and a second predetermined adaptation, whose associated distance is greater than the determined distance, an adaptation is interpolated and applied to the second partial image.

8. Method (200) according to one of the preceding claims, wherein from a plurality of objects (110) in the surrounding area of the vehicle (105), one is selected (220) whose distance to the vehicle (105) is the smallest.

9. Method (200) according to one of the preceding claims, wherein from a plurality of objects (110) in the surrounding area of the vehicle (105), one is selected (220) whose anticipated time until reaching the vehicle (105) is the smallest.

10. Method (200) according to one of the preceding claims, wherein from a plurality of objects (110) in the surrounding area of the vehicle (105), one is selected (220) which is the most sensitive with respect to a collision with the vehicle (105).

11. Method (200) according to one of the preceding claims, wherein a first sensor (115) for providing the first partial image is calibrated on the basis of an optically detectable feature of the vehicle (105) in the first region.

12. Method (200) according to one of the preceding claims, wherein a second sensor (120) for providing the second partial image is calibrated by means of a position sensor (140).

13. Apparatus (100) for combining partial images of a surrounding area of a vehicle (105) into an overall image (305), wherein the apparatus (100) comprises the following elements: - a first sensor (115) for capturing a first partial image in a first region of the surrounding area, wherein the first region is located laterally behind the vehicle (105); - a second sensor (120) for capturing a second partial image in a second region of the surrounding area, wherein the second region is located behind the vehicle (105); characterized by: - a third sensor (125) for determining a distance of an object (110), of which at least one portion is located in one of the regions, from the vehicle (105); - a processing device (130) for adapting the second partial image in dependence on the distance; and for combining the partial images into the overall image (305).

14. Apparatus (100) according to claim 13, wherein a position sensor (140) is provided for determining an orientation of the second sensor (120) with respect to the surrounding area.

15. Vehicle (105), comprising an apparatus (100) according to claim 13 or 14.