Methods for generating a vehicle's surrounding environment view, driver assistance systems, vehicles, and computer programs.

Abstract

Methods for generating a vehicle's surrounding environment view, driver assistance systems, vehicles, and computer programs. A method for generating a view of the surrounding environment of a vehicle (1), wherein the vehicle (1) is equipped with one or more cameras (3) each generating image data depicting at least a portion of the surrounding environment of the vehicle, and the image data for generating the surrounding environment view is projected onto a bowl-shaped projection area (11) surrounding the area of ​​a virtual display (13) of the vehicle (1), wherein, when displaying an additional graphic element (16,19) in the surrounding environment view, the shape of the projection area (11) is adjusted such that at the placement position (17) of the graphic element (16,19) located at least partially outside the area (12) surrounded by the projection area (11), the projection area (11) also surrounds the graphic element (16,19) located at the placement position (17).

Description

Technical Field

[0001] The present invention relates to a method for generating a peripheral environment view of a vehicle, wherein the vehicle includes one or more cameras that each generate image data depicting at least a partial area of the vehicle's peripheral environment, and the image data for generating the peripheral environment view is projected onto a bowl-shaped projection area surrounding an area around the virtual display of the vehicle. The present invention also relates to a driving assistance device, a vehicle, and a computer program.

Background Art

[0002] In particular, in order to facilitate the operation of a vehicle at low speed, a peripheral environment view captured using a vehicle camera can be converted into an overhead view or a perspective view of the vehicle and the vicinity of the vehicle's periphery. For this purpose, in particular, vehicle cameras arranged on different sides of the vehicle, or vehicle cameras that each capture a part of the vehicle's peripheral environment from different sides of the vehicle can be used. The image data of these cameras can be projected onto a bowl-shaped projection area, and based on this, a view of the vehicle and at least the vicinity of the vehicle's peripheral environment can be derived.

[0003] Patent Document 1 describes a camera system configured to generate a peripheral environment view of a vehicle connection body. Here, an image is generated using a camera provided on the vehicle connection body, and the image is projected onto a bowl display, also referred to as a "bowl".

[0004] To provide vehicle users with further assistance during driving operations, it is sometimes desirable to display additional graphic information in the vehicle's surrounding environment view. However, in such cases, the bowl used to project the image data represents a limitation of the virtual space around the vehicle, and this limitation may necessitate projecting the graphic information to be displayed onto the bowl. In this case, however, undesirable artifacts may occur, particularly in the graphic information to be displayed relative to the vehicle's surrounding environment depicted in the camera image data. These artifacts can cause the graphic information to be unnaturally positioned when deriving the surrounding environment view to be displayed to the driver from the image data projected onto the bowl. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] German Patent Application Publication No. 102021207558 [Overview of the project] [Problems that the invention aims to solve]

[0006] The present invention is based on the problem of identifying a method for generating an improved vehicle surrounding environment view, and more particularly, a method for enabling an improved display of graphic information inserted into the surrounding environment view. [Means for solving the problem]

[0007] To solve this problem, according to the present invention, in the method of the type described at the beginning, when displaying an additional graphic element in the surrounding environment view, the shape of the projection region is adjusted so that the projection region also surrounds the graphic element where the projection region is located, at the placement position of the graphic element which is located at least partially outside the region surrounded by the projection region.

[0008] The vehicle is equipped with one or more cameras, each covering a portion of the surrounding environment. These cameras are capable of capturing images of the entire area around the vehicle, thereby providing a 360° field of view. The cameras can be, for example, mounted on the front, rear, and sides of the vehicle, each having a field of view of 180° or more.

[0009] To generate a view of the surrounding environment, image data supplied from the camera is projected onto a bowl-shaped projection area. Here, this step of projecting the image data can be performed or computed, in particular, purely virtually, by a computing device configured to perform, for example, the method according to the present invention. This computing device can also generate a view of the surrounding environment using the image data projected onto the projection area and transmit it to a display device.

[0010] Here, the bowl-shaped projection region is, in particular, the concave inner surface of a bowl-shaped solid. The bowl-shaped projection region, which can also be called a bowl, may have, in particular, a flat bottom surface and a rim that, in particular, entirely surrounds this bottom surface. Here, the rim extends, in particular, at least partially, in a spatial direction perpendicular to the bottom surface. The projection region surrounds, for example, a virtual representation of a vehicle that can be placed on the bottom surface of the projection region. The virtual representation of the vehicle may be, for example, a two-dimensional or three-dimensional vehicle graphic.

[0011] Image data generated by the camera is projected onto the projection area, resulting in the vehicle's surrounding environment, as depicted in the image data, being rendered on the bottom and edges of the projection area, for example. By projecting the image data onto the projection area, a pseudo-3D view, also known as a bowl view of the vehicle's surrounding environment, is generated. Using the image data projected onto the projection area, a view of the vehicle and its surrounding environment can be generated. This view can be generated, for example, from a virtual camera, which can be positioned within or near the projection area. The view obtained from the virtual camera's viewpoint relative to the projection area using the image data rendered on the projection area can then be used as a view of the surrounding environment.

[0012] Hereinafter, a view of the surrounding environment of the vehicle, also referred to as the vehicle itself, can be displayed to the vehicle's user. This view can be displayed, for example, on a vehicle display device located inside the vehicle, such as a display screen. This allows the vehicle driver to view the vehicle and its surrounding environment from appropriate viewpoints, such as from the side and / or especially from above, during certain driving operations, such as the parking or maneuvering process, thereby significantly simplifying the corresponding parking operation.

[0013] In a surrounding environment view, if it is necessary to display at least one additional graphic element at a placement location outside the area enclosed by the projection area, the present invention adjusts the shape of the projection area so that the graphic element placed at the placement location is also enclosed by the projection area. In other words, the adjustment, in particular, of the bowl-shaped projection area is performed so that the projection area encloses the graphic element to be displayed at the desired placement location in addition to the virtual display of the vehicle. Here, the enlargement of the projection area is performed virtually, in particular, in a calculation process performed by the computing unit.

[0014] Adjusting the projection area is advantageous because it eliminates the need to project graphic elements located outside the spatial area enclosed by the projection area onto the projection area itself. However, projecting them onto the projection area can result in undesirable artifacts, such as the graphic element appearing to float above its desired position in the image data.

[0015] Furthermore, by modifying the shape of the projection region so that the graphic elements to be displayed are located within a virtual space at least partially enclosed by the bowl-shaped projection region, it is possible to eliminate the need to use special techniques for generating views based on the undeformed projection region and graphic elements located outside the virtual space at least partially enclosed by it. Such special techniques, such as ray tracing, require relatively high computational power and therefore cannot be applied to all types of hardware.

[0016] In contrast, the solution according to the present invention makes it possible to achieve improved, and in particular error-free, display of at least one graphic element even with low-performance hardware, such as that often used in vehicles. Thus, by using the method according to the present invention, it is possible to perform a low-cost ambient environment display in which one or more graphic elements are displayed in the correct position relative to image data supplied from a camera. Here, the graphic elements can be displayed correctly in relation to the ambient environment area depicted in the image data, for example, to correctly mark a specific ambient environment area, such as a parking space or a target location to approach.

[0017] The shape of the projection area is adjusted, in particular, so that the graphic elements displayed at the placement location are positioned entirely within the virtual space area enclosed by the projection area. This can be achieved, for example, by describing the placement location as a region corresponding to the dimensions of the graphic elements to be inserted. Alternatively, the placement location may be a point, in which case the adjustment of the projection area's shape is performed in accordance with the spatial extent of the graphic elements to be displayed and placed at the placement location in the virtual space.

[0018] According to the present invention, the virtual display and placement position of a vehicle can be configured such that it is located on a plane, and the shape of the projection area is adjusted by expanding the diameter of the projection area in at least one spatial direction located within the plane. The plane may, in particular, be the bottom surface of a bowl-shaped projection area. Here, the plane may correspond to, for example, the bottom surface of the road on which the vehicle is placed. This makes it possible to display graphic elements on the same plane as the vehicle. This is particularly suitable for graphic elements that need to be displayed directly on a plane, for example, on the road surface.

[0019] In a preferred configuration of the present invention, the projection region has a two-dimensional contour with respect to a plane, particularly one described as an ellipse or a closed spline, and the contour can be configured to extend in the plane to completely surround a graphic element placed at a position in the plane. Here, the contour defines the bottom region of the projection region in the plane, and the edge of the bowl-shaped projection region is therefore adjacent to this contour and extends, for example, upward, thus laterally defining or laterally surrounding a spatial region located above the bottom.

[0020] Here, the contour of the projection region with respect to a plane can, for example, have an elliptical shape, and thus this contour can be adjusted or enlarged by expanding at least one radius or at least one semi-axis of the ellipse. For example, a contour described as a closed spline can similarly be modified at least partially, resulting in an enlargement of the portion of the plane surrounded by the contour, and also enclosing the entire placement position or graphic element placed at the placement position on the plane.

[0021] According to the present invention, at least one graphic element is or may include a two-dimensional graphic element, in particular a parking space mark, and / or a three-dimensional graphic element, in particular a vehicle display. In this case, the two-dimensional graphic element can, for example, characterize an empty parking space in the surrounding environment of a vehicle as an available parking option. This can be achieved, for example, by a two-dimensional graphic element that characterizes the outline of a parking space or an available parking area in a surrounding environment view. Additionally or alternatively, a special parking space mark, such as "P" and / or further text elements, can also be displayed. Further types of two-dimensional graphic elements may also be used.

[0022] Three-dimensional graphic elements can, for example, display vehicles or other surrounding environmental objects in three dimensions, thereby displaying these objects with correct perspective when deriving a surrounding environmental view based on the projection area and graphic elements. The display of a vehicle may also be a further virtual display of the vehicle itself, thereby displaying not only the virtual display of the vehicle itself, but also the vehicle's position and / or orientation at a further location, such as a target location to be approached, e.g., an empty parking space. In this way, the user can see and understand, based on the three-dimensional graphic elements, how the vehicle will be positioned or parked after approaching the available target location. Additional or alternative types of three-dimensional graphic elements can also be used.

[0023] In a preferred embodiment of the present invention, the display of at least one graphic element may already occur when the display device starts displaying the surrounding environment view, and / or the display of at least one graphic element or at least one additional graphic element may be triggered by user selection and / or by output generated by the vehicle's driver assistance system while the surrounding environment view is being displayed.

[0024] The graphic elements and their arrangement positions may already be known before the surrounding environment view is displayed to the driver, and the shape of the projection area is thus adjusted based on the initial shape of the projection area before the display of the surrounding environment view on the vehicle's display device. Additionally or alternatively, the display of the graphic elements may be triggered during the display of the already-performed surrounding environment view. In this case, as a result of an operating action that triggers the display of the graphic elements or a control instruction that triggers the display of the graphic elements, an adjustment of the projection area can be executed.

[0025] Here, the display of the graphic elements can be performed, for example, as a result of an operating action, for example, as a result of the activation of a parking assistance and / or further driving assistance system. Additionally or alternatively, for example, when a parking assistance system and / or further driving assistance system needs to detect one or more free parking spaces around the vehicle and characterize them using corresponding graphic elements, the display of the graphic elements can also be triggered by a control instruction of the parking assistance system and / or further driving assistance system.

[0026] According to the present invention, the arrangement position may be determined according to a user selection by a user of the vehicle and / or according to an output of a driving assistance system of the vehicle. Depending on which type of graphic elements need to be displayed, the arrangement position of the graphic elements can be determined according to a user selection. Additionally or alternatively, the arrangement position can also be automatically determined according to an output of a driving assistance system, such as a parking assistance system, etc. In this way, advantageously, graphic elements based on the position selected by the user and / or the position determined by the driving assistance system can be arranged in the virtual surrounding environment of the vehicle.

[0027] In a preferred configuration of the present invention, the shape of the projection area can be provided so as to be further adjusted according to at least one sensor measurement value of the vehicle's surrounding environment sensors. The adjustment of the projection area can additionally be performed according to, for example, the sensor measurement values of the surrounding environment sensors that determine the distance to the surrounding environment objects of the vehicle. In this way, an adaptive projection area that is additionally deformed according to the surrounding environment conditions of the vehicle can be generated. When displaying graphic elements at an arrangement position outside the spatial area surrounded by the projection area, therefore, complex adjustments can be performed, and as a result, in addition to the adjustment according to the sensor measurement values, the graphic elements arranged at the arrangement position are also entirely surrounded by the projection area as described above.

[0028] The driving support device for a vehicle according to the present invention includes one or more cameras and a control device, and the control device is configured to execute the method according to the present invention.

[0029] The vehicle according to the present invention is configured to include a driving support device.

[0030] The computer program according to the present invention is configured to include instructions that cause the arithmetic unit to execute the method according to the present invention after supplying image data that depicts at least a partial area of the vehicle's surrounding environment for each of one or more cameras of the vehicle when the program is executed by the arithmetic unit.

[0031] All the advantageous points and configurations described above regarding the method according to the present invention are also applicable to the driving support device according to the present invention, the vehicle according to the present invention, and the computer program according to the present invention, and vice versa.

[0032] Also, the advantageous points and configurations described regarding the driving support device according to the present invention, the vehicle according to the present invention, and the computer program according to the present invention are each applicable to other subjects of the present invention.

[0033] Further advantages and details of the present invention will become apparent from the embodiments and drawings described below. These are conceptual representations. [Brief explanation of the drawing]

[0034] [Figure 1] Figure 1 shows an example of a vehicle embodiment according to the present invention, including an example of an embodiment of the driver assistance system according to the present invention. [Figure 2] Figure 2 shows a schematic diagram of the bowl-shaped projection area. [Figure 3] Figure 3 shows an overhead view of the bowl-shaped projection area. [Figure 4] Figure 4 shows an overhead view of the deformed bowl-shaped projection area. [Figure 5] Figure 5 shows a block diagram of an example embodiment of the method according to the present invention. [Modes for carrying out the invention]

[0035] Figure 1 shows an example of an embodiment of Vehicle 1. Vehicle 1 may be, for example, a passenger car, a truck, or other motor vehicle. Vehicle 1 may be a rail vehicle, and / or Vehicle 1 may be a vehicle without a prime mover, such as a trailer, or may include such a vehicle without a prime mover as an articulated vehicle.

[0036] Vehicle 1 includes an example embodiment of a driver assistance system 2 comprising a plurality of cameras 3 and a control device 4. In this example embodiment, the driver assistance system 2 comprises four cameras 3, with the first camera 5 serving as the front camera of vehicle 1, the second camera 6 as the rear camera of vehicle 1, and the third camera 7 and fourth camera 8 each serving as side cameras of vehicle 1. The cameras 3 can capture a portion of the environment surrounding vehicle 1. For this purpose, each camera 3 can have a field of view with an aperture angle of 180° in both the longitudinal and lateral directions of the vehicle.

[0037] Camera 3, in particular, continuously generates image data and transmits it to the control device 4. For this purpose, camera 3 is connected to the control device 4 via a communication connection, such as the bus system of vehicle 1. The control device 4 is configured to perform a method of generating a view of the surrounding environment of vehicle 1 based on the image data generated by camera 3.

[0038] Vehicle 1 further includes a display device 9, which can display the generated surrounding environment view to the driver or user of Vehicle 1. The display device 9 may be a display located inside the vehicle 1, for example, that can be viewed by the driver or user of Vehicle 1.

[0039] Furthermore, the vehicle 1 may be equipped with at least one ambient environment sensor 10. The ambient environment sensor 10 can be used to measure, for example, the distance to ambient environment objects in the environment surrounding the vehicle 1. The ambient environment sensor 10 may be, for example, a radar sensor, a lidar sensor, and / or an ultrasonic sensor.

[0040] Figure 2 shows a bowl-shaped projection region 11 surrounding the area 12 surrounding the virtual representation 13 of the vehicle 1. Here, the bowl-shaped projection region 11 corresponds to at least a partially concave inner surface of the bowl-shaped body, and in this case has a bottom surface 14 extending in the xy plane and an edge portion 15 adjacent to the bottom surface 14 and extending at least partially in the z direction.

[0041] To generate a view of the surrounding environment, the control device 4 projects the image data transmitted from the camera 3 onto a bowl-shaped projection area 11. In this way, a pseudo-3D view of the vehicle's surrounding environment is generated. This pseudo-3D view can be used, for example, to derive a view of the surrounding environment based on a virtual camera position that can be located at any point in the displayed xyz coordinate system. From the virtual camera position, in this case, a view or overhead view of the vehicle's surrounding environment captured using the vehicle 1, or a virtual representation 13 of the vehicle 1 and the camera 3 can be generated.

[0042] In special applications, such as driver assistance systems, for example, parking assistance, it may be desirable to supplement the surrounding environment view with one or more virtual graphic elements 16, as shown, for example, in the overhead view of the bowl-shaped projection area 11 in Figure 3. In this case, such graphic elements 16 are displayed at placement positions 17 assigned to the graphic elements 16, where placement positions 17 correspond in particular to the size or dimensions of the graphic elements 16. In this case, the size of placement positions 17, which is schematically shown only as a rectangle in Figure 3, corresponds to the extent of the graphic elements 16 in the xy plane.

[0043] When displaying an additional graphic element 16 in the surrounding environment view, the control device 4 is configured such that, at the placement position 17 of the graphic element 16 located entirely or partially outside the region 12 surrounded by the projection region 11, the shape of the projection region 11 is adjusted so that the projection region 11 also surrounds the graphic element 16 located at the placement position 17. In this case, region 12 specifically represents a virtual spatial region at least partially limited by the projection region 11, i.e., a spatial region located above the bottom surface 14 and surrounded laterally by the edges 15.

[0044] As shown in Figure 3, the virtual representation 13 and placement position 17 of the vehicle 1 can be located on a plane, in this case, on the xy plane. Here, the shape of the projection region 11 can be adjusted by expanding the diameter of the projection region 11 in at least one spatial direction located within the xy plane. The projection region 11 can also be described as a two-dimensional contour 18 with respect to this plane. The contour 18 of the projection region 11 may be, for example, an ellipse or a closed spline, as shown in the figure.

[0045] As shown in Figure 4, in order to adjust the projection area 11, the contour 18 may be enlarged so as to completely surround the graphic element 16 placed at placement position 17 in the xy plane. Alternatively, for example, the semi-axis extending in the x direction of the elliptical contour 18 of the projection area 11 can be enlarged so that the graphic element 16 placed at placement position 15 is also surrounded by the projection area 11 or located within a virtual space area surrounded by the edge 15 of the projection area 11.

[0046] Multiple graphic elements 16 can be displayed, and in particular, the projection region 11 is adjusted so that all graphic elements 16 whose placement position 17 is initially at least partially outside the region 12 surrounded by the projection region 11 are surrounded by the deformed projection region 11. Further graphic elements 19 are schematically shown in Figure 4.

[0047] Graphic elements 16 and 19 may each be two-dimensional graphic elements, such as parking space marks. In this case, the further graphic element 19 is a two-dimensional parking space mark.

[0048] Furthermore, graphic elements 16 and 19 may each be three-dimensional graphic elements, such as a three-dimensional representation of surrounding environment objects and / or a further virtual representation of vehicle 1. Here, graphic element 16 is configured as a three-dimensional vehicle representation.

[0049] Graphic elements 16 and 19 can be used to characterize, for example, the available parking spaces around vehicle 1. Additionally or alternatively, a 3D graphic element 16, which is a further virtual representation of vehicle 1, can be used to display a target location to be approached and the orientation of vehicle 1 after approaching the target location. By using the 3D graphic element 16, it becomes possible to display the graphic element 16 with correct perspective in relation to the position of the virtual camera, and thus, the sides of the vehicle representation can also be recognized.

[0050] By adjusting the virtual projection area 11, the graphic elements 16 and 19 are correctly displayed relative to the vehicle's surrounding environment shown in the image data in the surrounding environment view generated using the projection area. This allows, for example, the graphic elements 16 and 19 to be displayed directly on the available parking space, that is, directly on the xy plane corresponding to the road surface. This is advantageous in that it prevents undesirable artifacts that may occur, for example, when the graphic elements 16 and 19 are projected onto the edge 15 of the projection area 11, such as the graphic elements 16 and 19 appearing to float above the assigned parking space.

[0051] The display of one graphic element 16 or multiple graphic elements 16,19 can be performed before the display device 9 of the vehicle 1 starts displaying the surrounding environment view. In this case, for example, the shape of the projection area 11 initially stored in the control device 4 is adjusted before the display device 9 displays the surrounding environment view.

[0052] Additionally or alternatively, the display of at least one graphic element 16 may be triggered by user selection and / or by output generated by the above or further driver assistance systems of the vehicle 1 while the display device 9 is displaying a view of the surrounding environment.

[0053] For example, a driver assistance system configured as a parking assistance system may identify one or more available parking spaces around vehicle 1, and then trigger the display of one or more graphic elements 16 that characterize the available parking spaces. In this case, the placement position of each graphic element 16 can correspond to the location of the relevant available parking space in the virtual surrounding environment of vehicle 1. If the placement position is located at least partially outside the projection area 11, the shape of the projection area 11 can be adjusted as described above.

[0054] Furthermore, the display of at least one graphic element 16,19 may be triggered by the user, for example, by activating a specific function of the vehicle 1, and / or by selecting a specific surrounding environment area on a display device 9 configured as a touchscreen, for example.

[0055] To achieve the most realistic representation of the vehicle's surrounding environment in the surrounding environment view generated using the projection area 11, the shape of the projection area 11 can be further adjusted according to at least one sensor measurement from at least one surrounding environment sensor 10 of the vehicle 1. The sensor measurement may be, for example, a distance measurement to a surrounding environment object, and / or surrounding environment object information that describes, for example, the type and / or dimensions of a surrounding environment object, derived from one or more sensor measurements. This makes it possible to adjust the shape of the projection area 11, at least partially, in particular the shape of the edges 15 of the projection area 11, with respect to surrounding environment objects detected near the vehicle 1. This enables a more realistic representation of the image data projected onto the projection area 11.

[0056] Figure 5 shows a block diagram of an example embodiment of a method for generating a view of the surrounding environment of vehicle 1. This method can be implemented, in particular, at least partially, as a computer implementation method.

[0057] Here, step S1 represents the step of supplying image data generated using one or more cameras 3 of the vehicle 1, each of which captures at least a portion of the environment surrounding the vehicle. In this case, the image data can be transmitted to a control device 4 configured to perform further method steps.

[0058] Step S2 involves projecting image data onto a bowl-shaped projection area 11 that surrounds the area 12 surrounding the virtual display 13 of the vehicle 1. Then, based on the image data projected onto the projection area 11, a view of the surrounding environment can be generated and displayed on the display device 9 of the vehicle 1. Alternatively, the generation of the surrounding environment view and its display on the display device 9 can be carried out in a subsequent method step.

[0059] In step S3, when displaying at least one graphic element 16 in the surrounding environment view, it is checked whether the placement position 17 assigned to the graphic element 16 is at least partially outside the area 12 surrounded by the projection area 11. If the placement position 17 is at least partially outside the area 12, the projection area 11 is adjusted so that it also surrounds the graphic element 16 placed at placement position 17. Here, the adjustment of the projection area 11 can be done, for example, as described above. Next, the surrounding environment view can be derived using the adjusted projection area 11 and sent to the display device 9. The surrounding environment view can then be displayed on the display device 9.

Claims

1. A method for generating a view of the surrounding environment of a vehicle (1), wherein the vehicle (1) is equipped with one or more cameras (3) each generating image data that depicts at least a portion of the surrounding environment of the vehicle, and the image data for generating the surrounding environment view is projected onto a bowl-shaped projection area (11) that surrounds the area of ​​a virtual display (13) of the vehicle (1), A method characterized in that, when displaying an additional graphic element (16, 19) in the surrounding environment view, the shape of the projection region (11) is adjusted such that, at the placement position (17) of the graphic element (16, 19) located at least partially outside the region (12) surrounded by the projection region (11), the projection region (11) also surrounds the graphic element (16, 19) located at the placement position (17).

2. The method according to claim 1, characterized in that the virtual representation (13) and the placement position (17) of the vehicle (1) are located on a plane, and the shape of the projection region (11) is adjusted by expanding the diameter of the projection region (11) in at least one spatial direction located within the plane.

3. The method according to 2, characterized in that the projection region (11) has a two-dimensional contour (18) with respect to the plane, in particular a contour (18) that is described as an ellipse or a closed spline, and the contour (18) is expanded in the plane to completely surround the graphic elements (16, 19) that are placed at the placement positions (17) in the plane.

4. The method according to any one of claims 1 to 3, characterized in that the at least one graphic element (16, 19) is a two-dimensional graphic element, in particular a parking space mark, and / or a three-dimensional graphic element, in particular a vehicle display, or includes such a element.

5. The method according to any one of claims 1 to 4, characterized in that the display of at least one graphic element (16, 19) is already performed when the display device (9) starts displaying the surrounding environment view, and / or the display of at least one graphic element (16, 19) or at least one further graphic element (16, 19) is triggered by user selection and / or by output generated by the vehicle (1)'s driver assistance system while the surrounding environment view is being displayed.

6. The method according to any one of claims 1 to 5, characterized in that the placement position (17) is determined according to user selection by the user of the vehicle (1) and / or according to the output of the vehicle (1)'s driving assistance system, particularly the parking assistance system.

7. The method according to any one of claims 1 to 6, characterized in that the shape of the projection region (11) is further adjusted according to a sensor measurement value of at least one of the surrounding environment sensors (10) of the vehicle (1).

8. A driver assistance system for a vehicle (1) comprising one or more cameras (3) and a control device (4), wherein the control device (4) is configured to perform the method described in any one of claims 1 to 7.

9. A vehicle equipped with the driver assistance device (2) described in claim 8.

10. A computer program that, when executed by a computing device, includes an instruction to cause the computing device to execute the method according to any one of claims 1 to 7 after receiving image data from one or more cameras (3) of the vehicle (1) that each depict at least a portion of the environment surrounding the vehicle.

Images