Driving a motor vehicle in virtual surroundings

Abstract

A system (100) comprises a headset, which is configured to be placed on a head of a driver (120) of a motor vehicle (105), wherein the headset comprises a camera (130) for providing a first view (205) of an interior of the motor vehicle (105) and an optical display for the driver (120); furthermore a model (170) for providing a view of virtual surroundings of the motor vehicle (105) with respect to a predetermined pose; a device for determining a pose of the head of the driver (120) with respect to the real surroundings of the motor vehicle (105) and a processing device (110). The processing device (110) is configured to overlay the first view (205) of the interior with a second view (210) of the virtual surroundings with respect to the determined pose and provide same to the driver (120).

Description

[0001] Driving a motor vehicle in a virtual environment

[0002] A motor vehicle can be controlled by a driver in a predetermined environment. For example, the motor vehicle can be driven on a test track away from public roads to train the driver in controlling the motor vehicle. The test track can include facilities to dynamically place the driver in a predetermined driving situation so that they can learn how to cope with it more effectively. This allows the driver to be trained without exposing the motor vehicle, the driver, or any other person to undue danger.

[0003] A training facility on a test track is typically designed to minimize damage even if the driver fails to complete a task or even loses control of the vehicle. For example, a series of vertical water jets may be provided for the vehicle to drive toward. Once the vehicle reaches a predetermined distance, some of the jets can be turned off, creating a gap through which the driver can steer the vehicle. If the driver misses the gap, the vehicle will be hit by a jet of water but will not impact any solid object.

[0004] Such a training facility is complex to set up and operate. Not all driving maneuvers possible with a motor vehicle can be practiced with a single training facility. For example, the aforementioned row of water fountains is usually permanently installed and cannot be adjusted to limit a predetermined curve.

[0005] Conversely, a test track can also be used to test the function of a motor vehicle in a predetermined driving situation. For example, important aspects of a chassis, braking system, or steering system can be experienced practically. Here, too, even a well-equipped test track has limited flexibility, and an unlimited number of different tests cannot be carried out in a predetermined, limited area. It has been proposed to simulate the behavior of the motor vehicle in a predetermined driving situation. A driver can sit in a simulator that replicates the interior of the motor vehicle. The exterior of the motor vehicle can be conveyed using an appropriate display, e.g., a projector system. The simulator can be tilted to simulate longitudinal or transverse forces acting on the driver.

[0006] In principle, any number of different driving situations can be recreated using the simulator. However, the simulator can only convey partial aspects of a real driving experience to the driver. For example, acceleration with a force exceeding the force of gravity cannot be recreated. Cornering, acceleration, and deceleration at the vehicle's limits cannot always be realistically conveyed. Driver training in the simulator can therefore be incomplete. The simulator can also only be used to a limited extent for testing a motor vehicle, as its actual driving behavior is usually not known precisely enough and therefore may not be able to be accurately simulated.

[0007] One object underlying the present invention is to provide a technology for improved, realistic driving of a motor vehicle in a virtual environment. The invention achieves this object by means of the subject matter of the independent claims. Subclaims specify preferred embodiments.

[0008] A system according to the invention comprises a headset configured to be attached to the head of a driver of a motor vehicle. The headset comprises a camera for providing a first view of an interior of the motor vehicle and a visual display for the driver. The system further comprises a model for providing a view of a virtual environment of the motor vehicle with respect to a predetermined pose; a device for determining a pose of the driver's head with respect to the real environment of the motor vehicle; and a processing device. The processing device is configured to overlay the first view of the interior with a second view of the virtual environment with respect to the determined pose and to provide it to the driver. It has been recognized that a realistic driving experience of a motor vehicle can best be conveyed by driving a real motor vehicle in a real environment.At the same time, circumstances that characterize a predetermined driving situation can best be recreated by creating a virtual environment.

[0009] It is proposed to blend views of the real and virtual environments and present them to the driver. This should allow the driver to perceive elements inside the vehicle unchanged, while a view of elements outside the vehicle is replaced by a corresponding view of the virtual environment. This allows the driver to move the vehicle in the real environment while still having the impression of driving through the virtual environment.

[0010] By blending real and virtual content, the driver can experience a convincing and consistent sensory experience. They can fully control the vehicle and utilize all on-board systems. Such systems can include, for example, a driver assistance system, an entertainment system, or a comfort system. The virtual environment can be controlled in such a way that the driver can experience a predetermined driving situation and learn how to control the vehicle in that situation.

[0011] For example, a driving technique such as drifting along a predetermined curve can be taught safely in this way. A boundary of the curve may only exist in the virtual environment, whereas in the real environment there is neither a boundary nor an obstacle. If the motor vehicle leaves the virtual curve, no real damage to the vehicle can occur. In this way, any curves or sequences of curves can be created in the virtual environment that the driver can actually drive through with the vehicle. The curves can be provided in a space-saving manner and without delay over a relatively small real area. There is no need to create or set up real infrastructure in the real environment. The motor vehicle can be observed more effectively in a predetermined driving situation that can be brought about by the driver in the virtual environment.This allows the vehicle to be tested in a more targeted manner.

[0012] The interior of the motor vehicle may be delimited by a window. The overlay is preferably provided such that the virtual environment is visible to the driver only in the area of ​​the window. The remaining interior, which may include, for example, a vehicle headliner, a vehicle pillar, a dashboard, a steering wheel, a vehicle seat, a control element, a side door, a vehicle floor, or a center console, is preferably displayed to the driver from the perspective that their head assumes relative to the motor vehicle.

[0013] Multiple panes can also be provided, which can be treated in the same way. For example, there might be a windshield in front of the driver, a right or left side window to the side, or a skylight with another pane installed in the roof. The window of the vehicle is transparent and allows a person on board the vehicle who is not wearing a headset to see the real surroundings of the vehicle.

[0014] A predetermined optical marking may be applied to a pane. The processing device may be configured to determine the position of the pane in the first view of the interior relative to the marking.

[0015] The optical marking can be more easily detected automatically than a window border on a scan of the interior. This can prevent a section of the virtual environment that the driver sees in the area of ​​the window from being incorrectly sized or oriented relative to the view of the interior. Furthermore, it can be better prevented from shifting the detected position of the window in the initial view, for example, during a dynamic maneuver of the vehicle. Otherwise, shifting the views relative to each other could create an unrealistic impression for the driver, which could lead to side effects such as disorientation or nausea.

[0016] The marking can be associated with a shape of the windshield. For example, the marking can comprise a two-dimensional binary optical code, such as a QR code, and the shape can be associated with the code. Furthermore, a size or position of the marking, or rather the code expressed by it, can also be associated with it. The system can be configured for use on various motor vehicles, whereby motor vehicles with differently shaped windshields can have different markings. Based on a recognized marking, the system can more effectively determine which type of motor vehicle it is on board or which shape of the windshield is correct.

[0017] The device can comprise a first sensor for determining a pose of the motor vehicle in the real environment and a second sensor for determining a pose of the driver's head in the motor vehicle. Thus, for example by means of the processing device, the pose of the driver's head with respect to the real environment can be determined on the basis of the two poses determined by the sensors. It has been shown that a realistic driving impression can only be achieved if the real and virtual environments are coordinated with one another with high quality. Using the two sensors, the pose of the driver's head with respect to the real environment can be determined more effectively. As a result, the coordination of the first and second views can be achieved with increased precision.

[0018] It is further preferred that one or more other sensors or information sources on board the motor vehicle be used to more accurately determine the pose of the driver's head or the pose of the motor vehicle in the virtual environment. Such a sensor can be configured to determine a position or an orientation or alignment, or both together in the form of a pose.

[0019] The device may comprise an absolute positioning device. This may, in particular, be formed by a receiver for a satellite-based navigation system (GNSS). The positioning device may additionally be configured to determine and provide a direction of movement and a speed of movement.

[0020] Furthermore, the device can comprise a relative positioning device. This can be formed, in particular, by an odometer. The odometer can operate on the basis of rotation sensors on the wheels of the motor vehicle. A steering angle or a driving speed of the motor vehicle can also be used to determine the relative position of the motor vehicle. In another embodiment, a camera-based odometer can be provided, in which a position of the motor vehicle is determined with respect to apparent positions of landmarks in the real surroundings of the motor vehicle and known absolute positions associated with the landmarks.

[0021] The device may also include an acceleration sensor. The acceleration sensor is preferably configured to determine acceleration along or around a longitudinal axis, a vertical axis, or a transverse axis of the motor vehicle. In particular, pitching, rolling, or yawing of the motor vehicle can be taken into account. The acceleration sensor can also be used to determine vibration of the motor vehicle.

[0022] The system may include a device for limiting the position of the motor vehicle to a predetermined area of ​​the real environment. Such a technique is known as geofencing. If the motor vehicle exceeds the predetermined area or there is a risk of doing so, the motor vehicle can be steered longitudinally and / or laterally to counteract this. The area can be selected so that obstacles or vulnerable objects are located outside the area. Security inside and outside the motor vehicle can thus be improved.

[0023] Another safety measure may include an additional control device for longitudinal or lateral control of the motor vehicle for another person on board. For example, an additional brake pedal may be provided for a passenger, who preferably does not wear a headset. The passenger can take control of the motor vehicle if a predetermined, controllable driving condition is deviated from.

[0024] It is further preferred that the system correctly displays a display in an interior or exterior mirror. If the interior of the motor vehicle is delimited by a window on the outside of which a rearview mirror is mounted, a further view of the virtual environment can be determined with respect to the rearview mirror and superimposed on the first view such that it is visible to the driver in the rearview mirror. In a corresponding manner, a further view of the virtual environment can be determined with respect to an interior mirror mounted in the interior and superimposed on the first view at the corresponding point. The driver can thus view an area of ​​the virtual environment behind them in an improved and usual manner.

[0025] According to a further aspect, a motor vehicle comprises a system described herein. The motor vehicle can be used to train a driver to control the motor vehicle or to instruct the driver to place the motor vehicle in a predetermined driving situation, for example, to study driving behavior.

[0026] A method according to the invention comprises steps of determining a pose of a head of a driver of a motor vehicle with respect to a real environment of the motor vehicle; determining a first view of an interior of the motor vehicle from the driver's head; determining a second view of a virtual environment of the motor vehicle with respect to the determined pose; superimposing the first view of the interior with the second view of the virtual environment; and providing the overlay to the driver.

[0027] The method can be carried out partially or completely by means of a system described herein. In particular, at least part of the method can be carried out by means of a processing device included in the system. This can, in particular, be implemented electronically and, for example, comprise a programmable microcomputer or microcontroller. The method can be in the form of a computer program product with program code means. The computer program product can be stored on a computer-readable data carrier. Features or advantages of the system can be transferred to the method, or vice versa.

[0028] The virtual environment can be adapted depending on the movement of the vehicle. This allows the driver to be guided dynamically, i.e., depending on the control they initiate, to steer the vehicle in a predetermined manner. For example, a hint to change the steering angle can be given, or an ideal line to keep the vehicle on can be displayed. Learning a predetermined driving technique, such as drifting, or steering the vehicle into a predetermined driving state can thus be done in a playful manner. This can accelerate driver training or the conduct of a predetermined test of the vehicle.

[0029] In a further development, the method can be applied to two systems on board two motor vehicles. Even more motor vehicles can participate in the method, each carrying a system described herein. The motor vehicles are located in real, but separate, environments. The virtual environments for the systems and motor vehicles are identical. This allows interaction between the motor vehicles to be simulated more realistically, yet safely.

[0030] The model can include an avatar for each of the motor vehicles, whereby the avatar can be updated depending on the movement of the respective motor vehicle. For example, a collision between the avatars can be determined without a collision between the motor vehicles actually occurring. Optionally, a visual reference to the avatar of the other motor vehicle can be displayed on board a motor vehicle. This can give a driver on board one of the motor vehicles the impression that they see the other motor vehicle in the vicinity of their own motor vehicle. A collision between two motor vehicles can be displayed accordingly on board other motor vehicles.

[0031] This continuation can be used to represent complex scenarios or to pit drivers against each other on a predetermined task. A driving situation requiring more than one vehicle can be achieved through the concerted control of the drivers of several vehicles.

[0032] The invention will now be described in more detail with reference to the accompanying drawings, in which:

[0033] Figure 1 shows a system on board a motor vehicle; Figure 2 shows an overlay of views;

[0034] Figure 3 shows a driver on board a motor vehicle; and

[0035] Figure 4 illustrates a flow chart of a process.

[0036] Figure 1 shows a system 100 on board a motor vehicle 105. The illustrated system 100 comprises a processing device 110 connected to a headset 115. The headset 115 is configured to be attached to the head of a driver 120 of the motor vehicle 105. The driver 120 is located in an interior space on board the motor vehicle 105 and can control a longitudinal or transverse movement of the motor vehicle 105. Furthermore, the driver can utilize other systems or devices on board the motor vehicle 105.

[0037] The headset 115 includes at least one visual display 125 for the driver 120. The headset 115 is preferably designed such that the display 125 is total for the driver 120, meaning that the driver can only visually perceive the content provided to them via the display 125. In the illustrated embodiment, a display 125 is provided for each eye of the driver 120. Furthermore, a camera 130 is attached to the headset 115 and is configured to provide a view of at least the interior of the motor vehicle 105.

[0038] The imaging properties of the camera 130 are preferably adapted to the optical properties of the visual apparatus of the driver 120, so that a view provided by the camera 130 can be output on a display 125, providing the driver 120 with a visual impression that is as close as possible to what they would receive without the headset 115. If necessary, the view can be adapted accordingly using the processing device 110. It should be noted that the headset 115 can also comprise or be attached to multiple cameras 130.

[0039] A marker 135, which can be used as an optical reference pattern, can be attached to the headset 115. The marker 135 is preferably shaped and attached to the headset 115 in such a way that it visually indicates a position and / or orientation of the headset 115. For example, another camera 130 can be attached to a structural element of the motor vehicle 105 and configured to optically scan the headset 115. The marker 135 can be easily recognized on the scan, so that a position or orientation of the headset 115 can be determined.

[0040] In a corresponding manner, a marker 135 may be attached to a structural element of the motor vehicle 105, and a position or orientation of the headset 115 may be determined with respect to an optical scanning of the marker 135 by means of the camera 130 attached to the headset 115.

[0041] Purely by way of example, a frame 140 of a window 145, which defines the interior of the motor vehicle 105, is chosen as the structural element in Figure 1. A marker 135 can, for example, be attached to an upper edge of the frame 140 in the region of an interior mirror 150. The camera 130 is arranged, for example, at the lower edge of the frame 140.

[0042] Optionally, an optical marking 155 is applied to the disk 145, which is preferably one-dimensional or two-dimensional. The marking 155 can be binary-coded, comprising light and dark sections whose arrangement and extents can be automatically processed to decode a message encoded thereby. The message can indicate a geometry of the disk 145. The geometry can, in particular, relate to a size or shape of the disk 145. In a further embodiment, the message 155 comprises a reference to an entry in a data store, wherein information about the geometry of the disk 145 is associated with the entry. The data store can comprise a plurality of entries and associated geometries.

[0043] Preferably, the system 100 further comprises a receiver 160 for signals from a global navigation satellite system (GNSS). Based on the received signals, the receiver 160 can determine a geographical position of the motor vehicle 105 and, optionally, a direction of movement and a speed of movement of the motor vehicle 105.

[0044] An acceleration sensor 165 can be provided to determine an acceleration or rotational acceleration of the motor vehicle 105 about one or more spatial axes. Preferably, the acceleration sensor 165 is configured to determine acceleration with respect to a longitudinal axis, a vertical axis, and a transverse axis of the motor vehicle 105. In this case, an acceleration along one of the axes (translation) or about one of the axes (rotation) can be determined. A corresponding acceleration sensor 165 can also be attached to the headset 115 and connected to the processing device 110.

[0045] The system 100 further comprises a model 170 configured to recreate a virtual environment. The virtual environment is coordinated with the real environment of the motor vehicle 105. For this purpose, a position of the virtual environment relative to the real environment is predetermined. If the motor vehicle 105 moves in the real environment, it moves in the same way in the virtual environment. If the motor vehicle 105 follows a predetermined trajectory, it assumes a series of poses, with respect to each of which views of the virtual environment can be determined using the model 170. The series of provided views corresponds to the impression of driving along the trajectory through the virtual environment.

[0046] The course of a subsurface in the real environment of the motor vehicle 105 is preferably simulated in the virtual environment. In particular, a slope, a road, an object, or a landmark of the real environment can be reflected in the virtual environment.

[0047] Further preferably, an interface 175 is provided for connection to a device on board the motor vehicle 105. In particular, a position, orientation, or movement parameter of the motor vehicle 105 can be obtained via the interface 175. Example devices on board the motor vehicle 105 that can provide such information include an ABS system, an electronic chassis control, an engine control for a drive motor, or a navigation system. Optionally, a sensor on board the motor vehicle 105 can also be used for the system 100. For example, an existing interior camera 130 can be used to scan the headset 115. Optionally, a wireless communication device 180 is provided, which can be configured to communicate with a central location or another system 100 on board another motor vehicle 105.

[0048] Figure 2 shows an overlay 200 that can be displayed to a driver 120 on board a motor vehicle 105 while looking through a headset 115. The overlay 200 comprises portions of a first view 205 and a second view 210. The first view 205 is provided by a camera 130 attached to the headset 115 of the driver 120. The second view 210 is determined with respect to a view of the virtual environment of the motor vehicle 105 with respect to a pose of the head of the driver 120.

[0049] The first view 205 relates to the interior of the motor vehicle 105 and reflects what the driver 120 could also see without the headset 115 with the appropriate head position. This includes all equipment and functional components of the motor vehicle 105, in particular a steering wheel and a cockpit. The driver 120 also sees himself, as can be seen in Figure 2 by way of example through the hands of the driver 120 on the steering wheel.

[0050] A portion of the second view 210 is blended into the first view 205 where the interior of the motor vehicle 105 is delimited by a window 145. A transition between the first view 205 and the second view 210 is highlighted in Figure 2 by dashed lines. These lines are generally not part of the views 205, 210 and are not recognizable by the driver 120.

[0051] In the illustration of Figure 2, a windshield and a side window are provided, with an exterior mirror 215 visible through the side window. Optionally, a portion of a third view 220 can be displayed on a mirror surface of the exterior mirror 215, which view is determined by means of the model 170 in the virtual environment with respect to a pose of the exterior mirror 215. An opposite exterior mirror or an interior mirror can be treated in a corresponding manner.

[0052] To illustrate one possible mode of operation of system 100, Figure 2 shows two adjacent gates 225 in the virtual environment of motor vehicle 105. Driver 120 may be tasked with driving through the gate 225 that is displayed in a specific manner, for example, in a predetermined color, and avoiding the other gate, which may be displayed in a different predetermined color. The colors of gates 225 may, for example, change according to a predetermined pattern or randomly. In particular, the colors may be displayed late depending on the driving speed and distance of motor vehicle 105 from gates 225. The driver's 120's reaction time and ability to drive motor vehicle 105 through the correct gate 225 in a controlled manner, even at high speed, can thus be trained.

[0053] Figure 3 shows an exemplary view of a driver 120 on board a motor vehicle 105 with a system 100. The headset 115 is attached to the head of the driver 120. The headset 115 is preferably relatively small and lightweight so that it does not obstruct the driver 120 or interfere with any head movement. Two cameras 130 are mounted in an area close to the eyes of the driver 120. Elements of a marker 135 are distributed on a frame of the headset 115.

[0054] Sections of the real environment of the motor vehicle 105 are visible through a side window and a rear window. The driver 120 cannot see the real environment, and sections of the virtual environment of the motor vehicle 105 are displayed to him via the headset 115 in the area of ​​the windows 145.

[0055] Figure 4 shows a flowchart of a method 400. The method 400 can be carried out in particular by means of a system 100.

[0056] In a step 405, the headset 115 can be detected from the vehicle 105. For this purpose, the headset 115 can be scanned using a fixed camera 130.

[0057] In a step 410, a pose of the head of the driver 120 in the vehicle 105 can be determined. For this purpose, the pose of the headset 115 can be determined, for example, with respect to the position of the marker 135 on the optical scan. In a step 415, the interior of the vehicle 105 can be scanned from the headset 115. The camera 130 attached to the headset 115 can be used for this purpose. Optionally, the pose of the head of the driver 120 can also be determined based on this scan. For this purpose, in particular, the position of a marker 135, which is permanently attached to the motor vehicle 105, can be determined in the scan.

[0058] To determine the pose of the motor vehicle 105 in the real environment, an absolute position of the motor vehicle 105 can be determined in a step 420. For this purpose, for example, the GNSS receiver 160 or a camera-based position detection system can be used, which can be connected to the system 100 via the interface 175.

[0059] In a step 425, an acceleration of the motor vehicle 105 can be determined. The acceleration can be determined using an acceleration sensor 165 or based on a system on board the motor vehicle 105, for example, a drive or braking system.

[0060] A relative position of the motor vehicle 105 can be determined in a step 430. The relative position can be determined in particular with respect to movement or speed information of the motor vehicle 105. For this purpose, in particular, signals from an odometer of the motor vehicle 105 can be evaluated, which can be obtained via the interface 175.

[0061] Based on information collected in steps 420 to 430, the pose of the motor vehicle 105 in the real environment can be determined in a step 435.

[0062] In a step 440, the pose of the head of the driver 120 in the real environment can be determined based on the pose of his head in the motor vehicle 105 and the pose of the motor vehicle 105 in the real environment. For optimal results, the pose of the head should be determined in step 440 with the highest possible accuracy and, in the dynamic case, with the shortest possible time delay. Intermediate results can be improved based on additional information.

[0063] In step 445, a view of the virtual environment can be determined based on the determined pose. This view is also referred to herein as the second view.

[0064] Based on the scanning of the interior in step 415, a view of the interior can be determined, which is also referred to herein as a first view. In an optional step 450, the position of a disk 145 can be determined in the first view. For this purpose, a boundary of the disk 145 can be determined in the first view, or geometric information about the shape or extent of the disk 145 can be applied accordingly.

[0065] In a step 455, the first and second views can be superimposed. Preferably, sections of the first view that lie in the region of a disk 145 are replaced by corresponding sections of the second view.

[0066] In a step 460, the overlay may be output to the driver 120 via the at least one display 125 of the headset 115.

[0067] Reference symbol

[0068] 100 systems

[0069] 105 Motor vehicle

[0070] 110 Processing facility

[0071] 115 Headset

[0072] 120 drivers

[0073] 125 ad

[0074] 130 Camera

[0075] 135 markers

[0076] 140 frames

[0077] 145 disc

[0078] 150 interior mirrors

[0079] 155 Marking

[0080] 160 GNSS receivers

[0081] 165 Accelerometer

[0082] 170 model

[0083] 175 Interface

[0084] 180 communication device

[0085] 200 Overlay

[0086] 205 first view

[0087] 210 second view

[0088] 215 exterior mirrors

[0089] 220 third view

[0090] 225 Gate

[0091] 400 procedures

[0092] 405 Detect headset from vehicle

[0093] 410 Determine the pose of the driver's head in the vehicle

[0094] 415 Scan the vehicle interior from the headset

[0095] 420 determine absolute position

[0096] 425 Determine acceleration 430 Determine relative position

[0097] 435 Determine the pose of the vehicle in the real environment

[0098] 440 Determine the pose of the driver's head in the real environment

[0099] 445 Determine view of the virtual environment 450 Determine pane

[0100] 455 Views Overlay

[0101] 460 to the driver

Claims

Claims 1. System (100), the system (100) comprising: a headset configured to be attached to the head of a driver (120) of a motor vehicle (105), the headset comprising a camera (130) for providing a first view (205) of an interior of the motor vehicle (105) and a visual display for the driver (120); a model (170) for providing a view of a virtual environment of the motor vehicle (105) with respect to a predetermined pose; a device for determining a pose of the head of the driver (120) with respect to the real environment of the motor vehicle (105); a processing device (110) configured to overlay the first view (205) of the interior with a second view (210) of the virtual environment with respect to the determined pose and to provide it to the driver (120).

2. System (100) according to claim 1, wherein the interior of the motor vehicle (105) is delimited by a window; wherein the overlay is provided such that the virtual environment is visible to the driver (120) only in the region of the window.

3. System (100) according to claim 2, wherein a predetermined optical marking is applied to the pane and wherein the processing device (110) is configured to determine the position of the pane in the first view (205) of the interior with respect to the marking.

4. The system (100) of claim 3, wherein the marking is associated with a shape of the disc.

5. System (100) according to one of the preceding claims, wherein the device comprises a first sensor (160, 165, 175) for determining a pose of the motor vehicle (105) in the real environment and a second sensor (130) for determining a pose of the head of the driver (120) in the motor vehicle (105). System (100) according to claim 5, wherein the device comprises an absolute positioning device (160). System (100) according to claim 5 or 6, wherein the device comprises a relative positioning device (175). System (100) according to one of claims 5 to 7, wherein the device comprises an acceleration sensor (165). System (100) according to one of the preceding claims, further comprising a device for limiting a position of the motor vehicle (105) to a predetermined region of the real environment.System (100) according to one of the preceding claims, wherein the interior of the motor vehicle (105) is delimited by a window (145), on the outside of which a rearview mirror (215) is mounted; wherein a further view (215) of the virtual environment is determined with respect to the rearview mirror (215) and superimposed on the first view (205) such that it is visible to the driver (120) in the rearview mirror (215). Motor vehicle (105) comprising a system (100) according to one of the preceding claims. Method (400) with the following steps:. Determining (440) a pose of a head of a driver (120) of a motor vehicle (105) with respect to a real environment of the motor vehicle (105); Determining (415) a first view (205) of an interior of the motor vehicle (105) from the head of the driver (120); Determining (445) a second view (210) of a virtual environment of the motor vehicle (105) with respect to the determined pose; Overlaying (455) the first view (205) of the interior with the second view (210) of the virtual environment; and providing the overlay to the driver (120). The method (400) according to claim 12, wherein the virtual environment is adapted depending on a movement of the motor vehicle (105).

14. The method (400) according to claim 12 or 13, wherein systems (100) are provided on board two motor vehicles (105) in two real, separate environments, wherein only one common virtual environment is used for the systems (100).

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