Transport means, driver assistance system and method for displaying a moving object in the environment for a user of a transport means

Abstract

The invention relates to a driver assistance system, a transport means (10) and a method for displaying an object (1) moving in the environment for a user of a transport means (10). The method comprises the steps of: Determining the object (1) in the environment using a sensor (14) of the transport means (10), automatically determining a trajectory (2) of the object (1) in the environment, and displaying a representation (3) of the trajectory (2) by means of a display device (4) of the transport means (10).

Description

[0001] Means of transport, driver assistance system and method for displaying a moving environmental object for a user of a means of transport

[0002] Description

[0003] The present invention relates to a means of transportation, a driver assistance system, and a method for displaying a moving object in the surroundings to a user of a means of transportation. In particular, the present invention relates to intuitively interpretable and clearly visible information for a user about collision-relevant road users.

[0004] Current technology uses environmental sensors (cameras, ultrasonic sensors, LiDAR sensors, etc.) to detect objects in the vicinity of a vehicle and report them to the driver / occupant of the vehicle. In particular, collision relevance, distance, shape, and other information can be determined and displayed. However, displaying information on individual screens has several disadvantages: On the one hand, the user's attention must be directed to the respective screen in order to perceive the warning. On the other hand, a consistently consistent position (the position of the screen) is an unnatural signal regarding the location of the object in the environment.In particular, the driver can only understand the location of an object in the surroundings after interpreting the display, when the driver has placed the visual indication on the display in relation to a symbol representing his or her ego vehicle. This can waste valuable time that could be used to initiate appropriate measures. It is an object of the present invention to inform a user of a means of transportation efficiently, safely, and intuitively about the position and / or trajectory of an object in the surroundings.

[0005] The above-mentioned object is achieved according to the invention by a method for displaying a moving environmental object for a user of a means of transport. The environmental object can also be understood as a road user, pedestrian, cyclist, means of transport, or the like. The user can in particular be a driver of the means of transport, while the means of transport can comprise a car, a van, a motorcycle, a truck, and an aircraft and / or watercraft. In a first step, the environmental object is detected or identified using a sensor of the means of transport. This can also include locating the environmental object. The sensor technology used can in particular comprise a camera, an ultrasonic sensor, a LiDAR sensor, a laser scanner, or a combination of the aforementioned.The determination of the environmental object can, in particular, track a position of the environmental object over time and, for this purpose, a series of locations of the environmental object over time can be carried out, in particular by means of a multiplicity of sensors that change over time. In a second step, a trajectory of the environmental object is automatically determined. For this purpose, locations of the environmental object determined over time using the sensor are determined, and from this, a trajectory of the environmental object is determined. In particular, a past trajectory and / or a future (predicted) trajectory of the environmental object is determined / estimated. A representation of the trajectory is then displayed by means of a first display device of the means of transport. In this way, the user receives an indication of the direction in which the environmental object is moving or will move in the future.This allows the user of the vehicle to avert any impending collision in good time.

[0006] The subclaims show preferred developments of the invention.

[0007] The display device can, for example, comprise a panoramic head-up display, which can be arranged in particular in the base region of a windshield of the vehicle. In particular, the panoramic head-up display can extend into a black print area of ​​the windshield and beyond. Alternatively or additionally, the display device can use a projector, for example, to generate projections on a dashboard and / or on a glove compartment and / or on a roof liner of the vehicle. Projections onto an A-pillar, a B-pillar, an interior door panel, and other interior surface areas of the vehicle are also possible in order to make the display as clear as possible and to depict the spatial relationships to the position of the surrounding object with respect to the vehicle with the greatest possible flexibility.Alternatively or additionally, an ambient lighting unit can be used, which can in particular be provided as a single or double linear light source. A diffuser can be used here to control a large number of individual light sources (LEDs, or similar) in a spatial and temporal sequence such that the sequence optimally reproduces the direction of movement / trajectory of the surrounding object. The ambient lighting unit can be arranged in a dashboard and / or in an A / B pillar and / or in an interior door panel and / or a glove compartment lock of the means of transport. Alternatively or additionally, the display device can comprise footwell lighting, which enables early and extremely discreet signaling of the trajectory / presence of the surrounding object. In particular, the display device can be set up to indicate the presence of the surrounding object on the driver side or the passenger side by means of aThe display device can be located on the passenger side. In principle, the display device can be arranged in the interior of the vehicle (i.e., not on exterior mirrors or the like).

[0008] In order to depict the direction of the trajectory as intuitively as possible, the representation of the trajectory can be presented using an animation. In other words, the location of the environmental object is depicted as changing over time by the representation of the trajectory. Examples of possible uses include moving pictograms, arrow representations that are successively switched on and off, and line-shaped and wipe-effect representations. To increase the information density of the representation, a category of the environmental object (e.g., pedestrian, cyclist, motorcyclist, car, van, or truck, etc.) can be determined, preferably using sensors, in order to generate a corresponding representation using the display device. For example, an icon associated with the category can be displayed in conjunction with the representation of the trajectory.The icon can be used as a symbol for the surrounding object, and its trajectory can be represented in a corresponding direction (e.g., by arrows, lines, or similar). The representation of the trajectory can also be displayed variably in reference to the sensed gaze direction of the user of a means of transport. In other words, the sensor technology can automatically determine the direction in which the user is currently directing their attention. Depending on this direction and the representation of the trajectory, a visual transition of the attention towards the representation of the trajectory can be displayed.

[0009] Preferably, the representation of the trajectory can be presented in chronological sequence, initially by means of the first display device and, at a later point in time, also or exclusively by means of a second display device. For example, a projection or ambient lighting unit generated in a door can signal the appearance of the surrounding object overtaking on the right or left, while, as time progresses, display devices located further forward in the vehicle (second display devices) are used to supplement or subsequently display the trajectory. Alternatively or additionally, a reversed order of use of display devices can also direct the user's gaze initially from a front view over the edges of the dashboard to the A-pillars or into the interior door panels, behind which the surrounding object is located (i.e., next to the vehicle).A combination of the aforementioned sequences or procedures is of course possible, particularly if a different color scheme / color / geometry, etc., is used to guide the user's attention than for the actual tracking of the surrounding object to represent its trajectory. The aforementioned signaling can be supported or supplemented by acoustic signals using a first sound transducer and, in particular, also using a second sound transducer. The representation of the trajectory can be acoustically displayed in chronological order, initially using a first sound transducer of the means of transport and, at a second (later) point in time, also or exclusively using a second sound transducer. In this case, realistic acoustic signaling can be achieved, in particular.For example, depending on the determined category, the operating noise of a bicycle (squeaking chain), the operating noise of a motorcycle (monopoly-dominated combustion engine noise), or the operating noise of a truck (gearbox and loud diesel noise) can be reproduced in a variable location to acoustically recreate the change in position of the surrounding object. For this purpose, for example, the first sound transducers used can be those located in a parcel shelf / trunk when controlling the transducers located in the rear doors. Next, the transducers located in the doors of the first row of seats can be used. Finally, the transducers located in the dashboard or similar locations can be used when the surrounding object is about to overtake.

[0010] Preferably, an intensity and / or a color and / or a form of representation of the trajectory (possibly also the representation of the environmental object itself) can depend on a risk of collision and / or on a distance between the means of transport and the environmental object. For example, a risk of collision can be illustrated by a first parameter and a distance of the environmental object by means of a second parameter of the display unit(s). In this way, for example, a small representation can indicate that the environmental object is distant, while a red representation of the environmental object can mean that the (small) environmental object is on a collision course. In this way, the most intuitive representation possible can be achieved.

[0011] In particular, the playback volume of a current audio playback (e.g. entertainment, radio, navigation instructions, voice output, or similar) can be stopped or reduced while the inventive display of the trajectory / environmental object is taking place. In particular, the collision relevance and / or the distance of the environmental object from the means of transport can be taken into account. In particular, in the case that the inventive method is to be accompanied by a representation of the environmental object or its trajectory by a sound signal / acoustic output, the reduction or stopping of playback can take place in any case. Whether playback is stopped or reduced automatically can depend in particular on an estimated / calculated duration and / or on the nature of a currently played audio source.For example, an audiobook can always be paused to ensure that even short sections of information are not lost on the user / listener. When consuming music signals, where the individual beat is not so crucial, a more generous playback duration can be provided with reduced volume or without audio output. The duration of the predefined spatial relationship for executing the method according to the invention can be estimated and / or calculated based on the trajectory and information about the motion state of the ego-mobility device.

[0012] According to a second aspect of the present invention, a driver assistance system is proposed which is configured to display a moving environmental object for a user of a means of transport. The driver assistance system can be designed in the form of an electronic control unit having a data input, an evaluation unit, and a data output. The evaluation unit can be configured to use the data input to determine the environmental object using a sensor of the means of transport. For this purpose, the data input can be connected to a sensor (e.g., a camera, an ultrasonic sensor, a laser scanner, or similar) via information technology. Furthermore, the evaluation unit is configured to automatically determine a trajectory of the environmental object. This can be done based on information relating to the environmental object recorded over time and / or based on an orientation of the environmental object.Finally, the evaluation unit can use the data output to display a representation of the trajectory using a first display device of the vehicle. In this way, the driver assistance system is clearly configured to provide the features, feature combinations, and the resulting advantages as they emerge from the above explanations in connection with the method according to the invention, which is why reference is made to the relevant explanations.

[0013] According to a third aspect of the present invention, a means of transportation is proposed that has a driver assistance system according to the second aspect of the invention. The means of transportation can be configured as a car, van, motorcycle, truck, aircraft, and / or watercraft. The driver assistance system can be configured as an electronic control unit, which can also perform other functions of the means of transportation. Therefore, the driver assistance system can be configured in the form of an engine control unit and / or a head unit and / or a central gateway or similar.

[0014] Further details, features, and advantages of the invention will become apparent from the following description and the figures. They show:

[0015] Figure 1 shows a schematic plan view of a driving situation of a means of transport designed according to the invention with a driver assistance system designed according to the invention during the execution of a method according to the invention;

[0016] Figures 2 to 5 show perspective views of a driver's workplace of a means of transport designed according to the invention at different times during an execution of a method according to the invention; and

[0017] Figure 6 is a flowchart illustrating steps of a

[0018] Embodiment of a method according to the invention.

[0019] Figure 1 shows a car as an ego-based means of transport 10, which is being overtaken by two environmental objects 1 in the form of cyclists (on both sides). The environmental objects 1 each have a trajectory 2 and are located within the detection range of sensors 14 in the form of exterior mirror cameras. Furthermore, the means of transport 10 has a front camera and a rear-view camera as sensors 14. The sensors 14 are connected for information technology purposes to a data input 20 of an evaluation unit 19. The evaluation unit 19 is capable of calculating, in accordance with the invention, a representation 3 of the trajectory 2 and displaying it on a display device 4 in the form of a disk root display. Furthermore, pictograms 5 representing the cyclists are displayed directly adjacent to the representations 3 of the trajectories 2.To facilitate the location of surrounding objects 1 for the occupants (not shown) and to provide them with comprehensive information about the trajectories 2 of the surrounding objects, acoustic signals 16 are emitted by loudspeakers 6 located in the doors of the first row of seats. As the overtaking maneuver progresses, these signals are also emitted by the loudspeakers 7 located in the dashboard. For this purpose, a data output 21 is connected by cable to the loudspeakers 6, 7 and to the display device 4.

[0020] Figure 2 shows a driver's workstation of a means of transport 10 designed according to the invention, which overtakes a cyclist traveling in a right-hand lane as an environmental object 1. The environmental object 1 is still sufficiently visible through the windshield, so that the occupant (not shown) can estimate the trajectory 2 themselves.

[0021] Figure 3 shows the representation shown in Figure 2 after the cyclist has exited the driver's secondary field of vision or entered a blind spot of the vehicle 10. In response to this, a pictogram 5 is displayed on the right side of the display device 4 as a reminder of the (non-collision-relevant) cyclist. For this purpose, previously displayed elements are removed from the display device 4 (window root display). In addition, a pictogram 5 representing a bicycle is projected onto the glove compartment. Two ambient light strips of an ambient light unit 17 direct the driver / passenger to the right side of the vehicle so that the cyclist is not overlooked. Finally, a lighting device in the form of footwell lighting 18 has also been switched on to draw the occupants' attention to the right side of the vehicle.The ambient lighting unit 17 is shown in white, as is the pictogram 5 located in the display device 4. The projection on the glove compartment has a red background color and a black pictogram 5 in the shape of a bicycle.

[0022] Figure 4 shows the situation depicted in Figure 3, after which either the vehicle 10 is traveling more slowly or the surrounding object in the blind spot has accelerated and is preparing to overtake. The pictogram 5 displayed on the display device 4 now has two rows of arrows as representations 3 of the trajectory 2. A representation 3 of the trajectory 2 has also been added to the glove compartment. Furthermore, the pictogram 5 on the glove compartment moves in the direction of travel or the direction of the vanishing point of the display. The footwell lighting 18 has been given a fiery red color and is more intense than before. The ambient lighting unit 17 has changed from white light to red light, as has the display of the representation 3 of the trajectory and the pictogram 5 on the display device 4.

[0023] Figure 5 shows the situation depicted in Figure 4, in which the surrounding object (cyclist) has almost overtaken the ego vehicle again. Compared to the depiction in Figure 4, the pictogram 5, together with the representations 3 of the trajectory, has almost "driven out" of the upper edge of the display device 4, leaving only a corona 22 located at the lower edge of the display device 4. The pictogram on the glove compartment, still shown in Figure 4, has also now disappeared, signaling the entry of the surrounding object into the secondary field of vision of the occupants of the first row of seats of the vehicle 10. Only the representation 3 of the trajectory remains on the glove compartment.

[0024] Figure 6 shows steps of an embodiment of a method according to the invention for displaying a moving environmental object for a user of a means of transport. In step 100, the environmental object is determined using a sensor of the means of transport. In step 200, a trajectory of the environmental object is automatically determined, and in step 300, a representation of the trajectory is displayed using a first display device (e.g., an ambient lighting unit located in the interior door panel of the means of transport). In step 400, audio playback in the means of transport is stopped so as not to mask a sound signal associated with the environmental object. In step 500, a category of the environmental object is determined, and in step 600, a pictogram associated with the category is used in conjunction with the representation of the trajectory.

[0025] The result is an intuitive and reliable method for identifying objects moving around a vehicle.

[0026] List of reference symbols:

[0027] 1 environment object

[0028] 2 Trajectory

[0029] 3 Representation of the trajectory

[0030] 4 Display device

[0031] 5 pictogram

[0032] 6, 7 speakers

[0033] 10 means of transport

[0034] 14 Camera

[0035] 16 sound symbols

[0036] 17 Ambient lighting unit

[0037] 18 Footwell lighting

[0038] 19 Evaluation unit

[0039] 20 Data input

[0040] 21 Data output

[0041] 22 Corona

[0042] 100 to 600 process steps

Claims

Patent claims:

1. Method for displaying a moving environmental object (1) for a user of a means of transport (10), comprising the steps: • Determining (100) the surrounding object (1) by means of a sensor (14) of the means of transport (10), • automatically determining (200) a trajectory (2) of the surrounding object (1) and • automatically displaying (300) a representation (3) of the trajectory (2) by means of a first display device (4) of the means of transport (10).

2. Method according to claim 1, wherein the display device (4) - a panoramic head-up display and / or - a disc root display and / or - a projector and / or - an ambient lighting unit (17) and / or - comprises a footwell lighting (18).

3. The method according to claim 1 or 2, wherein the representation (3) of the trajectory (2) is displayed by means of an animation.

4. Method according to one of the preceding claims further comprising - Determining (500) a category of the environment object (1) and - Using (600) a graphic representation associated with the category, in particular a pictogram (5), in conjunction with the representation (3) of the trajectory (2).

5. Method according to one of the preceding claims, wherein the representation (3) of the trajectory (2) is displayed in chronological sequence first by means of the first display device (4) and at a later time by means of a second display device (15).

6. Method according to one of the preceding claims, wherein the representation (3) of the trajectory (2) is generated in chronological sequence, first by means of a first sound transducer (6) of the means of transport (10) and is acoustically represented at a later point in time by means of a second sound transducer (7).

7. The method according to claim 6, wherein the representation (3) of the trajectory (2) is represented as a function of a category of the environmental object (1) by an acoustic sound symbol (8) assigned to the category.

8. Method according to one of the preceding claims, wherein the representation (3) of the trajectory (2) is displayed at a position within the means of transport (10) which depends on a position of the surrounding object (1).

9. Method according to one of the preceding claims, wherein an intensity and / or color and / or shape of the representation (3) of the trajectory (2) of - a risk of collision and / or - a distance between the means of transport (10) and the surrounding object (1).

10. Method according to one of the preceding claims, further comprising stopping (400) or reducing a playback volume of a current audio playback depending on a duration of a predefined spatial relationship between the means of transport (10) and the environmental object (1).

11. Driver assistance system (9) for displaying a moving environmental object (1) for a user of a means of transport (10), comprising - a data input (11), - an evaluation unit (12) and - a data output (13), wherein the evaluation unit (12) is arranged to use the data input (11) • to determine the surrounding object (1) by means of a sensor (14) of the means of transport (10), • to automatically determine a trajectory (2) of the surrounding object (1) and • by means of the data output (13) a representation (3) of the trajectory (2) by means of a first display device (4) of the means of transport (10).

12. Driver assistance system (9) according to claim 11, which is configured to carry out a method according to one of the preceding claims 1-10.

13. Means of transport comprising a driver assistance system (9) according to one of claims 11 or 12.

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