Method and apparatus for generating a surround view, and 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 corresponding the vehicle both.

Background Art

[0002] A driver assistance system can vehicle support the driver when driving both. For this purpose, a camera system that can generate a visual image of the vehicle periphery and output it to the driver can be used. The driver can, for example vehicle drive both out of a parking space, or and when parking, can grasp the situation from the visual image to vehicle drive both more quickly and safely.

[0003] For that application, a surround view camera system that can depict the entire periphery of both by synthesizing images of a plurality of in-vehicle cameras is known. The real images created by these cameras can, at that time, be synthesized into the peripheral images. vehicle The graphic depiction of the vehicle periphery can be carried out from various viewpoints. For example

[0004] a "ball" view in which textures from a plurality of cameras are projected so as to form a virtual three-dimensional "ball" (bowl) that depicts the entire area around both is known. Another known visual image is a "top view" depiction (bird's-eye view vehicle top view). or elevated view).

[0005] An area of the vehicle periphery is vehicle covered by parts of both, or and, for example vehicle as is the case in the area under both, a plurality of cannot be captured by a plurality of in-vehicle cameras because it is outside the field of view of the in-vehicle cameras, etc.

[0006] From DE 10 2020 213 146 B3, a camera system for capturing the surroundings of a vehicle is known. Here, the vehicle body is captured in the camera image, boundary points are determined from the vehicle body boundary of the vehicle body, and the camera coordinates are converted into the vehicle coordinate system in order to determine the boundary of the texture where the camera cannot be involved.

[0007] Part of the surrounding information, in particular, the surrounding information in the spatial region close to the vehicle boundary may be missing for the purpose of making invisible vehicle parts that are generally projected in a heterogeneous form on the ground.

[0008] Even when using a conservative approach of setting the blind spot area on the ground, which is a rectangle with a certain size, to cover the entire area around the vehicle, there will still remain a ground area covered by the rectangle during output, even though it is appropriately captured by the camera. In other words, typically, there is a ground blind spot area that is close to the vehicle boundary and is covered by the rectangular blind spot area and is made invisible in the output of visualization such as an overhead view or A ball view, etc. There is a ground blind spot area that is close to the vehicle boundary and is made invisible in the output of visualization. That is, during the operation of the vehicle, the surrounding objects may be covered by this rectangular blind spot area, so their visibility may be hindered.

Prior Art Documents

Patent Documents

[0009]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0010] Therefore, the problem of the present invention is to reduce the blind spot area.

Means for Solving the Problems

[0011] This problem is solved by having the features of the independent claims the vehicleA method and apparatus for generating a surround view around both sides, and vehicle solved by both.

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

[0013] According to a first aspect, the present invention vehicle provides a method for generating a surround view around both sides, the vehicle where both sides have a vehicle body and a component that moves relative to the vehicle body, in particular a steered component. The method includes creating a first mask showing the silhouette of the vehicle body projected onto the ground, and creating a second mask showing the silhouette of the movable components of the vehicle projected onto the ground currently in a state. Further, the method includes creating both masks by integrating the first mask and the second mask, and the vehicle creating a surround view around both sides of the vehicle using the vehicle both masks and the vehicle both a plurality of from the camera images provided by on-vehicle cameras.

[0014] According to a second aspect, the present invention vehicle provides an apparatus for generating a surround view around both sides, the vehicle where both sides have a vehicle body and a component that moves relative to the vehicle body. The apparatus includes vehicle both a plurality of an interface for receiving camera images of on-vehicle cameras, and arithmetic means configured to be able to create a first mask showing the silhouette of the vehicle body projected onto the ground, and create a second mask showing the silhouette of the movable components of the vehicle projected onto the ground currently in a state. Further, the arithmetic means creates both masks by integrating the first mask and the second mask, and the vehicle is also configured to be able to create a surround view around both sides of the vehicle vehicle using both masks from the received camera images. as vehicle

[0015] ​According to a third aspect, the present invention relates to the present invention the vehicle and includes an apparatus for generating a surround view of the surroundings of both the vehicle also related to both.

[0016] The present invention enables the entire area of the vehicle surroundings visible from in-vehicle cameras around the vehicle to be depicted without contradiction. This is achieved by creating a geometric mask of the vehicle that covers vehicle parts in multi-camera visualization. a plurality of This is achieved by creating a geometric mask of the vehicle that covers vehicle parts in multi-camera visualization.

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

[0018] vehicles According to a preferred development of the method for creating a surround view of the surroundings of both, the movable parts include at least also vehicles both steered wheels of both are included them, The second mask is vehicle both of current deduced according to the steering angle. current Based on the steering angle vehicle the current position of the wheel is deduced.

[0019] vehicle According to a preferred development of the method for creating a surround view of the surroundings of both vehicle for at least one wheel of both, current depending on the steering angle vehicle a virtual tire is created within the in-vehicle camera coordinate system of the in-vehicle camera that captures both of the tires, but the virtual tire within the in-vehicle camera coordinate system is projected onto the ground from the viewing angle of the in-vehicle camera the vehicle To create the silhouette of both tires, it is projected onto the ground. Thus, the mask for the vehicle tires can be created based on the reprojection of the virtual tire. At that time, the currently position of can be considered.

[0020] vehicleAccording to a preferred development of the present method for creating a surround view around both sides, the virtual tire is further vehicle created depending on the dimensions and positions of at least one tire on each side. The dimensions can be vehicle for both or specified for the model of the vehicle.

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

[0022] vehicle According to a preferred development of the present method for creating a surround view around both sides, for each in-vehicle camera, a boundary line route indicating the boundary of the vehicle body in the camera image of the in-vehicle camera is determined. Each boundary line route is projected onto the ground. Subsequently, the intersection points of the boundary line routes projected onto the ground are determined. Here, the silhouette of the vehicle body projected onto the ground is determined as the surface surrounded by the section extending between the determined intersection points of the boundary line routes. Thereby, it is guaranteed that the image information depicting at least a part of the vehicle body is not used.

[0023] vehicle According to a preferred development of the present method for creating a surround view around both sides, the boundary line route for each camera image is automatically determined. In this way, the present method can be implemented more quickly. The automated determination can be performed for each model individually, that is, not individually for each of the vehicle both. Furthermore vehicle it is also possible to use the virtual three-dimensional model of both sides. Based on the real camera exogeneity, for each vehicle, after calibration, an accurate boundary line route can be completely extracted within the virtual periphery. As another method, in order to directly estimate the polygon surface of the first mask from the projection of the virtual vehicle, vehicle it is also possible to use the three-dimensional model of both sides.

[0024] vehicle According to a preferred development of the present method for creating a surround view of both surroundings, the boundary line route for each camera image is created using a virtual model of the vehicle body.

[0025] vehicle According to a preferred development of the present method for creating a surround view of both surroundings, for each determined intersection point, a plurality of of the in-vehicle camera capture adjacent overlapping regions of the area are determined. At least one of the overlapping regions is vehicle horizontally shifted with respect to a point outside the silhouette projected onto the ground of both movable parts. That is, the region overlapping with the projection region of the camera can be adjusted to avoid an unwanted depiction of non-transparent parts.

[0026] vehicle According to a preferred development of the present method for creating a surround view of both surroundings, using the camera images created by a plurality of in-vehicle cameras vehicle a surround view of both surroundings is created them, vehicle In the region masked by both masks, the camera data of the camera image is not inserted. Instead, there vehicle both artificial images can be inserted.

[0027] vehicle According to a preferred development of the present method for creating a surround view of both surroundings vehicle the surround views of both surroundings are vehicle the spherical views of both surroundings or is a top view looking down on the surroundings of the vehicle.

[0028] vehicle According to a preferred development of the present method for creating a surround view of both surroundings, created the vehicle the surround views of both surroundings are vehicle displayed on both display means. This surround view is used during the use of the parking assistant, orcan be displayed during reverse driving.

[0029] According to a preferred development form vehicle both are created the vehicle and includes display means configured to be able to display a surround view around both.

[0030] The present invention will be described in detail below with reference to embodiments depicted as schematic diagrams.

Brief Description of the Drawings

[0031]

Figure 1

Figure 2

Figure 3

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Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0032] As long as it is meaningful, each of the described forms and development forms can be arbitrarily combined with each other. Further possible forms and development forms, as well as embodiments of the present invention, include combinations of the features of the present invention described above and features of the present invention specifically not described in connection with the following examples.

[0033] The accompanying drawings are intended to provide a further understanding of the embodiments of the present invention. They serve to explain the embodiments and, in combination with the specification, to explain the principles and concepts of the present invention. Other embodiments and many of the above advantages will become apparent with reference to the figures. The elements of the figures are not necessarily drawn to the same scale. In this case, the same reference numerals indicate the same or or similar components having similar effects.

[0034] FIG. 1 is vehicle equipped with an apparatus 2 for generating a surround view around both 1 the vehicle showing a schematic block diagram of both 1 Vehicle Both 1 includes, in the definition of the present invention, a vehicle body including a body and non-steerable wheels. Further vehicle Both 1 also includes components that are movable relative to the vehicle body, particularly components that are rotatable or steerable, i.e., components that can affect the silhouette change of the vehicle body 1 (in a top view). The movable components preferably vehicle include steerable tires of both 1. Further, the movable components can also include steerable components of construction vehicles and blades of snowplows.

[0035] The apparatus 2 is wirelessly or or wiredly connected vehicle to both 1 a plurality of coupled with an in-vehicle camera 5 of both 1 a plurality of and includes an interface 3 for receiving camera images of the in-vehicle camera 5. For example, four, six, eight, orTen in-vehicle cameras 5 can be equipped. In one embodiment, each camera is disposed in a front region, a rear region, and a side mirror. The present invention a plurality of is not limited by a specific number of in-vehicle cameras 5. These a plurality of in-vehicle cameras 5 are preferably fisheye cameras having a large capture area of at least 160 degrees.

[0036] The present invention can be used in any application field where a "blind spot" region occurs. For example, towing applications are also included.

[0037] The device 2 a plurality of has further knowledge from the internal and external camera parameters of the in-vehicle camera 5 or and can obtain it.

[0038] In the definition of the present invention, the internal camera parameters are fixedly coupled to the internal and specific in-vehicle camera 5. Thereby, the internal camera parameters enable the attribution between camera coordinates and pixel coordinates.

[0039] The external parameters can be outside the camera and vary in relation to the world image, i.e., depend on the posture, position, and orientation of the in-vehicle camera 5 in the global coordinate system.

[0040] Furthermore, the device 2 includes an arithmetic means 4 having a microcontroller, a microprocessor, or and the like for performing arithmetic operations.

[0041] The arithmetic means 4 vehicle creates a mask of both 1s. At this time, the arithmetic 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 arithmetic means 4 creates the silhouette of the moving parts of the vehicle projected onto the groundcurrently Create a second mask that represents the state. Therefore, the second mask, for example, vehicle includes both steerable tires at current the position of the tires. At that time, the virtual tire model current is used to assign a virtual tire that corresponds as accurately as possible to the real tire position and tire size within the global coordinate system, taking into account the steering angle information. The virtual tire is projected so that it is positioned as if it were captured by the corresponding in-vehicle camera 5. For example, the left tire is projected onto the left camera and the right tire is projected onto the right camera. At that time, the virtual tire model is then projected onto the ground again. The projected virtual tire model is cut at a specific vehicle longitudinal position to correspond to the visualization approach used.

[0043] The arithmetic means 4 combines the first mask and the second mask vehicle to create both masks Vehicle Both masks can include all regions that include either the first mask or or the second mask.

[0044] Furthermore, the arithmetic means 4 vehicle creates a surround view around both tires from the received camera image, taking into account the extrinsic and intrinsic camera parameters of the corresponding a plurality of in-vehicle camera 5. At that time, the image information created from the camera image is vehicle projected only onto the regions outside both masks.

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

[0046] Figure 2 shows a schematic depiction of a camera image for explaining a boundary line route 21 used to create a first mask (body mask). At this time, the boundary line route 21 corresponds to the boundary between the area belonging to the vehicle body and the area outside thereof, for example, the ground, within the camera image (for example, the camera image of the front camera).

[0047] The boundary line route 21 is created for each in-vehicle camera 5. This creation can be automated or or can be carried out manually. The boundary line route 21 can be individually determined for each of the vehicle vehicle 1. Alternatively, the boundary line route 21 can be extracted only once for a specific vehicle model, and the projected geometry can be used for all vehicles 1 of the same model of At this time, in order to expand the first mask and consider possible deviations, it is possible to consider a small offset.

[0048] Figure 3 shows a schematic depiction for explaining the creation of the first mask. Here vehicle a top view of vehicle 1 seen from above is depicted. In a further embodiment, a ball view is used. In the simplest case (Figure 3, far left), the vehicle body is modeled by a rectangle 31. In order to obtain a more accurate model of the vehicle body, boundary line routes 21 to 24 are of vehicle 1 determined for a total of four in-vehicle cameras of for each and projected onto the ground (Figure 3, center left). Subsequently, the intersections of the boundary line routes 21 to 24 projected onto the ground are determined, and the boundary line routes 21 to 24 are limited to the polygon-like sections of the boundary line routes 21 to 24 extending between the determined intersections (Figure 3, center right). The silhouette of the vehicle body projected onto the ground, which is the first mask 32, is determined as the area surrounded by the sections of the boundary line routes 21 to 24 (Figure 3, far right).

[0049] Figure 4 vehicle shows a schematic depiction of the capture areas 41 to 48 of the four in-vehicle cameras 5 of vehicle 1. The capture areas 41 to 48 are first vehicleIt is defined for the rectangle 31 that models both 1. At that time, the first four regions 42, 44, 45, 47 are respectively a plurality the in-vehicle camera one of them captured only by. Furthermore, the second four regions 41, 43, 46, 48 which are overlapping regions are respectively captured by two in-vehicle cameras 5 each (Figure 4, left). Under the use of the first mask 32, the captured regions 41 to 48 are shifted. The overlapping regions 41, 43, 46, 48 still have a rectangle, while the other first regions 42, 44, 45, 47 are restricted by the first mask 32 and have sides that do not necessarily have to be straight lines.

[0050] Figure 5 shows a schematic depiction of the non-shifted overlapping regions 41, 43. Additionally as vehicle When the tires 51, 52 of both 1 are also to be considered, these tires 51, 52 can enter the non-shifted overlapping regions 41, 43. Therefore, first, it is determined whether the tires 51, 52 exceed the first mask 32 defined by the boundary line routes 21 to 24 in advance. This is implemented with the help of a virtual tire created based on the dimensions, position, current and steering angle of the tire. The virtual tire can be depicted within the cylinder mesh-like net model.

[0051] The virtual tire is depicted within the in-vehicle camera coordinate system as if it was photographed by the in-vehicle camera 5. Subsequently, the virtual tire is projected onto the ground.

[0052] Figure 6 shows a schematic depiction of the shifted overlapping regions 41, 43. At that time, for each intersection of the boundary line routes 21 to 24, these a plurality of adjacent overlapping regions 41, 43 of the captured regions of the in-vehicle cameras are horizontally shifted to the points outside the silhouette of the corresponding tires 51, 52 projected onto the ground. In this way, the overlapping regions 41, 43 are processed dynamically. At that time, the rectangular overlapping regions 41, 43 have a large captured region reaching 180 degrees a plurality ofThis can be achieved when using an in-vehicle camera (fish-eye camera). By shifting the overlapping regions 41 and 43, movable parts and steered tires can be prevented from being captured by the in-vehicle camera on the side. a plurality of This can avoid being captured by the in-vehicle camera.

[0053] FIG. 7 vehicle shows a schematic illustration for explaining the creation of the mask 72 for both 1. Therefore, the first mask 32 and vehicle for both steerable tires, the second mask 71 vehicle is combined to create the mask 72 for both 1.

[0054] FIG. 8 vehicle shows a schematic illustration of the mask 72 for both 1 Vehicle To create the surround view around both 1, the camera images of the plurality of in-vehicle cameras 5 vehicle are projected into the regions not masked by the mask 72 for both 1.

[0055] FIG. 9 shows a flowchart of a method for generating the surround view around both 1 according to an embodiment of the present invention. the vehicle

[0056] In the first step S1, a first mask 32 showing the silhouette of the vehicle body projected onto the ground is created. Subsequently, in the second step S2, a second mask showing the silhouette of the movable parts of the vehicle projected onto the ground currently in the state is created.

[0057] Furthermore, the method also includes a step S3 of creating the mask for both 1 by integrating the first mask and the second mask. In the last step S4 the vehicle it can be output to the display means 6 for both 1 vehicle and the surround view around both 1 the vehicle is vehicle for both 1 a plurality of created from the camera images of the in-vehicle cameras 5 vehicle using the mask for both 1. Although this application relates to the invention described in the claims, it also includes the following from other perspectives. 1. A method for generating a surround view around vehicle (1), said The vehicle (1) has a vehicle body and parts that move relative to the vehicle body, and the following steps 、 Step (S1) of creating a first mask (32) showing the silhouette of the vehicle body projected onto the ground 、 in the current state, The silhouette of the movable parts of the vehicle (1) projected onto the ground showing That is, step (S2) of creating a second mask (71) 、 By integrating the first mask (32) and the second mask (71) the vehicle Step (S3) of creating a mask (72) of the vehicle (1) 、 And, Of the vehicle (1) a plurality of From the camera image of the in-vehicle camera (6) of the vehicle (1) vehicle Using the mask (72) of the vehicle (1) vehicle Step (S4) of creating a surround view around the vehicle (1) 、 including, a method 2. Movable part the product is , at least one Steered of vehicle (1) Wheel comprising , the second mask (71) is vehicle Of the vehicle (1) current The method according to item 1 above, characterized in that it is calculated according to the steering angle. 3. vehicle For at least one wheel of the vehicle (1), current Depending on the steering angle vehicle In the in-vehicle camera coordinate system of the in-vehicle camera (6) that captures the tire of the vehicle (1), a virtual tire is made Is formed 、 The virtual tire in the in-vehicle camera coordinate system is projected onto the ground from the viewing angle of the in-vehicle camera (6) the vehicleThe method according to claim 2, characterized in that in order to create the silhouette of both (1) tires, it is projected onto the ground. 4. The virtual tire is further vehicle both (1) created depending on the dimensions and positions of at least one tire of, characterized in that the method according to claim 3. 5. The virtual tire is cylinder modeled by, characterized in that the method according to claim 3 or 4. 6. For each in-vehicle camera (6), a boundary line route (21) indicating the boundary of the vehicle body in the camera image of the in-vehicle camera (6) is determined, and each boundary line route (21) is on the ground is projected onto a plane, the intersection points of the boundary line routes projected onto the ground are determined, and the silhouette of the vehicle body projected onto the ground is determined as a surface surrounded by a section extending between the determined intersection points of the boundary line routes, characterized in that the method according to any one of claims 1 to 5. 7. The boundary line route (21) for each camera image is automatically determined, characterized in that the method according to claim 6. 8. The boundary line route (21) for each camera image is created using a virtual model of the vehicle body, characterized in that the method according to claim 6 or 7. 9. For each determined intersection point, a plurality of the overlapping regions adjacent to the capture region of the in-vehicle camera (6) are determined, and at least one of the overlapping regions is vehicle is horizontally shifted with respect to a point outside the silhouette of the moving parts of both (1) projected onto the ground, characterized in that the method according to any one of claims 6 to 8. 10. a plurality of Based on the camera image generated by the in-vehicle camera (6) vehicle a surround view around both (1) is created vehicleThe method according to any one of the above 1 to 9, characterized in that camera data of the camera image is not inserted into the area masked by the mask (72) of both (1). 11. vehicle The surround view around both (1) is vehicle The spherical view around both (1) or The method according to any one of the above 1 to 10, characterized in that it is a top view of the periphery of the vehicle (1) seen from above. 12. Created the vehicle The surround view around both (1) is vehicle The method according to any one of the above 1 to 11, characterized in that it is displayed on the display means (2) of both (1). 13. In an apparatus (2) for generating a surround view around vehicle (1), said The vehicle (1) has a vehicle body and parts that move relative to the vehicle body, said apparatus (2) is Below of, vehicle Both (1)'s a plurality of An interface (3) configured to receive the camera image of the in-vehicle camera (6) 、 Arithmetic means (4) being 、Below of, Create a first mask (32) showing the silhouette of the vehicle body projected on the ground and The silhouette of the movable parts of the vehicle (1) projected on the ground currently Create a second mask (71) showing in the state of and By integrating the first mask (32) and the second mask the vehicle Create the mask (72) of both (1) and 、 From the received camera image vehicle Using the mask (72) of both (1) vehicle Create a surround view around both (1) 、 the arithmetic means (4) configured as such, an apparatus (2) comprising 。 14. vehicle To generate a surround view of the surroundings of both (1) as described in 13 above Equipped with device (2) the vehicle Both(1). 15. vehicle Around both (1) created Show Surround View made 14 above, equipped with a display means (6) configured to display of the vehicle Both(1). [Explanation of symbols]

[0058] 1 vehicle 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 vehicle Both masks S1-S4 Method Steps

Claims

A method for generating a surround view around a vehicle (1) by means of a computing means (4), comprising: the vehicle (1) having a vehicle body and a component that moves relative to the vehicle body, the method comprising the steps of: creating a first mask (32) showing the silhouette of the vehicle body projected onto the ground (step S1); creating a second mask (71) showing the silhouette of the moving parts of the vehicle (1) projected onto the ground in the current state (step S2); creating a mask (72) of the vehicle (1) by integrating the first mask (32) and the second mask (71) (step S3); and creating a surround view around the vehicle (1) from the camera images of a plurality of on-vehicle cameras (6) of the vehicle (1) using the mask (72) of the vehicle (1) (step S4), including: for each on-vehicle camera (6), a boundary line route (21) showing the boundary of the vehicle body in the camera image of the on-vehicle camera (6) is determined, the boundary line route (21) is projected onto the ground, the intersection points of the boundary line routes projected onto the ground are determined, and the silhouette of the vehicle body projected onto the ground is determined as a surface surrounded by a section extending between the determined intersection points of the boundary line routes; for each determined intersection point, an adjacent overlapping area of the capture areas of the plurality of on-vehicle cameras (6) is determined, and at least one of the overlapping areas is horizontally shifted with respect to a point outside the silhouette of the moving parts of the vehicle (1) projected onto the ground; The method is characterized by the above. Claim 2 The method according to claim 1, characterized in that the moving part comprises at least one steerable wheel of the vehicle (1), and the second mask (71) is determined according to the current steering angle of the vehicle (1).

3. For at least one wheel of the vehicle (1), a virtual tire is created in the in-vehicle camera coordinate system of the in-vehicle camera (6) that captures the tire of the vehicle (1) depending on the current steering angle, and the virtual tire in the in-vehicle 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 perspective of the in-vehicle camera (6). The method according to claim 2, characterized in that it is projected.

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

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

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

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

8. Based on camera images generated by a plurality of in-vehicle cameras (6), a surround view around the vehicle (1) is created, and camera data of the camera images is not inserted into an area masked by a mask (72) of the vehicle (1). The method according to claim 1 or 2, characterized in that.

9. The method according to claim 1 or 2, characterized in that the surround view around the vehicle (1) is a spherical view around the vehicle (1) or a top view looking down on the periphery of the vehicle (1).

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

11. In an apparatus (2) for generating a surround view around the vehicle (1), The vehicle (1) has a vehicle body and components that move relative to the vehicle body, and the device (2) is as follows: An interface (3) configured to receive camera images of a plurality of in-vehicle cameras (6) of the vehicle (1); Arithmetic means (4), which is as follows: Create a first mask (32) showing the silhouette of the vehicle body projected onto the ground; In the current state, create a second mask (71) showing the silhouette of the moving parts of the vehicle (1) projected onto the ground; Create a mask (72) of the vehicle (1) by integrating the first mask (32) and the second mask; Using the mask (72) of the vehicle (1) from the received camera images, create a surround view around the vehicle (1). The arithmetic means (4) configured as described above; and For each in-vehicle camera (6), a boundary line route (21) showing the boundary of the vehicle body in the camera image of the in-vehicle camera (6) is determined, each boundary line route (21) is projected onto the ground, the intersection points of the boundary line routes projected onto the ground are determined, and the silhouette of the vehicle body projected onto the ground is determined as a surface surrounded by the section extending between the determined intersection points of the boundary line routes. For each determined intersection point, an adjacent overlapping area of the capture areas of the plurality of in-vehicle cameras (6) is determined, and at least one of the overlapping areas is horizontally shifted with respect to a point outside the silhouette of the moving parts of the vehicle (1) projected onto the ground. The device (2) is characterized by this.

12. A vehicle (1) equipped with the device (2) according to claim 11 for generating a surround view around the vehicle (1).

13. The vehicle (1) according to claim 12, equipped with display means (6) configured to display the created surround view around the vehicle (1).

Images