Method and apparatus for generating surround view and motorized vehicle

Abstract

The present invention relates to a method for generating a surround view of a motorized vehicle having a body and parts that move relative to the body, in particular steered parts. The method includes creating a first mask that shows a silhouette of the body projected onto a ground surface, and creating a second mask that shows silhouettes of the moving parts of the vehicle projected onto the ground surface in their current state. The method further includes combining the first mask and the second mask to create a mask of the motorized vehicle, and using the motorized vehicle mask to create a surround view of the vehicle's surroundings from camera images provided by an on-board camera of the motorized vehicle.

Description

[Technical field]

[0001] The present invention relates to a method and an apparatus for generating a surround view, and a corresponding Car Concerning both. [Background technology]

[0002] Driver Assistance Systems ,car Drivers can be supported when driving vehicles by using camera systems that can generate and output a visual image of the vehicle's surroundings to the driver. ,car Move both cars out of the parking space. also When parking, ,car You can understand the situation to drive your vehicle faster and safer.

[0003] Its applications include synthesizing images from multiple on-board cameras ,car Surround-view camera systems are known that can depict the entire surroundings of both vehicles. The real-world images produced by these cameras can then be combined with the surroundings image.

[0004] Graphic depictions of the vehicle's surroundings can be done from various perspectives. For example: ,car A "ball" view is known in which textures from multiple cameras are projected to form a virtual three-dimensional "ball" that depicts the entire surroundings. Another known perspective is the "top view" depiction. or (Top view).

[0005] An area around the vehicle is ,car Covered by both parts, also For example, ,car As is the case in the areas below Multiple It cannot be captured by multiple on-board cameras because it is outside the viewing area of ​​the on-board cameras.

[0006] From DE 10 2020 213 146 B3, a camera system for capturing the surroundings for a vehicle is known, whereby the vehicle body is captured in the camera image, boundary points are defined from the body boundaries of the vehicle body, and the camera coordinates are transformed into the vehicle coordinate system in order to determine texture boundaries in which the camera cannot participate.

[0007] Some of the peripheral information may be missing, especially in spatial regions close to the vehicle boundary, in order to obscure vehicle parts that would typically be projected extraneously on the ground.

[0008] Even if a conservative approach is used in which the entire vehicle periphery is covered, but the ground blind spot area is set to a rectangle having a certain size, there will still be ground areas covered by the rectangle at the output, even though they are properly captured by the camera. In other words, typically, the rectangular blind spot area covers a large area, e.g., or There exists a ground blind area, which is a ground region close to the vehicle boundary that is not visible in the visualization output, such as the ball view, i.e., while driving the vehicle, this rectangular blind area may obstruct the visibility of surrounding objects, as they may be obscured. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] DE 10 2020 213 146 B3 Summary of the Invention [Problem to be solved by the invention]

[0010] Therefore, an object of the present invention is to reduce the blind spot area. [Means for solving the problem]

[0011] This problem is solved by the features of the independent claims. CarMethod and apparatus for generating bi-directional surround views; ,car It is resolved by both.

[0012] Further preferred embodiments are the subject of the dependent claims.

[0013] According to a first aspect, the present invention provides ,car A method for generating a surround view of both sides is provided, the car The vehicle has a body and parts that move relative to the body, in particular steered parts. The method includes creating a first mask that represents the silhouette of the body projected onto the ground, and extracting the silhouettes of the moving parts of the vehicle projected onto the ground. Currently The method further includes creating a second mask shown in FIG. 1 by merging the first mask and the second mask. Car Creation of both masks, as well as the car Using both masks Car Both Multiple It also includes creating a surround view of the vehicle's surroundings from camera images provided by on-board cameras.

[0014] According to a second aspect, the present invention provides ,car An apparatus for generating a surround view of both sides is provided, the car The vehicle has a body and a part that moves relative to the body. ,car Both Multiple An interface for receiving a camera image from an on-board camera, and generating a first mask representing a silhouette of a vehicle body projected on a ground surface, and a silhouette of a moving part of the vehicle projected on the ground surface. Currently The method further includes computing means configured to generate a second mask shown in FIG. 1 by integrating the first mask and the second mask. Car Create both masks, as well as ,car Surround view of both sides The car Both masks can also be used to create a mask from the received camera image.

[0015] According to a third aspect, the present invention provides a method for producing a cellular phone according to the present invention. Car A device for generating a surround view of both sides of the Car It relates to both.

[0016] The present invention relates to a vehicle Multiple It allows for a consistent depiction of the entire area around the vehicle that is visible to the on-board cameras. This is achieved by creating a geometric mask of the vehicle that covers the vehicle parts in the multi-camera visualization.

[0017] The mask can be defined as a polygonal surface.

[0018] car According to a preferred development of the method for creating a bilateral surround view, the moving parts include at least Car Both steered wheels are included. R, The second mask is ,car Both Currently It is calculated according to the steering angle. Currently Based on steering angle ,car Ring Currently The location is determined.

[0019] car According to a preferred development of the method for generating a surround view of both sides ,car For at least one wheel on each side, Currently Depends on steering angle ,car A virtual tire is created in the on-board camera coordinate system of the on-board camera capturing both tires, and the virtual tire in the on-board camera coordinate system is projected onto the ground from the viewing angle of the on-board camera. Car To create a silhouette of both tires, they are projected onto the ground. Thus, a mask for the vehicle tires can be created based on a reprojection of the virtual tires. Currently The position of can be taken into consideration.

[0020] carAccording to a preferred development of the method for creating a surround view of both sides, the virtual tire is further ,car The dimensions are based on the position and size of at least one tire. ,car Dual-use or Can be specified for the vehicle model.

[0021] car According to a preferred development of the method for creating a surround view of both sides, the virtual tire is Cylinder In this case, Cylinder can be described by a grid network.

[0022] car According to a preferred development of the method for creating a surround view of both surroundings, for each vehicle-mounted camera, a boundary line route is determined, which indicates the boundary of the vehicle body in the camera image of the vehicle-mounted camera. Each boundary line route is then projected onto the ground. Then, intersections of the boundary line route projected onto the ground are determined, in which the silhouette of the vehicle body projected onto the ground is determined as a surface that is enclosed by the sections extending between the determined intersections of the boundary line route. This ensures that no image information depicting any parts of the vehicle body is used.

[0023] car According to a preferred development of the method for creating a surround view of both surroundings, the boundary route for each camera image is determined automatically. In this way, the method can be carried out more quickly. The automated determination can be carried out individually for each model, i.e. Car There is no separate dual-use. ,car It is also possible to use both virtual 3D models. Based on the real camera extrinsics, for each vehicle, after calibration, the exact boundary route can be extracted completely within the virtual perimeter. Alternatively, the polygonal surfaces of the first mask can be directly estimated from the projection of the virtual vehicle. ,car It is also possible to use both 3D models.

[0024] car According to a preferred development of the method for generating a surround view of both surroundings, a boundary route for each camera image is generated by means of a virtual model of the vehicle body.

[0025] car According to a preferred development of the method for generating a surround view of both sides, for each determined intersection point: Multiple In-vehicle camera capture Adjacent overlapping regions of the regions are identified. At least one of the overlapping regions is ,car The outer points of the ground-projected silhouettes of both moving parts are shifted horizontally, i.e. the area overlapping with the camera projection area can be adjusted to avoid unwanted depiction of non-transparent parts.

[0026] car According to a preferred development of the method for generating a surround view of both sides, camera images generated by a number of vehicle-mounted cameras are used to generate a surround view of both sides. ,car A surround view of both sides is created. Car In the areas masked by both masks, no camera data from the camera image is inserted. Instead, ,car Both artificial images can be inserted.

[0027] car According to a preferred development of the method for generating a surround view of both sides ,car Surround view of both sides ,car Both peripheral ball-shaped views or FIG.

[0028] car According to a preferred development of the method for generating a surround view of both sides, Car Surround view of both sides ,car The Surround View is displayed on both display devices when using the Parking Assistant. alsocan be displayed when reversing.

[0029] According to a preferred development ,car Both were created Car It includes a display means configured to display a surround view of both peripheries.

[0030] The invention will now be explained in more detail with reference to exemplary embodiments depicted in the drawings, in which: FIG. [Brief description of the drawings]

[0031] [Figure 1] FIG. 1 shows a schematic block diagram of a vehicle equipped with an apparatus for generating a surround view of the vehicle's surroundings according to an embodiment of the present invention. [Diagram 2] FIG. 2 shows a schematic depiction of a camera image to illustrate a border route. [Diagram 3] FIG. 3 shows a schematic representation to explain the creation of the first mask. [Figure 4] FIG. 4 shows a schematic depiction of the capture areas of multiple vehicle-mounted cameras. [Diagram 5] FIG. 5 shows a schematic depiction of the unshifted overlap region. [Figure 6] FIG. 6 shows a schematic depiction of the shifted overlap region. [Figure 7] FIG. 7 shows a schematic representation to illustrate the creation of a vehicle mask. [Figure 8] FIG. 8 shows a schematic representation of a vehicle mask. [Figure 9] FIG. 9 shows a flowchart of a method for generating a surround view of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Insofar as this is meaningful, the individual features and developments described can be combined with one another in any way.Further possible features and developments as well as embodiments of the invention also include not specifically described combinations of the inventive features described above or in the following in connection with the examples.

[0033] The accompanying drawings are intended to provide a further understanding of embodiments of the present invention. They serve to illustrate embodiments and, in combination with the specification, to explain the principles and concepts of the present invention. Other embodiments and many of the advantages described above will become apparent with reference to the drawings. Elements of the figures are not necessarily drawn to scale. In this regard, like reference numerals refer to like parts throughout the drawings. also shows components that have similar effects.

[0034] Figure 1 shows ,car A device 2 for generating a surround view of the surroundings of both 1 is provided. Car 1 shows a schematic block diagram of both . car In the definition of the present invention, both 1 and 2 include the body and the vehicle body including the non-steerable wheels. ,car Both 1 also include parts that are movable relative to the vehicle body, in particular swivelable or steerable parts, i.e. parts that can affect the change in the silhouette of the vehicle body 1 (as viewed from above). The movable parts are preferably ,car In addition, the moving parts may include steerable components on a construction vehicle or a snowplow blade.

[0035] The device 2 is a wireless or Connected via wire ,car Both 1 Multiple Coupled with the vehicle-mounted camera 5, Multiple The vehicle includes an interface 3 for receiving camera images from an on-board camera 5. For example, four, six, eight, orThe vehicle can be equipped with ten on-board cameras 5. In one embodiment, one camera is located in the front area, one in the rear area, and one in the side mirror. Multiple There is no restriction on the number of on-board cameras 5. Multiple The on-board camera 5 is preferably a fish-eye camera having a large capture area, preferably at least 160 degrees.

[0036] The present invention may be used in any application where "blind spots" occur, including, for example, towing applications.

[0037] Device 2 is Multiple Further insight from the intrinsic and extrinsic camera parameters of the on-board camera 5 or can be obtained.

[0038] In our definition, the intrinsic camera parameters are internal and fixedly coupled to a specific on-board camera 5. They thereby enable the attribution between camera coordinates and pixel coordinates.

[0039] Extrinsic parameters may be external to the camera and vary relative to the world image, i.e. they depend on the pose, position and orientation of the on-board camera 5 in the global coordinate system.

[0040] Furthermore, the device 2 may include a microcontroller, a microprocessor, also includes a computing means 4 having similar features for carrying out the computing operations.

[0041] The calculation means 4 ,car The masks of both 1 are created. At this time, the calculation means 4 creates a first mask showing the silhouette of the vehicle body projected onto the ground. That is, the first mask shows, for example, a body mask.

[0042] Furthermore, the calculation means 4 calculates the silhouette of the moving parts of the vehicle projected on the ground. Currently A second mask is also created, which is shown in the state of ,car Both wheels are steerable. Current The virtual tire model includes the following: Currently Taking into account the steering angle information, it is used to attribute a virtual tire in a global coordinate system that corresponds as accurately as possible to the real tire position and tire size. The virtual tire is projected in such a way that it is positioned as if it had been captured by a corresponding vehicle-mounted camera 5. For example, the left tire is projected onto the left camera and the right tire onto the right camera. The virtual tire model is then projected again onto the ground. The projected virtual tire model is cut to correspond to the used visualization approach at the specific vehicle longitudinal position.

[0043] The calculation means 4 calculates the first mask and the second mask. ,car Combine to create both masks . car Both masks are the first mask also can include all areas that include either of the second masks.

[0044] Furthermore, the calculation means 4 ,car The surround view of the surroundings of both 1 is obtained by extracting the corresponding Multiple The image information is generated by taking into consideration the extrinsic and intrinsic camera parameters of the vehicle-mounted camera 5. ,car Only the area outside the mask of both 1s is projected.

[0045] The surround view can be output to a display means 6, for example an in-vehicle display.

[0046] 2 shows a schematic representation of a camera image to explain a boundary line route 21 used to create a first mask (body mask), where the boundary line route 21 corresponds to a boundary between an area belonging to the vehicle body in a camera image (e.g., a camera image of a front camera) and an area outside the vehicle body, e.g., the ground.

[0047] The boundary route 21 is created for each vehicle-mounted camera 5. This creation is performed automatically. also The border route 21 can be implemented manually. Car Alternatively, the boundary route 21 can be extracted only once for a particular vehicle model, and the projected geometry is then calculated for all vehicles of the same model. That It is possible to use the first mask in the vehicle 1. In so doing, it is possible to take into account small offsets in order to enlarge the first mask and take into account possible deviations.

[0048] FIG. 3 shows a schematic diagram for explaining the creation of the first mask. ,car A top view of the vehicle 1 is depicted. In a further embodiment, a ball view is used. In the simplest case (FIG. 3, far left) the vehicle body is modelled by a rectangle 31. To obtain a more accurate model of the vehicle body, the boundary routes 21 to 24 are Car 1 A total of four in-vehicle cameras Ra For each of them, a boundary line route 21 to 24 is calculated and projected onto the ground (FIG. 3, center left). Next, the intersections of the boundary line routes 21 to 24 projected onto the ground are calculated, and the boundary line routes 21 to 24 are limited to polygonal sections of the boundary line routes 21 to 24 extending between the calculated intersections (FIG. 3, center right). The silhouette of the vehicle body projected onto the ground, which is the first mask 32, is calculated as a surface surrounded by the sections of the boundary line routes 21 to 24 (FIG. 3, rightmost).

[0049] Figure 4 shows ,car 1 shows a schematic depiction of the capture areas 41 to 48 of the four vehicle-mounted cameras 5 of the vehicle 1. The capture areas 41 to 48 are first ,carThe first four regions 42, 44, 45, and 47 are defined as follows: multiple In-vehicle camera One of 4. Furthermore, the second four overlapping regions 41, 43, 46, 48 are each captured by two vehicle-mounted cameras 5 (FIG. 4, left). Using the first mask 32, the capture regions 41 to 48 are shifted. The overlapping regions 41, 43, 46, 48 still have a rectangular shape, whereas the other first regions 42, 44, 45, 47 are limited by the first mask 32 and have good sides, not necessarily straight.

[0050] FIG. 5 shows a schematic representation of the unshifted overlap regions 41, 43. By car If both tires 51, 52 are to be considered, these tires 51, 52 may be embedded in the unshifted overlap region 41, 43. Therefore, it is first determined whether the tires 51, 52 are beyond the first mask 32 previously defined by the boundary routes 21 to 24. This is done by determining the tire size, position, Currently This is done with the help of a virtual tire that is created based on the steering angle. Cylinder can be depicted in a net model.

[0051] The virtual tire is depicted in the on-board camera coordinate system as if it had been photographed by the on-board camera 5. The virtual tire is then projected onto the ground.

[0052] FIG. 6 shows a schematic representation of the shifted overlapping regions 41, 43. At each intersection of the boundary routes 21 to 24, Multiple Adjacent overlapping areas 41, 43 of the capture areas of the vehicle-mounted cameras are shifted horizontally to points outside the silhouettes of the corresponding tires 51, 52 projected onto the ground. In this way, the overlapping areas 41, 43 are dynamically processed. In this case, the rectangular overlapping areas 41, 43 have a large capture area up to 180 degrees. MultipleThis can be achieved by using an on-board camera (fish-eye camera). By shifting the overlapping areas 41 and 43, moving parts and steered tires can be detected on the side. Multiple This helps to avoid being captured by the vehicle's onboard camera.

[0053] Figure 7 shows ,car A schematic illustration is shown to explain the creation of the first mask 32. and car Both steerable tires second mask 71 ,car Both are combined to create mask 72.

[0054] Figure 8 ,car 1 shows a schematic representation of a mask 72 of both . car In order to create a surround view of the surroundings of both vehicles 1, camera images from multiple on-board cameras 5 are ,car Both are projected into the area not masked by mask 72.

[0055] FIG. 9 is a block diagram of an embodiment of the present invention. Car 1 shows a flowchart of a method for generating a surround view around one of the cameras.

[0056] In a first step S1, a first mask 32 is created, which represents the silhouette of the vehicle body projected onto the ground. Then, in a second step S2, the silhouettes of the moving parts of the vehicle projected onto the ground are removed. Currently A second mask, shown in FIG.

[0057] The method further comprises: Car It also includes step S3 of creating a mask for both 1. In the final step S4 ,car The image can be output to the display means 6 of both devices. Car Surround view of both 1s ,car Both 1 Multiple From the camera image of the in-vehicle camera 5 ,car Both are created using a mask of 1. This application relates to the invention described in the claims, but also includes the following as other aspects. 1. A method for generating a surround view of a vehicle (1), comprising: The above A vehicle (1) has a body and a part that moves relative to the body, and the vehicle (1) is provided with the following steps: 、 A step (S1) of creating a first mask (32) representing a silhouette of the vehicle body projected onto the ground. 、 In the current situation, Silhouette of the moving parts of a vehicle (1) projected onto the ground Show Step (S2) of creating a second mask (71) 、 By integrating the first mask (32) and the second mask (71), Car Step (S3) of creating masks (72) for both (1) 、 and, Vehicle (1) Multiple From the camera image of the in-vehicle camera (6) ,car Using both (1) masks (72) ,car Step (S4) of creating a surround view of the surroundings of both (1) 、 A method comprising: 2. moving part The product is ,at least one to be steered by , vehicle (1) wheel Equipped with , 2nd mask(71) Is the car Both(1) Currently 2. The method according to claim 1, characterized in that the position is determined according to the steering angle. 3. car For at least one wheel of each (1), Currently Depends on steering angle ,car A virtual tire is placed in the vehicle-mounted camera coordinate system of the vehicle-mounted camera (6) that captures the tires of both (1). Made by Made 、 The virtual tire in the on-board camera coordinate system is projected onto the ground from the viewing angle of the on-board camera (6). Car3. The method according to claim 2, characterized in that to create silhouettes of both tires (1), they are projected onto the ground. 4. Virtual tires are even more ,car Both (1) 4. The method according to claim 3, characterized in that the method is created depending on the size and position of at least one tire. 5. Virtual tires, Cylinder 5. The method according to claim 3 or 4, characterized in that the modeling is carried out by 6. For each vehicle-mounted camera (6), a boundary line route (21) is determined, which indicates the boundary of the vehicle body in the camera image of the vehicle-mounted camera (6). The ground 6. A method according to any one of 1 to 5 above, characterized in that the boundary line route is projected onto a surface, the intersection points of the boundary line route projected onto the ground are determined, and the silhouette of the vehicle body projected onto the ground is determined as a surface enclosed by the section extending between the determined intersection points of the boundary line route. 7. 7. The method according to claim 6, characterized in that the boundary route (21) for each camera image is determined automatically. 8. 8. The method according to claim 6 or 7, characterized in that the boundary route (21) for each camera image is generated using a virtual model of the vehicle body. 9. For each intersection point found, Multiple In-vehicle camera (6) capture Adjacent overlapping regions of the regions are determined, and at least one of the overlapping regions Car 9. A method according to any one of claims 6 to 8, characterized in that the two (1) movable parts are shifted horizontally relative to an outer point of the silhouette projected onto the ground. 10. Multiple Based on the camera images generated by the onboard camera (6) ,car A surround view of both (1) is created. ,car10. The method according to any one of 1 to 9 above, characterized in that camera data of the camera image is not inserted into the areas masked by the masks (72) of both (1). 11. car Surround view of both (1) ,car Ball-shaped view of the surroundings of both (1) or 11. The method according to any one of 1 to 10 above, characterized in that the view is a top view of the periphery of the vehicle (1). 12. Created Car Surround view of both (1) ,car 12. The method according to any one of 1 to 11 above, characterized in that the information is displayed on the display means (2) of both (1). 13. An apparatus (2) for generating a surround view of a vehicle (1), comprising: The above A vehicle (1) having a body and a part that moves relative to the body, The device (2) below of, car Both(1) Multiple An interface (3) configured to receive camera images from an in-vehicle camera (6) 、 Calculation means (4) And ,below of, Create the first mask (32) that shows the silhouette of the car body projected onto the ground. death, Silhouettes of moving parts of a vehicle (1) projected onto the ground Currently Create the second mask (71) shown in the state death, By integrating the first mask (32) and the second mask Car Create masks (72) for both (1) death , From the received camera image ,car Using both (1) masks (72) ,car Create a surround view around both (1) 、 The calculation means (4) is configured as follows: Apparatus comprising: . 14. car To generate a surround view of the surroundings of both (1) As stated in 13 above Equipped with device (2) Car Both(1). 15. car Around both (1) Created Show Surround View vinegar 14 above, equipped with a display means (6) configured to display Car Both(1). [Explanation of symbols]

[0058] 1 car Both 2. Equipment for creating surround view 3. Interface 4 Calculation means 5. Car Camera 6 Display means 21-24 Border Route 31 rectangle 32 First Mask 41-48 Capture area 51, 52 Tires 71 Second Mask 72 car Both masks S1-S4 Method Steps

Claims

1. A method for generating a surround view of a vehicle (1) by a computing means (4), comprising: The vehicle (1) has a body and a part that moves relative to the body, and the vehicle (1) is provided with the following steps: A step (S1) of creating a first mask (32) representing a silhouette of a vehicle body projected onto a ground surface; creating (S2) a second mask (71) representing the silhouette of the moving parts of the vehicle (1) projected on the ground in the current state; creating (S3) a mask (72) of the vehicle (1) by merging the first mask (32) and the second mask (71); and A step (S4) of creating a surround view of the periphery of the vehicle (1) from camera images of a plurality of on-board cameras (6) of the vehicle (1) using a mask (72) of the vehicle (1); Including, For each vehicle-mounted camera (6), a boundary line route (21) indicating a boundary of the vehicle body in the camera image of the vehicle-mounted camera (6) is determined, each boundary line route (21) is projected onto a ground surface, intersections of the boundary line route projected onto the ground surface are determined, and a silhouette of the vehicle body projected onto the ground surface is determined as a surface bounded by sections extending between the determined intersections of the boundary line routes; For each determined intersection point, adjacent overlapping regions of the capture areas of the multiple on-board cameras (6) are determined, and at least one of the overlapping regions is shifted horizontally to an outer point of a silhouette of a moving part of the vehicle (1) projected onto a ground surface. A method comprising:

2. 2. The method according to claim 1, characterized in that the moving part comprises at least one steered wheel of the vehicle (1) and the second mask (71) is indexed as a function of the current steering angle of the vehicle (1).

3. The method described in claim 2, characterized in that for at least one wheel of the vehicle (1), a virtual tire is created in an on-board camera coordinate system of an on-board camera (6) that captures the tire of the vehicle (1) depending on the current steering angle, and the virtual tire in the on-board camera coordinate system is projected onto the ground to create a silhouette of the tire of the vehicle (1) projected onto the ground from the viewing angle of the on-board camera (6).

4. 4. The method according to claim 3, characterized in that the virtual tire is further created depending on the size and the position of at least one tire of the vehicle (1).

5. 5. A method according to claim 3 or 4, characterized in that the virtual tire is modelled by a cylinder.

6. 3. A method according to claim 1 or 2, characterized in that the boundary route (21) for each camera image is determined automatically.

7. 3. A method according to claim 1 or 2, characterized in that the boundary route (21) for each camera image is generated using a virtual model of the vehicle body.

8. A method according to claim 1 or 2, characterized in that a surround view of the surroundings of the vehicle (1) is created based on camera images generated by multiple on-board cameras (6), and camera data of the camera images is not inserted into areas masked by a mask (72) of the vehicle (1).

9. A method according to claim 1 or 2, characterized in that the surround view of the surroundings of the vehicle (1) is a ball-shaped view of the surroundings of the vehicle (1) or a top view of the surroundings of the vehicle (1) from above.

10. 3. A method according to claim 1 or 2, characterized in that the created surround view of the surroundings of the vehicle (1) is displayed on a display means (2) of the vehicle (1).

11. An apparatus (2) for generating a surround view of a surrounding of a vehicle (1), comprising: The vehicle (1) has a vehicle body and a part that moves relative to the vehicle body, and the device (2) includes: An interface (3) configured to receive camera images from a plurality of on-board cameras (6) of a vehicle (1); A calculation means (4) comprising: creating a first mask (32) representing a silhouette of the vehicle body projected onto the ground; creating a second mask (71) showing the silhouette of the moving parts of the vehicle (1) projected on the ground in its current state; creating a mask (72) of the vehicle (1) by combining the first mask (32) and the second mask; creating a surround view of the surroundings of the vehicle (1) from the received camera images using a mask (72) of the vehicle (1); The calculation means (4) is configured as follows: Equipped with For each vehicle-mounted camera (6), a boundary line route (21) indicating a boundary of the vehicle body in the camera image of the vehicle-mounted camera (6) is determined, each boundary line route (21) is projected onto a ground surface, intersections of the boundary line route projected onto the ground surface are determined, and a silhouette of the vehicle body projected onto the ground surface is determined as a surface bounded by sections extending between the determined intersections of the boundary line routes; For each determined intersection point, adjacent overlapping regions of the capture areas of the multiple on-board cameras (6) are determined, and at least one of the overlapping regions is shifted horizontally to an outer point of a silhouette of a moving part of the vehicle (1) projected onto a ground surface. An apparatus (2).

12. A vehicle (1) equipped with the device (2) described in claim 11 for generating a surround view of the surroundings of the vehicle (1).

13. A vehicle (1) as described in claim 12, equipped with a display means (6) configured to display a created surround view of the surroundings of the vehicle (1).

Images