Method for operating an information system, computer program product and vehicle

Abstract

The invention relates to a method (100) for operating an information system (10) for providing information about at least one obstacle (2) for a vehicle (1), comprising: acquiring (101) environmental data (200) to detect at least one geometric feature (2.1) of the obstacle (2). The invention also relates to a computer program product, and to a vehicle (1).

Description

[0001] Description

[0002] Method for operating an information system, computer program product and vehicle

[0003] The invention relates to a method for operating an information system, a computer program product, and a vehicle.

[0004] It is known from the prior art to warn the driver of a potential collision with an object that poses an obstacle, for example, when parking a vehicle. A parking distance control system is often used for this purpose in conjunction with an optical parking system. This provides a separate top-down view and distance bars. However, this display requires additional space on the display.

[0005] For example, DE 102009 055649 A1 discloses displaying the contour of an obstacle within a so-called measuring lobe to visualize the collision warning to the driver. The display with the measuring lobe requires a separate display, which does not provide the driver with any information about the rest of the vehicle's surroundings.

[0006] This means that distances that are not correctly detected by the vehicle can easily be overlooked by the driver.

[0007] Furthermore, with existing solutions, the driver can only verify the obstacles detected by the Park Distance Control system by looking outside the vehicle, which can lead to a significant loss of comfort, especially when there are numerous obstacles. Therefore, it would be desirable to provide the driver with a better overview of the driving situation, allowing them to visually verify the vehicle's surroundings and / or the distances.

[0008] It is an object of the present invention to at least partially remedy the above-mentioned disadvantages known from the prior art. In particular, it is an object of the present invention to improve the overview of the vehicle's surroundings in a vehicle while providing information about at least one obstacle.

[0009] The above object is achieved by a method having the features of claim 1, a computer program product having the features of claim 14, and a vehicle having the features of claim 15. Further features and details of the invention emerge from the respective subclaims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the computer program product according to the invention and / or the vehicle according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reciprocal reference is or can always be made.

[0010] According to a first aspect of the invention, a method for operating an information system for providing information about at least one obstacle to a vehicle is provided. The method comprises, in particular in the form of method steps:

[0011] Acquiring environmental data for detecting at least one geometric feature of the obstacle, in particular by an environmental sensor of the information system, providing representation data for representing an image of a vehicle environment that has the geometric feature of the obstacle, in particular by a control unit of the vehicle and / or a vehicle camera of the vehicle,

[0012] Determining distance data of the vehicle to the geometric feature depending on the environmental data, in particular by the control unit,

[0013] - Modifying the representation data to visualize the distance data in the representation data depending on a localization of the distance data in the representation data, in particular by the control unit,

[0014] - Outputting the modified representation data, in particular by the control unit and / or a display device.

[0015] The vehicle can preferably be a motor vehicle, in particular in the form of an electric vehicle, and / or an aircraft. The information system can be at least partially or completely integrated into the vehicle. For example, the information system can comprise an output interface for outputting the modified representation data. The output interface can be integrated into the control unit to output the representation data to a display device, e.g., in the form of an instrument cluster in a passenger compartment of the vehicle and / or a mobile terminal, in particular an external one.

[0016] The environmental data can be acquired using sensor data from an environmental sensor system of the information system. To acquire the sensor data, the environmental sensor system can comprise, for example, a radar, a lidar, an ultrasonic sensor system, and / or a vehicle camera. The geometric feature of the obstacle can be recognized based on the sensor data. The obstacle can be, for example, another, in particular a parked, vehicle, a tree, a traffic sign, and / or the like. It is also conceivable that the obstacle is part of a bottleneck, e.g., when entering a parking garage and / or when driving under a bridge that borders the roadway horizontally and / or vertically.

[0017] The representation data can be generated at least partially or completely from the environmental data or can be generated separately from the environmental data. The image of the vehicle's surroundings can, in particular, be a real image, e.g., in the form of image data, or a stylized image, e.g., in the form of a virtualization and / or graphical representation of the vehicle's surroundings. The image can advantageously be configured two-dimensionally or three-dimensionally. The vehicle's surroundings can preferably include a plurality of obstacles and / or other environmental features, such as road markings, houses, signs, and / or the like.

[0018] When determining the distance data, a distance from the vehicle, in particular from a predefined point and / or area of ​​the vehicle, to the obstacle can be determined. It is conceivable that the distance data are normalized to a predetermined height relative to a surface and / or a predetermined vehicle component. To determine the distance data, the environmental data can also be analyzed and / or processed in the form of a point cloud.

[0019] The visualization of the distance data can, for example, include a graphical marking, e.g., in the form of a color highlight, of an area representing the geometric feature, an area assigned to the geometric feature, and / or specific image elements of the representation data. The geometric feature can, for example, include a side and / or edge of the obstacle facing the vehicle.

[0020] In particular, it can be provided that the modification of the representation data and / or the visualization of the distance data are carried out only for critical areas in the representation data. For example, at least one threshold value of a maximum distance can be defined for which the modification of the representation data and / or the visualization takes place. When localizing the distance data in the representation data, it can preferably be provided that the distance data are directly assigned to the geometric feature and / or the obstacle in order to enable visualization directly at the obstacle in the image of the vehicle's surroundings.

[0021] Outputting the modified representation data may in particular comprise displaying and / or providing the representation data, in particular in the form of image data and / or in the form of graphic data, with the image of the vehicle surroundings.

[0022] For example, the representation data can be displayed directly on a display device upon output. However, it is also conceivable that the representation data can be sent to a display device upon output and / or made available to a device for display on a display device.

[0023] By modifying the representation data, an augmented representation of the vehicle's surroundings can be generated. This provides the vehicle user with an improved overview of the vehicle's surroundings, while simultaneously displaying relevant distance information. This can significantly improve user comfort if the driver no longer takes a panoramic look out of the vehicle to assess the vehicle's surroundings or only does so as a precaution. The overview of the vehicle's surroundings also allows the user to visually verify and / or check the plausibility of the distance data, for example, which can improve the user's trust in the vehicle and / or the information system, particularly when using a driver assistance function. For example, the method can be carried out when parking the vehicle and / or driving through a narrow space.

[0024] Preferably, a method according to the invention can provide for the representation data to be acquired using image data from at least one vehicle camera of the vehicle, in particular wherein the localization of the distance data is carried out using image elements of the image data. The image elements can comprise pixels, voxels and / or graphic elements, such as polygons, geometric elements, display areas and / or groupings of the aforementioned graphic elements. Furthermore, it is conceivable that, when the representation data is provided, additional information and / or graphics, such as a representation of the vehicle, can be added to the vehicle environment by retrieval from a storage unit. Preferably, distance data of several image elements and / or several obstacles can be determined in the method and used to modify the representation data.When modifying the representation data, the representation data is preferably expanded using data and / or computer support depending on the distance data, particularly in the form of augmented reality. Thus, the representation data can in particular comprise the image data or consist of the image data. In particular, the modified representation data also comprise the image data with the visualization of the distance data in the image data when outputting the modified representation data. The image data can advantageously be two-dimensional image data or three-dimensional image data. By using the image data, a real image of the vehicle's surroundings can be displayed to a user, whereby details of the vehicle's surroundings, particularly those not contained in the surrounding data, can be realistically reproduced, thus showing the user a true image of the surroundings.This allows the user to easily identify the distance information in the image data. By assigning the image data to the pixels, distance information from the distance data can be integrated directly into the image data to realize the visualization.

[0025] Within the scope of the invention, it is further conceivable that the representation of the image of the vehicle surroundings is three-dimensional and / or comprises a top view of the vehicle surroundings. For example, the vehicle camera can be designed as a stereo camera or multiple vehicle cameras can be provided to capture the image data three-dimensionally. This can further improve a user's perception of reality in the modified representation data. For example, a three-dimensional image can improve a perception of height and / or depth. This can make it easier and / or more reliable for the user to check the plausibility of the distance data. The top view of the vehicle surroundings can be isometric or planar, for example. Furthermore, the top view can be composed of image data from multiple vehicle cameras. An image of the vehicle can be at least partially added to the image data.Especially when parking, a vehicle may be surrounded by multiple obstacles. The top-down view provides the user with a better overview of all obstacles.

[0026] Preferably, a method according to the invention can be provided that the method comprises the following step:

[0027] Creating a map of the vehicle's surroundings as a function of the environmental data, in particular by the control unit, wherein the distance data is determined as a function of the environmental map and / or the representation data is modified as a function of the environmental map. Furthermore, it is also conceivable for the environmental map to be created as a function of the distance data. The environmental map can also be referred to as a virtual world. The environmental map can preferably be created three-dimensionally, e.g., in the form of a point cloud. In particular, the environmental map can be created based on sensor data from multiple sensors of the environmental sensor system. The environmental map can enable the detection of multiple obstacles and / or geometric features.Preferably, when determining the distance data, a distance to the vehicle can be determined for each point in the vehicle's surroundings identified in the surroundings map and / or considered an obstacle. This allows critical areas to be identified in a simple manner, particularly with regard to a potential collision. Furthermore, the surroundings map can enable the localization of the distance data in the representation data. Within the scope of the invention, it is further conceivable that, in order to modify the representation data, a coordinate transformation is carried out in which the surroundings map and / or the representation data are converted into a common coordinate system for the surroundings map and the representation data. The coordinate system can be the original coordinate system of the surroundings data or the representation data.For example, a coordinate system of the representation data can comprise image coordinates, and a coordinate system of the environment map can comprise world coordinates. The coordinate transformation can, in particular, comprise an image-to-world transformation and / or a world-to-image transformation. This allows the environment map to be assigned to the image elements. For example, the points of a point cloud of the environment map can be assigned to the pixels of the image data using the coordinate transformation.

[0028] Preferably, a method according to the invention can provide for the visualization of the distance data when modifying the representation data to occur depending on a division of the distance data into a plurality of segments extending from the vehicle. The segments can, for example, form sectors or parts of sectors of a measurement lobe. In this case, the segments can, in particular, be projected starting from the vehicle into the image of the representation data. It is conceivable for the visualization of the distance data to occur depending on the segments and / or to be constant across a segment. For example, the image elements can be colored segment by segment for visualization. The segments can simplify the assignment of the distance data and / or an evaluation of the visualization by the user. In particular, when there are many obstacles, a clear assignment of the distance data can thus be enabled.

[0029] Within the scope of the invention, it is further conceivable that, for visualizing the distance data, polygons with at least one piece of color information are generated when modifying the representation data and / or when determining the distance data based on the geometric feature and the environmental data, wherein the color information is determined as a function of the distance data. The polygons can be formed, for example, from points in the point cloud. It can be provided that each of the polygons is assigned uniform color information as a function of the distance data, or a color gradient. Preferably, a distance value can be determined for the geometric feature based on the distance data. The color information can be determined as a function of a classification of the distance value.For example, a polygon can be assigned a red color for a first distance value to visualize the distance data, and an orange, yellow, or green color for a second distance value that is greater than the first distance value. This allows the visualization of the distance data to be perceived intuitively by a user.

[0030] Furthermore, in a method according to the invention, it can advantageously be provided that the polygons are generated based on an envelope model of the environmental data. The envelope model can be used to create virtual boundaries of the obstacle and / or multiple elements of the vehicle's environment. The polygons can be created, for example, based on the virtual boundaries of the geometric feature. The boundaries can be simplified, for example, based on a minimum distance of the geometric feature and / or the obstacle from the vehicle. Thus, it is not necessary to capture every detail of the obstacle and / or the vehicle's environment in the environmental data. This can reduce computing time, whereby the output of the modified representation data can have a short response time.

[0031] Furthermore, in a method according to the invention, it is conceivable that the distance data are determined as a function of first height information of the geometric feature, wherein the first height information of the geometric feature and / or second height information of the representation data is taken into account when modifying the representation data. The second height information can be determined in particular using the representation data. For example, several temporally consecutive image data items can be analyzed for this purpose, in particular during a movement of the vehicle, in order to determine the second height information. The first and second height information items can enable a more differentiated visualization of the distance information in the representation data. This allows the user to recognize, for example, whether a geometry of the obstacle that protrudes at a certain height was correctly detected.

[0032] Furthermore, in a method according to the invention, it can advantageously be provided that when modifying the representation data, a comparison of the first and second height information is carried out, wherein the distance data in the representation data is localized depending on the comparison of the first and second height information. During the comparison, it can be checked whether the first and second height information match, in particular exactly or within a tolerance range. It can be provided that the distance data is visually assigned to the geometric data if the first and second height information match. This allows the user to recognize, in particular directly from the geometric feature in the image of the vehicle's surroundings, whether a specific geometric feature has a critical distance from the vehicle.Furthermore, in a method according to the invention, it is conceivable that when the representation data are modified as a function of the first and second height information, a projection of the distance data, i.e. in particular the visualization of the distance data, takes place onto a background of the vehicle's surroundings, so that the visualization of the distance data in the representation data can be displayed on the obstacle on the background. The background can, for example, comprise a ground plane. In this case, the background can be recognized in particular on the basis of the second height information. For example, starting from an image element for which the first and second height information match, a vertical image element can be determined for which the second height information has a zero height and / or a height of the background.By displaying it on the ground, modification of the obstacle can be avoided, whereby the modified representation data can enable a clear and / or unaffected view of the obstacle.

[0033] Preferably, in a method according to the invention, it can be provided that the output of the modified representation data comprises a display of the modified representation data on a display device of the vehicle. The display device can comprise a display, preferably in the form of a touchscreen. This allows the modified representation data, together with the visualization of the distance data, to be made directly available to a driver of the vehicle. Furthermore, it is conceivable that the modified representation data, in particular the visualization of the distance data, can be adapted and / or individualized via the display device. For example, it can be provided that the projection of the distance data onto the ground can be activated and / or deactivated via the distance device.

[0034] Preferably, a method according to the invention can provide for the modified representation data to be output as a function of an at least partially or fully automated parking process for moving the vehicle into a parking space. For example, it is conceivable for the modified representation data to be sent to an external display device, e.g., a mobile device such as a smartphone or tablet, particularly when a user of the vehicle is outside the vehicle during the parking process. This allows the user to check at any time during the parking process whether the vehicle has correctly recognized the vehicle's surroundings and to stop the at least partially automated parking process and / or intervene manually in the parking process.Preferably, the parking area, in particular the one in which the vehicle is to stop, can be automatically detected and visualized when modifying the representation data. Additionally or alternatively, it can be provided that a manual parking maneuver, e.g., based on a low vehicle speed, is automatically detected, and the modified representation data is output depending on the detection and / or activation of the parking maneuver.

[0035] According to a further aspect of the invention, a computer program product is provided. The computer program product comprises instructions which, when executed by a control unit, cause the control unit to execute a method according to the invention.

[0036] Thus, a computer program product according to the invention brings with it the same advantages as have already been described in detail with reference to a method according to the invention. The method can in particular be a computer-implemented method. The computer program product can be implemented as computer-readable instruction code. Furthermore, the computer program product can be stored on a computer-readable storage medium such as a data disk, a removable drive, a volatile or non-volatile memory, or a built-in memory / processor. Furthermore, the computer program product can be provided or made available in a network such as the Internet, from which it can be downloaded by a user or executed online as needed. The computer program product can be implemented both by means of software and by means of one or more special electronic circuits, i.e.be implemented in hardware or in any hybrid form, i.e. using software components and hardware components.

[0037] According to a further aspect of the invention, a vehicle is provided. The vehicle has an information system for providing information about at least one obstacle to the vehicle. The information system comprises a control unit for executing a method according to the invention.

[0038] Thus, a vehicle according to the invention offers the same advantages as those already described in detail with reference to a method according to the invention and / or a computer program product according to the invention. The control unit can comprise a processor and / or microprocessor. Furthermore, the control unit can be part of a central control unit of the vehicle. However, it is also conceivable for the control unit to be distributed and integrated into one or more decentralized control units, in particular of the vehicle.

[0039] Further advantages, features, and details of the invention will become apparent from the following description, which describes embodiments of the invention in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. They show schematically:

[0040] Figure 1 Modified representation data with an image of a vehicle environment based on a top view,

[0041] Figure 2 Modified representation data with an image of the vehicle environment using a rear view camera,

[0042] Figure 3 shows an envelope model of a vehicle environment,

[0043] Figure 4 shows a vehicle with an information system for carrying out a method according to the invention, and

[0044] Figure 5 shows the process in a schematic representation of process steps.

[0045] In the following description of some embodiments of the invention, the same reference numerals are used for the same technical features even in different embodiments.

[0046] Figure 1 shows a display of modified representation data 300 in a method 100 according to the invention for operating an information system 10 for providing information about at least one obstacle 2 for a vehicle 1 in a first exemplary embodiment. In this case, a visualization 302 of distance data 210 of the vehicle 1 to the obstacle 2 takes place directly in an image of a vehicle environment 3 of the vehicle 1, in which the obstacle 2 is located, locally at the obstacle 2.

[0047] Vehicle 1 is shown in Figure 4, and method 100 is shown in Figure 5. For method 100, vehicle 1 has information system 10 with a control unit 11 configured to execute method 100. For example, a computer program product may be provided that includes instructions that, when executed by control unit 11, cause control unit 11 to execute method 100.

[0048] To generate the modified representation data 300, the method 100 first involves capturing 101 environmental data 200 to capture at least one geometric feature 2.1 of the obstacle 2. For this purpose, the vehicle 1 and / or the information system 10 can comprise an environmental sensor system 20 in order to obtain the environmental data 200 based on sensor data from the environmental sensor system 20. For example, the environmental data 200 can comprise sensor data from multiple sensors of the environmental sensor system 20. Based on the environmental data 200, in particular, an environmental map 202 of the vehicle's surroundings 3 is created 102. For this purpose, a point cloud can be created, for example, from the environmental data 200.

[0049] Furthermore, in method 100, representation data 300, in particular with a plurality of image elements, is provided 103 to represent the image of the vehicle's surroundings 3. The representation data 300 can be acquired using image data from at least one vehicle camera 21 of the vehicle 1. The vehicle camera 21 can, in particular, be part of the surroundings sensor system 20. However, in particular in contrast to the surroundings map 202, the image data of the representation data 300 can still be retained and / or merely modified. The image elements of the representation data 300 can, for example, be formed by pixels of the image data.

[0050] Figure 1 shows representation data 300 in the form of a top view of the vehicle environment 3 with the vehicle 1. The representation data 300 can be composed of image data from a plurality of vehicle cameras 21. In particular, the modified representation data 300 can be output 106 as a function of an at least partially automated parking process for moving the vehicle 1 into a parking space. The top view has the advantage that a user can detect and monitor a plurality of obstacles 2 simultaneously during the parking process. However, it is also conceivable for the representation data 300 to comprise image data from a single vehicle camera 21, shown in Figure 2 in the form of image data from a rear-view camera. In particular, if a plurality of vehicle cameras 21 are used and / or the vehicle camera 21 is designed as a stereo camera, it can be provided that the representation of the image of the vehicle environment 3 is three-dimensional.

[0051] Furthermore, the method 100 comprises determining 104 the distance data 210 of the vehicle 1 to the geometric feature 2.1, ie in particular to the obstacle 2, as a function of the environmental data 200. The distance data 210 preferably comprise distance values ​​and / or distance information of one or more distances between the vehicle 1 and the obstacle 2. The distance data 210 can be determined as a function of the environmental map 202. However, it is also conceivable for the distance data 210 to be determined before the environmental map 202 is generated and for the environmental map 202 to be determined based on the distance data 210.

[0052] Depending on a localization of the distance data 210 in the representation data, a modification 105 of the representation data 300 is further performed for visualization 302 of the distance data 210 in the representation data 300. Advantageously, for visualization 302 of the distance data 210, in particular during modification 105 of the representation data 300 and / or during determination 104 of the distance data 210, polygons 201 with at least one piece of color information are generated based on the geometric feature 2.1 and the environmental data 200, in particular the environmental map 202. The polygons 201 are generated based on an enveloping model 203 of the environmental data 200, as shown in Figure 3. A virtual boundary is generated around the obstacle 2, to which the distance data 210 is related. Depending on the distance data 210, the color information for the polygons 201 is determined.Advantageously, the modification 105 of the representation data 300 can be performed depending on the environment map 202. For this purpose, a coordinate transformation can be performed, in which the environment map 202 and / or the representation data 300 are converted into a common coordinate system for the environment map 202 and the representation data 300.

[0053] As shown in Figures 1 and 2, it can further advantageously be provided that the visualization 302 of the distance data 210 in the representation data 300 occurs by localizing the distance data 210 in the representation data 300 at the obstacle 2 on the ground of the vehicle environment 3. For this purpose, the distance data 210 are determined as a function of a first piece of height information 211 of the geometric feature 2.1. During modification 105 of the representation data 300, a comparison of the first piece of height information 211 with a second piece of height information 212 is then performed. The second piece of height information 212 is assigned to the image elements and is determined based on the representation data 300.During modification 105 of the representation data 300, a projection of the distance data 210 onto a background of the vehicle environment 3 is also carried out depending on the first and second height information 211, 212, by first detecting a match between the first and second height information 211, 212, in particular in the common coordinate system, and then projecting onto the background starting from the image element with the match. Additionally or alternatively, however, it is also conceivable for the visualization 302 to take place directly at the image elements, in particular without the projection, in order, for example, in the display according to Figure 2, to enable the user to directly vertically assign the visualization 302 of the distance data 210 to the geometric feature 2.1.

[0054] As shown in Figure 1, it may also be advantageous if the visualization 302 of the distance data 210 during modification 105 of the representation data 300 is carried out depending on a division of the distance data 210 into several segments 213 extending from the vehicle 1. This can simplify the perception of the visualization 302 of the distance data 210 and / or the obstacles 2.

[0055] Subsequently, the modified representation data 300 is output 106.

[0056] For example, outputting 106 the modified representation data 300 may include displaying the modified representation data 300 on a display device 12 of the vehicle 1 in order to provide the modified representation data 300 to a driver of the vehicle 1.

[0057] List of reference symbols

[0058] vehicle

[0059] Obstacle Geometric feature Vehicle environment

[0060] Information system Control unit Display device

[0061] Environment sensors vehicle camera

[0062] Proceedings

[0063] Capturing 200

[0064] Creating 202

[0065] Providing 300 Determining 210 Modifying 300

[0066] Spending 300

[0067] Environmental data polygon environmental map

[0068] Envelope model

[0069] Distance data first height information second height information

[0070] Segments

[0071] Representation data visualization of 210

Claims

Patent claims Method (100) for operating an information system (10) for providing information about at least one obstacle (2) for a vehicle (1), comprising: Acquisition (101) of environmental data (200) to capture at least one geometric feature (2.1) of the obstacle (2), Providing (103) representation data (300) to represent an image of a vehicle environment (3) that has the geometric feature (2.1) of the obstacle (2), Determining (104) distance data (210) of the vehicle (1) to the geometric feature (2.1) depending on the environmental data (200), modifying (105) the representation data (300) to visualize (302) the distance data (210) in the representation data (300) depending on a localization of the distance data (210) in the representation data (300), outputting (106) the modified representation data (300). Method (100) according to claim 1, characterized in that the representation data (300) are acquired using image data from at least one vehicle camera (21) of the vehicle (1), wherein the localization of the distance data (210) is carried out using image elements of the image data. Method (100) according to claim 1 or 2, characterized in that the representation of the image of the vehicle environment (3) is three-dimensional and / or includes a top view of the vehicle environment (3).Method (100) according to one of the preceding claims, characterized in that the method (100) comprises the following step:. Creating (102) an environment map (202) of the vehicle environment (3) depending on the environment data (200), wherein the distance data (210) are determined depending on the environment map (202) and / or the modification (105) of the representation data (300) depending on the environment map (202) is carried out. Method (100) according to claim 4, characterized in that a coordinate transformation is performed to modify (105) the representation data (300), in which the environment map (202) and / or the representation data (300) are converted into a common coordinate system for the environment map (202) and the representation data (300). Method (100) according to any one of the preceding claims, characterized in that the visualization of the distance data (210) during the modification (105) of the representation data (300) depends on a division of the distance data (210) into several segments (213) extending from the vehicle (1). Method (100) according to any one of the preceding claims, characterized in that the distance data (210) is visualized during the modification (105) of the representation data (300) based on the geometric feature (2).1) and the environment data (200) polygons (201) with at least one color information are generated, wherein the color information is determined depending on the distance data (210). Method (100) according to claim 7, characterized in that the polygons (201) are generated based on an envelope model (203) of the environment data (200). Method (100) according to any of the preceding claims, characterized in that the distance data (210) are determined depending on a first height information (211) of the geometric feature (2.1), wherein when modifying (105) the representation data (300), the first height information (211) of the geometric feature (2.1) and / or a second height information (212) of the representation data (300) is taken into account. Method (100) according to claim 9, characterized in that. that when modifying (105) the representation data (300), a comparison of the first and second height information (211, 212) is performed, wherein the distance data (210) in the representation data (300) are localized depending on the comparison of the first and second height information (211, 212). Method (100) according to one of claims 9 or 10, characterized in that when modifying (105) the representation data (300) depending on the first and second height information (211, 212), a projection of the distance data (210) onto a surface of the vehicle environment (3) is performed, so that the visualization of the distance data (210) in the representation data (300) at the obstacle (2) can be displayed on the surface.A method (100) according to any one of the preceding claims, characterized in that the output (106) of the modified representation data (300) comprises displaying the modified representation data (300) on a display device (12) of the vehicle (1). A method (100) according to any one of the preceding claims, characterized in that the output (106) of the modified representation data (300) occurs as a function of an at least partially automated parking process for moving the vehicle (1) into a parking space. A computer program product comprising commands which, when executed by a control unit (11), cause the control unit (11) to execute a method (100) according to any one of the preceding claims.Vehicle (1) comprising an information system (10) for providing (103) information about at least one obstacle (2) to the vehicle (1) with a control unit (11) for performing a method (100) according to one of claims 1 to 13.

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