Providing vehicle guiding data by a driver assistance system

Abstract

The invention relates to a method for providing vehicle guiding data by a driver assistance system (24), wherein a camera system (26, 28) captures an object (30) in a predetermined environment region (32) of the motor vehicle (22) and depending thereon environment data is provided, wherein at least for the predetermined environment region a stitched top view from a bird's eye perspective upon the motor vehicle and the object are determined, wherein the motor vehicle is represented by a motor vehicle dataset and the object is represented by an object dataset, wherein a parking situation is detected by the driver assistance system. According to the invention, at a point in time of detecting the parking situation, the predetermined environment region is determined so that the motor vehicle is positioned within the maneuvering region (34), wherein at least during the maneuvering of the motor vehicle a distance (38) between the motor vehicle and the edge (36) of the maneuvering region is determined, wherein the distance is compared with the predetermined minimum distance, wherein the vehicle guiding data is determined at least depending on the maneuvering region.

Description

[0001] Providing Vehicle Guiding Data by a Driver assistance system

[0002] The invention relates to a method for providing vehicle guiding data by a driver assistance system, which serves the guiding of a motor vehicle in a driving operation according to the intended purpose, wherein by a camera system of the motor vehicle at least one object in a predetermined environment region of the motor vehicle is captured and depending thereon environment data is provided, wherein the environment data is processed by the driver assistance system, wherein at least for the predetermined environment region a stitched top view from a bird’s eye perspective upon the motor vehicle and the at least one object are determined, wherein the motor vehicle is represented by a motor vehicle dataset and the at least one object by an object dataset, wherein a parking situation is detected by the driver assistance system. The invention further relates to a computer program product as well as also to a computer-readable data carrier. Finally, the invention also relates to a driver assistance system for providing vehicle guiding data by the driver assistance system, which serves the guiding of a motor vehicle in a driving operation according to the intended purpose, wherein the driver assistance system is configured to receive at least environment data of a camera system of the motor vehicle relating to at least one object captured in a predetermined environment region of the motor vehicle, to process the environment data, to determine at least for the predetermined environment region a stitched top view from a bird’s eye perspective upon the motor vehicle and the at least one object, wherein the motor vehicle is represented by a motor vehicle dataset and the at least one object by an object dataset, and to detect a parking situation.

[0003] Driver assistance systems of the generic type serve for assisting the guiding of the motor vehicle or even to make it possible in the first place. To this end, the driver assistance system provides vehicle guiding data, which may be used to guide the motor vehicle at least partially autonomously. For example, the vehicle guiding data may be used to be further evaluated by a vehicle control apparatus, in order to be able to guide the motor vehicle at least partially autonomously. Moreover, the guiding data, however, may also be represented on a graphic display unit of the motor vehicle, in order to at least partially assist a driver of the motor vehicle in guiding the motor vehicle. To this end, the driver assistance system receives sensor data and / or sensor signals of a camera system of the motor vehicle. The camera system may comprise one or several vehicle cameras, which are arranged on the motor vehicle and by which it is possible to capture the environment of the motor vehicle as completely as possible. As a rule, a respective vehicle camera, however, does not capture the entire environment of the motor vehicle, but merely a section thereof. The vehicle cameras are arranged in such a way that their camera signals or camera data, respectively, facilitate a surround view, wherein these data or signals, respectively, may be processed by the processing of the driver assistance system in such a way that at least for the predetermined environment region the stitched top view from the bird’s eye perspective upon the motor vehicle and the at least one object can be determined. The at least one object may be another road user, such as for example another motor vehicle, a pedestrian, a cyclist, but also a stationary object, such as a traffic sign, a road boundary and / or the like. Preferably in the environment region of the motor vehicle all objects are captured and depicted in the top view with their respective dimensions and positions with respect to the own motor vehicle. Thereby the top view offers a data basis, which may be used both for the vehicle control apparatus as well as by the driver of the motor vehicle for evaluating the traffic state or the traffic situation and thus is able to assist the guiding of the motor vehicle at least partially.

[0004] The operating of the camera system of the motor vehicle in the way of a surround view system (SVS) is basically known for instance from the WO 2019 / 07466 A1 . But also the WO 2018 / 029003 A1 discloses a corresponding system. Both systems, however, turn out to be disadvantageous with respect to the effort involved in the data processing, since a large computing power is required to be able to determine the respective vehicle guiding data. Thereby there is a disadvantage that for an updating of the vehicle guiding data at a sufficiently fast speed a very complex driver assistance system comprising a very high performance computer is required, or else, an updating at only a slow speed may be realized, with which sudden changes in the environment may not be contained very promptly in the guiding data. This may lead to dangerous states, for instance when in the course of a parking process with an adjacently arranged vehicle suddenly a door is opened or the like.

[0005] The invention is based on the objective to accelerate the providing of the vehicle guiding data at a predetermined limited effort. As solution a method, a computer program product, a computer-readable data carrier, as well as a driver assistance system according to the independent claims is suggested by the invention.

[0006] Advantageous further developments derive from features of the dependent claims.

[0007] With respect to a method of the generic type, by the invention, it is in particular suggested that at a point in time of the detecting of parking situation the predetermined environment region is determined, wherein within the environment region a maneuvering region is determined so that the motor vehicle at least during the maneuvering of the motor vehicle is positioned within the maneuvering region, wherein at least during the maneuvering of the motor vehicle a distance between the motor vehicle and an edge of the maneuvering region is determined, wherein the distance is compared with a predetermined minimum distance, wherein the vehicle guiding data is determined at least depending on the maneuvering region.

[0008] With respect to a computer program product, by the invention, it is in particular suggested that the computer program product comprises program code means, which in particular are stored in a computer-readable medium, in order to perform at least partially the method for providing vehicle guiding data by a driver assistance system according to the invention, when the computer program product is executed on a computer of the vehicle assistance system.

[0009] With respect to a computer-readable data carrier, by the invention, it is in particular suggested that the computer-readable data carrier comprises program code instructions, which, when they are executed by a computer, cause the computer to at least partially perform the method for providing vehicle guiding data by a driver assistance system.

[0010] With respect to a driver assistance system of the generic type, by the invention, it is in particular suggested that the driver assistance system is further configured to determine at a point in time of the detecting of the parking situation the predetermined environment region and to determine within the environment region a maneuvering region so that the motor vehicle at least during the maneuvering of the motor vehicle is positioned within the maneuvering region, wherein the driver assistance system is configured to determine at least during the maneuvering of the motor vehicle a distance between the motor vehicle and an edge of the maneuvering region, to compare the distance with a predetermined minimum distance, and to determine the vehicle guiding data at least depending on the maneuvering region.

[0011] The invention amongst other ideas is based on the idea to use the driver assistance system, in particular a computer-aided visualization unit, in order to determine the vehicle guiding data. In this connection a virtual reality may be created, which comprises artificial objects that are based on corresponding datasets, such as for instance the motor vehicle dataset and the at least one object dataset and / or the like. The vehicle guiding data determined in this way may be provided to the vehicle control apparatus, in order to be able to guide the vehicle at least partially autonomously. Moreover, the possibility exists to visually represent the vehicle guiding data also on a graphic display unit in a way that is perceivable for the driver so that an assistance function for the driver in visualizing the vehicle guiding data may be achieved. By the invention thus amongst other things it is possible to provide synthetic real-time views, in particular of the kind of a top view, which at least partially may form the vehicle guiding data. The invention turns out to be particularly advantageous for the application or assistance in a parking scenario or a parking situation, respectively, in which the motor vehicle often is to be maneuvered in a narrow region, without contacting further objects. In this connection it is to be considered that the environment may also suddenly change on short notice. The synthetic real-time view therefore should also be able to represent such incidents as instantaneously as possible, which may become relevant in the driving operation, without a particularly complex driver assistance system having to be provided. This relates amongst others to a computer, which can be used by the driver assistance system for the determining of the vehicle guiding data. The invention therefore is particularly suitable for a retrofitting in existing motor vehicles.

[0012] The invention in this connection preferably uses a camera-based environment capturing system, wherein, by using the camera system onboard of the motor vehicle, cameraspecific views of a region of the environment, in particular the entire surround view, of the motor vehicle may be captured and the driver assistance system from the captured regions of the environment of the motor vehicle generates a stitched environment view, which is provided as top view from the bird’s eye perspective. Thereby the vehicle guiding data provided in this way may be used in particularly simple way by the vehicle control apparatus for at least partially autonomously guiding the motor vehicle. Moreover, the invention facilitates a visualization of the vehicle guiding data, in order to be able to realize for the driver of the motor vehicle a driving assistance during the parking operation or the parking out operation.

[0013] Basically, however, the camera system may at least partially or exclusively also comprise other environment sensors, such as ultrasonic sensors, Lidar sensors and / or the like. It is a further idea of the invention that the vehicle guiding data based on the top view can be provided and / or updated with as little processing effort, in particular computing effort, as possible. To this end, at the point in time of detecting the parking situation of the predetermined environment region is determined by the driver assistance system based on the current camera data or signals of the camera system. Preferably, on the basis of this data the environment region is predetermined. The parking situation may for instance be detected by the driver triggering the parking situation via an input unit of the motor vehicle. This may for instance be the pushing of a button, a speech input, such as for instance .parking please", a gesture and / or the like. Moreover, the driver assistance system, in particular in the at least partially autonomous driving operation of the motor vehicle, may for example recognize that the motor vehicle is located in the region of the destination and automatically looks for a free parking space at which the motor vehicle may be parked. As soon as a parking space has been found, this may be or trigger the detection of the parking situation. Such situations may be detected by the driver assistance system as parking situation. Moreover, of course, also the possibility exists that the driver assistance system detects that the motor vehicle is parked on a parking space and driving to a remote destination is to be started. In this case it is an inverse process, in which the motor vehicle is to be maneuvered out of a parking space so that the motor vehicle after completion of the maneuvering is arranged on a road and can begin with the regular driving operation in the ongoing traffic.

[0014] As soon as the parking situation is detected, the environment with respect to the motor vehicle is captured by the camera system and thereby the environment region is predetermined. The environment region predetermined in this way, which is limited and determined, respectively, by the capture range of the camera system for this point in time, as fixed dataset is preferably rendered the basis for the further procedure. Then a maneuvering region within the environment region may be determined so that the motor vehicle, at least during the maneuvering of the motor vehicle, is or remains positioned within the maneuvering region. The maneuvering region is preferably a sub portion of the environment region. Preferably, the environment region during the maneuvering remains substantially unchanged so that also corresponding processing capacity or computing capacity with respect to the driver assistance system may be kept to a minimum. This is because in the case of the invention essentially merely the movement of the motor vehicle relative to the environment needs to be determined and the guiding data be adapted accordingly. During the maneuvering it is therefore substantially not required to capture the entire environment of the motor vehicle again and to determine completely new vehicle guiding data based thereon. This is particularly advantageous if in the predetermined environment region numerous or many objects are arranged that do not perform any movement of their own during the maneuvering, such as for instance motor vehicles parked adjacently, road boundaries, columns of parking halls, traffic signs and / or the like. These objects during the maneuvering may stay substantially consistent in the top view and this in the vehicle guiding data gained therefrom. Preferably the maneuvering region also comprises the parking space.

[0015] For the determining of the maneuvering region it may be advantageous to determine a distance between the motor vehicle and an edge of the maneuvering region, wherein the distance is compared with a predetermined minimum distance. Thereby it may be achieved that the motor vehicle preferably substantially completely and during the entire maneuvering is contained in the maneuvering region so that the vehicle guiding data can be reliably determined. The invention therefore does not require the complete data of the entire environment region of the motor vehicle for the identifying or the determining of the vehicle guiding data. Rather the scope of the data may be reduced to the necessary measure.

[0016] The environment region as well as the maneuvering region may have a substantially rectangular basic structure. Besides, of course, there is also the possibility that the environment region and the maneuvering region also may have an at least partially curved outer contour or a curved edge, respectively. Further, it is to be noted that the contour or the edge of the environment region need not be adapted to the edge or the contour of the maneuvering region. The maneuvering region is preferably completely comprised by the environment region. The maneuvering region within the environment region may also be chosen depending on a position of the parking space, on which the motor vehicle is to be parked or on which the motor vehicle is positioned, respectively.

[0017] An electronic vehicle guiding system may be understood as an electronic system which is configured for guiding the motor vehicle fully automatically or fully autonomously, in particular without requiring an intervention in a controlling by the driver. The vehicle carries out all required functions, such as steering maneuvers, deceleration maneuvers and / or acceleration maneuvers as well as monitoring and recording the road traffic and corresponding reactions automatically. In particular, the electronic vehicle guidance system may implement a fully automatic or fully autonomous driving mode according to level 5 of the SAE J3016 classification. An electronic vehicle guidance system may also be implemented as an advanced driver assistance system, ADAS, assisting a driver for partially automatic or partially autonomous driving. In particular, the electronic vehicle guidance system may implement a partly automatic or partly autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and in the following, SAE J3016 refers to the respective standard dated April 2021 .

[0018] Guiding the vehicle at least in part automatically may therefore comprise guiding the vehicle according to a fully automatic or fully autonomous driving mode according to level 5 of the SAE J3016 classification. Guiding the vehicle at least in part automatically may also comprise guiding the vehicle according to a partly automatic or partly autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification.

[0019] The at least one control signal may for instance be provided to one or several actuators of the motor vehicle, amongst them for instance one or several deceleration actuators and / or one or several steering actuators and / or one or several propulsion engines of the motor vehicle. The one or several actuators may affect a longitudinal and / or transverse steering of the motor vehicle, in order to guide the motor vehicle at least partially automatically.

[0020] The assistance information may be output via an output device of the motor vehicle, for instance a display and / or an audio output system and / or a haptic output system.

[0021] An electronic vehicle guidance system may be understood as an electronic system, configured to guide a vehicle in a fully automated or a fully autonomous manner and, in particular, without a manual intervention or control by a driver or user of the vehicle being necessary. The vehicle carries out all required functions, such as steering maneuvers, deceleration maneuvers and / or acceleration maneuvers as well as monitoring and recording the road traffic and corresponding reactions automatically. In particular, the electronic vehicle guidance system may implement a fully automatic or fully autonomous driving mode according to level 5 of the SAE J3016 classification. An electronic vehicle guidance system may also be implemented as an advanced driver assistance system, ADAS, assisting a driver for partially automatic or partially autonomous driving. In particular, the electronic vehicle guidance system may implement a partly automatic or partly autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and in the following, SAE J3016 refers to the respective standard dated April 2021 .

[0022] Guiding the vehicle at least in part automatically may therefore comprise guiding the vehicle according to a fully automatic or fully autonomous driving mode according to level 5 of the SAE J3016 classification. Guiding the vehicle at least in part automatically may also comprise guiding the vehicle according to a partly automatic or partly autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification.

[0023] The at least one control signal may for example be provided to one or more actuators of the motor vehicle, including for example one or more braking actuators and / or one or more steering actuators and / or one or more propulsion motors of the motor vehicle. The one or more actuators may affect a longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least in part automatically.

[0024] The assistance information may be output by means of an output device of the motor vehicle, for example a display and / or an audio output system and / or a haptic output system.

[0025] In the present disclosure, a computer may for example be understood as a data processing device with processing circuitry. A computer can therefore perform computing operations in order to process data. The computing operations may also include indexed accesses to a data structure, for example a look-up table, LUT.

[0026] In particular, a computer may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The computer may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The computer may also include a physical or a virtual cluster of computers or other of said units.

[0027] A computer may also comprise one or more hardware and / or software interfaces and / or one or more memory units. Therein, a memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase-change random access memory, PCRAM.

[0028] In the present disclosure, a computing unit may for example be understood as a data processing device with processing circuitry. A computing unit can therefore perform computing operations in order to process data. The computing operations may also include indexed accesses to a data structure, for example a look-up table, LUT.

[0029] In particular, a computing unit may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The computing unit may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit may also include a physical or a virtual cluster of computers or other of said units.

[0030] A computing unit may also comprise one or more hardware and / or software interfaces and / or one or more memory units. Therein, a memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read- only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable readonly memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase-change random access memory, PCRAM.

[0031] According to a further development it is suggested that the maneuvering region is shifted within the environment region depending on the comparison so that the distance is larger than the minimum distance. Thereby it is possible to consider movements of the motor vehicle, which may possibly reach beyond an edge or a boundary, respectively, of the maneuvering region. In such a case, in which the guiding of the motor vehicle might leave the maneuvering region, thus the maneuvering region may be adapted or shifted, accordingly, within the environment region so that the vehicle guiding data may be determined based thereon. This has the advantage that, on the one hand, only a limited selection of data of the environment region needs to be used for determining the vehicle guiding data, wherein, on the other hand, the updating of the maneuvering region may be effected in a particularly fast and simple way, because for this process preferably substantially stationary environment data need not be changed. Insofar for instance the maneuvering region may be shifted by adding at one end environment data, accordingly, whereas at an opposite end of the maneuvering region environment data captured, accordingly, by the maneuvering region are removed. Thus, for instance a kind of observation window is created, by which the vehicle guiding data may be determined in a simple way at little effort.

[0032] Further, it is suggested that by the guiding data an output of a graphic display unit of the motor vehicle is controlled so that the maneuvering region is represented in a predetermined display range of the display unit. This further development preferably relates to assisting the driver of the motor vehicle in guiding the motor vehicle. This means a visual representation of the top view may be provided, which may be represented in the predetermined display range of the display unit. Preferably, the display range is completely provided for the representation of the maneuvering region. However, it may also be envisaged that the predetermined display range merely relates to a part of an overall display panel, which preferably is predetermined and fixed in order to be able to represent the maneuvering region. It is further suggested that the maneuvering region in addition is predetermined depending on a representation of a size of the motor vehicle in a predetermined scale. This may consider that the driver may visually capture the own motor vehicle in the display field as simply and ergonomically beneficially as possible. The maneuvering region may be adapted accordingly so that a representation that is as favorable as possible may be realized by the display unit.

[0033] It is further suggested that the scale is changed by using a zoom function for determining the top view. By the zoom function or a scaling function, respectively, it is possible that for instance the driver may individually adapt the representation of the maneuvering region for his or her needs. However, it may also be envisaged that for example the driver assistance system uses the zoom function in order to be able to represent the maneuvering region as needed. Of course, also combinations thereof or the like may be provided.

[0034] Moreover, it is suggested that depending on the top view a virtual position of a virtual camera is determined and the zoom function is provided by the virtual camera. Thereby a particularly simple realization of the zoom function can be achieved. The virtual camera may be determined in such a way that it facilitates the top view from the bird’s eye perspective. In this way a particularly simple scaling or zoom functionality may be realized.

[0035] Further, it is suggested that the motor vehicle is represented by a 2D motor vehicle dataset of a virtual two-dimensional model of the motor vehicle and / or that at least an object is represented by a 2D object dataset of a virtual two-dimensional model of the object in the top view. By using 2D datasets a further reduction in the effort involved in determining the vehicle guiding data can be achieved. Thus, in the case of changes no 3D datasets need to be adapted.

[0036] According to a further development it is suggested that the motor vehicle is represented by a 3D motor vehicle dataset of a virtual three-dimensional model of the motor vehicle and / or that at least an object is represented by a 3D object dataset of a virtual three- dimensional model of the object in the top view. This further development makes it possible to achieve particularly in critical structures a detailed representation in order to be able to achieve an as accurate as possible guiding of the motor vehicle by being able to realize the vehicle guiding data in the case of critical situations in a particularly detailed manner. Preferably, this further development is only required if correspondingly critical or dangerous states are to be expected.

[0037] Further, it is suggested that it is switched between the representation by a two- dimensional dataset and the representation by a three-dimensional dataset. The switching may be effected depending on the progress of the parking or parking out, and this for instance if the situation requires it accordingly, for example if in the top view also a protrusion or the like, which is not or not fully captured in the represented plane of the top view, might be relevant to the guiding of the motor vehicle. Of course, it may also be envisaged that further requirements may make the switching between the two- dimensional and the three-dimensional dataset appear reasonable. As soon as a critical situation is removed, it may be envisaged that for the further determining of the vehicle guiding data merely the two-dimensional datasets are used. Moreover, it is not necessarily required to include all objects or the motor vehicle in the switching process. It may also be envisaged that the top view depending on the demand contains two-dimensional or three- dimensional objects or the motor vehicle is represented as two-dimensional or three- dimensional motor vehicle.

[0038] Further, it is suggested that the maneuvering region in the display range is represented rotated by a predetermined angle about a predetermined rotation axis. The rotation by the predetermined angle and the predetermined axis may depend on the fact that during the maneuvering the motor vehicle moves its direction of traveling on a trajectory, which contains one or several curves. Of course, the predetermined angle about the predetermined rotation axis may also vary as needed in order to update the representation in the top view. This has the advantage that the motor vehicle may keep its orientation in the top view, whilst the maneuvering region with respect to the movement of the motor vehicle can be adapted in a simple way, for example by a suitable mathematical transformation or the like. This means that the objects in the maneuvering region need not be completely determined anew.

[0039] Preferably the rotation axis is a central height axis of the motor vehicle. The central height axis is preferably chosen such that an adapted representation of the objects with respect to the motor vehicle may be realized. Further, it is suggested that the vehicle guiding data is used by a vehicle control apparatus for controlling the motor vehicle, which controls the motor vehicle at least partially, preferably completely, autonomously. The same data, which may be used for representing on the display range of the display unit, may equally be used also by the vehicle control apparatus for autonomously guiding the motor vehicle. Of course, it may be envisaged that it is switched as needed between the autonomous guiding and the guiding of the motor vehicle by the driver. It may also be envisaged that the vehicle data that is used for autonomously guiding the motor vehicle by the vehicle control apparatus are represented on the display range to be visually perceivable for the driver.

[0040] Additionally, it is suggested that the vehicle guiding data are submitted at least partially to a mobile device being in communication connection with at least one of the vehicle control apparatus or the driver assistance system. The mobile device may be a smart phone, which is preferably in communication with a head set. Moreover, the mobile device may be a VR (virtual realtity) device, especially a VR-spectacles or the like. This allows the driver being at least temporarily absent during the ordinary use of the vehicle. Especially, it is possible that the driver may be outside of the vehicle during parking or reverse parking, for instance, that the driver is positioned beside the vehicle or run with the moving vehicle. The communication connection, for example, may be a radio connection based on WLAN or the like. Moreover, the communication connection may be a cellular radio connection or the like.

[0041] It is particularly suggested that the vehicle guiding data can be processed by the mobile device. The processed vehicle guiding data then can be submitted to the vehicle control apparatus and / or the driver assistance system whereupon controlling of the vehicle can be at least partially based on or continued under consideration of the processed vehicle guiding data. This allows the driver positioned outside of the vehicle to operate the vehicle art least partially by remote control. Generally, a corresponding functionality can be realized by use of a control center for remote support for the vehicle. In such a scenario, the mobile device may be formed by the control center.

[0042] The advantages and effects indicated for the method according to the invention, of course, to the same extent equally apply to the driving assistance system according to the invention as well as the computer program product according to the invention and the computer-readable data carrier according to the invention, as far as applicable, and vice versa. In particular therefore method features may also be formulated as device features and vice versa.

[0043] Further features of the invention are apparent from the claims, the figures and the figure description. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of figures and / or shown in the figures alone may be comprised by the invention not only in the respective combination stated, but also in other combinations, without leaving the scope of the invention. Thus, also embodiments of the invention are to be regarded as comprised and disclosed, which are not explicitly shown and explained in the figures, however derive or can be generated from the explained embodiments by separated feature combinations. Also embodiments and feature combinations may be regarded as disclosed, which thus do not have all features of an originally formulated independent claim. Moreover, embodiments and feature combinations, in particular by the above given explanations, are to be regarded as disclosed, which go beyond or deviate from the feature combinations set out in the back-references of the claims.

[0044] For use cases or use situations which may occur in the method and which here are not explicitly described, it may be envisaged that according to the method an error message and / or a prompt for input of a user feedback may be output and / or a default setting and / or a predetermined initial state be set.

[0045] The figures show in:

[0046] Fig. 1 a schematic flow diagram, in which the vehicle guiding data for assisting the guiding of a motor vehicle in a parking operation is generated,

[0047] Fig. 2 a schematic virtual top view from a bird’s eye perspective upon an environment region during a parking situation of a motor vehicle, wherein within the environmental region a maneuvering region is formed, in which the motor vehicle is arranged,

[0048] Fig. 3 a schematic view as Fig. 2, in which the motor vehicle during the maneuvering reaches an edge of the maneuvering region, Fig. 4 a schematic view as Fig. 2, in which the maneuvering region is shifted within the environment region so that between an edge and the motor vehicle a minimum distance is kept,

[0049] Fig. 5 a schematic view, in which a transition from the representation according to Fig. 3 for representation according to Fig. 4 is shown,

[0050] Fig. 6 a schematic representation for generating the top view according to any of Fig. 2 to 5 by using a virtual camera,

[0051] Fig. 7 a schematic representation of a first option for providing a zoom function for the top view according to any of Fig. 2 to 5,

[0052] Fig. 8 a schematic representation of a second option for providing a zoom function for a top view according to any of Fig. 2 to 5,

[0053] Fig. 9 a schematic three-dimensional representation of a further motor vehicle as object with a suddenly opened door,

[0054] Fig. 10 a schematic representation as Fig. 5, in which the motor vehicle passes the further motor vehicle in an oncoming way,

[0055] Fig. 11 a schematic flow diagram, wherein vehicle guiding data is updated, and

[0056] Fig. 12 a schematic view of the motor vehicle.

[0057] Fig. 12 shows a motor vehicle 22, which in the present case comprises a vehicle control apparatus 48, which is configured to guide the motor vehicle 22 at least partially autonomously. Moreover, the motor vehicle 22 comprises a driving assistance system 24, which is in communication connection with the vehicle control apparatus 48. The driving assistance system 24 moreover is in communication connection with a graphic display unit 42 of the motor vehicle 22. The motor vehicle 22 further comprises a camera system with presently four individual vehicle cameras in respective corner regions of the motor vehicle 22, of which in Fig. 12 merely the vehicle cameras 26, 28 are represented, by which an environment 32 (Figs. 2 to 4) may be captured. Alternatively or additionally to the individual vehicle cameras 26, 28, of course, also corresponding suitable sensors may be provided, for instance ultrasonic sensors, Lidar sensors and / or the like. The camera system 26, 28 provides corresponding sensor signals or camera signals or data, respectively, to the driving assistance system 2, which evaluates these data. As a result of the evaluating, the driver assistance system 24 provides vehicle guiding data, which may be transmitted to the display unit 42 and / or the vehicle control apparatus 48 in order to at least assist the guiding of the motor vehicle during the driving operation according to the intended purpose.

[0058] The display unit 42 in the present case is formed by a screen, which provides a display range that is not further represented, on which a graphic representation of the vehicle guiding data is possible so that a driver of the motor vehicle by or whilst considering these graphically represented vehicle guiding data is able to guide the motor vehicle 22.

[0059] The camera system 26, 28 depending on the captured environment region 32 provides environment data, which at least partially may also be formed by analogous signals. Preferably, however, this is digital data. Each vehicle camera has a capture range of its own, by which a respective part of the environment of the motor vehicle 22 may be captured.

[0060] The driver assistance system 24 processes the environment data and determines for the predetermined environment region 32 a stitched top view from a bird’s eye perspective upon the motor vehicle 22 and the environment region, in particular objects arranged in the environment region 32, which in the present case are formed by further motor vehicles 30 (Fig. 5). The objects may, of course, also contain further or additional objects, such as for example obstacles, further road users participating in the ongoing traffic, for example pedestrians, cyclists, further driving motor vehicles, traffic signs and / or the like.

[0061] The driver assistance system 24 may, however, alternatively or additionally also provide the vehicle guiding data to the vehicle control apparatus 48, wherein the vehicle control apparatus 48 may evaluate the vehicle guiding data, accordingly, in order to at least partially autonomously guide the motor vehicle 22 based thereon. Basically, it is possible to be able to visually represent also during an at least partially autonomous guiding of the motor vehicle by the vehicle control apparatus 48 the vehicle guiding data at the same time also on the display unit 42 for the driver of the motor vehicle 22 and / or possibly also further passengers. Basically, it is possible to switch nearly seamlessly between the autonomous guiding of the motor vehicle 22 and the driver-based guiding of the motor vehicle 22.

[0062] In particular in the case of critical maneuvers with respect to the parking it is desirable to provide the vehicle guiding data, if possible, in real time so that suddenly occurring incidents and / or obstacles in the vehicle guiding data can be currently considered for the guiding of the motor vehicle 22. In order to simplify in this regard the processing effort by the driver assistance system 24 with respect to the vehicle guiding data, it is envisaged that the driver assistance system 24 detects a parking situation. The detecting of the parking situation may be effected by the fact that the motor vehicle 22 is located in a target area of a destination and now a possibility is searched for parking the motor vehicle 22 on a parking space. However, alternatively or additionally, it may also be envisaged that the driver via a user input to an input unit of the motor vehicle 22 that is not further represented triggers a corresponding parking situation, which may be detected by the driver assistance system 24. The triggering may for instance be effected by actuating a key, capturing a gesture of the driver, capturing a speech command of the driver and / or the like.

[0063] At the point in time of detecting the parking situation by the driver assistance system 24 the predetermined environment region 32 is determined. This is effected by evaluating the environment data of the camera system 26, 28. For the parking maneuver the environment data or the associated predetermined environment region 32 is thus fixed. Then within the environment region 32 a maneuvering region is determined so that the motor vehicle 22 at least during the maneuvering of the motor vehicle 22 is positioned within the maneuvering region 34. Preferably, the maneuvering region 34 also comprises a parking space that has been recognized as free and on which the motor vehicle 22 is to be parked.

[0064] By the reduction of the data required for the consideration of the maneuvering to the maneuvering region 34 the effort for the data processing may be reduced because namely a difference region between the environment region 32 and the maneuvering region 34 for the parking maneuver or the maneuvering need not be considered any further. This allows for reducing the processing effort by the driver assistance system 24. So that during the parking maneuver the reliable functionality may be provided, a distance 38 between the motor vehicle 22 and an edge 36 of the maneuvering region 34 is determined and compared to a predetermined minimum distance. As long as the motor vehicle 22 within the maneuvering region 34 is located at a distance 38 that is larger than the predetermined minimum distance, the vehicle guiding data may be reliably provided. If, however, it is remained below the minimum distance, it may be envisaged that a warning message or the like is output.

[0065] The maneuvering region 34 is preferably chosen to be as small as possible so that the processing effort may be as small as possible. Moreover, in the present case it is envisaged that the moving of the motor vehicle 22 is considered in the vehicle guiding data, wherein, however, a movement of objects that remain unchanged in the environment may be maintained so that also in this regard the computational effort or processing effort involved may be comparatively small.

[0066] Of course, it may occur that one of the objects in the environment region 32 suddenly performs a movement, for instance a door of a further motor vehicle 30 is opened, the further motor vehicle 30 drives into the maneuvering region 34 or the like. Such dynamic changes of the environment region 32 may, of course, be further considered, accordingly, in particular if they affect the maneuvering region 34. However, the procedure according to the invention facilitates that the processing effort is reduced to such an extent that also dynamic influences of the environment region 42 can be considered almost in real time. In the case of poor processing power of the driver assistance system 24 still such a fast processing may be realized. In particular stationary objects, once they have been captured by the environment data, also during a movement of the motor vehicle 22 need not be considered by an additional computing effort.

[0067] Notwithstanding, the possibility exists that the motor vehicle 22 during the maneuvering leaves the maneuvering region 34 at least partially, whereby the vehicle guiding data might lose their usefulness at least partially. To avoid this problem in the present case it is envisaged that the maneuvering region 34 is shifted within the environment region 32 depending on the comparison so that the distance 38 is larger than the minimum distance as well as this is represented with regard to Figs. 2 to 4.

[0068] From Fig. 2 is may be gathered that the environment region 32 is formed by a rectangle with the corner points A, B, C, D. The environment region 32 is presently determined by the camera system 26, 28, and this on the basis of the environment data, which were available at the time of detection of the parking situation. The environment region 32 thus substantially captures all objects which were captured within the environment region 32 by the camera system 26, 28.

[0069] Within the environment region the maneuvering region 34 is arranged, which is represented by a rectangle in Figs. 2 to 4, which comprises the corner points E, F, G, H. The maneuvering region 34 comprises an edge 36, wherein the driver assistance system 24 determines a distance 38 between the edge 36 and the motor vehicle 22 arranged within the maneuvering region 34. The driver assistance system 24 compares the distance 38 with the previously explained minimum distance. Fig. 3 shows a situation, in which the motor vehicle 22 moves within the maneuvering region 34 towards the edge 36, as this is represented with regard to Fig. 3 in the left portion. The distance 38 thus grows very small and there is the danger that the motor vehicle 22 might leave the maneuvering region 34 and thus would no longer be fully available for the determining of the vehicle guiding data. At the same time objects beyond the edge 36 would no longer be considered for the determining of the vehicle guiding data. This is unfavorable. Therefore the invention according to Fig. 4 envisages that the maneuvering region 34 is shifted in such a way within the environment region 32 that the distance 38 is invariably larger than the minimum distance. Thereby, the previously described problems can be largely avoided.

[0070] Fig. 5 once more points out the problems already set out with regard to Figs. 2 to 4, wherein here it can be discerned that the maneuvering region 34 is shifted in the direction of the arrow 40 for enlarging the distance 38. Thereby environment data come within the consideration of the vehicle guiding data, which were previously not considered in the left portion of the environment region 32 for the determining of the vehicle guiding data. At the same time, on the opposite side correspondingly environment data, which so far also was part of the maneuvering region 34, is taken out of the maneuvering region 34 so that the maneuvering region 34 need not be enlarged for determining the vehicle guiding data substantially by the additional environment data.

[0071] Fig. 1 shows a schematic flow diagram for a procedure according to the invention. The method starts with a step 10, in which the parking situation is detected by the driver assistance system 24 and a parking operation is started. In a following step 12 the top view, as previously explained, is generated by the driver assistance system 24. To this end, the environment data is evaluated, wherein the data provided by the vehicle cameras 26, 28 is merged into an overall representation and a parking situation for an environment captured at this point in time by the camera system 26, 28 is generated. Based thereon the motor vehicle 22 is substantially centrally positioned in the top view, and a parking space is identified, which equally is captured by the maneuvering region 34. If the vehicle guiding data is used for representing the display unit 42, further a pixel density may be calculated and a display range be set. The top view or the scene generated thereby is rendered based on the environment data of the camera system 26, 28 and the detection of the objects 30.

[0072] In a step 14 the motor vehicle 22 is moved to be able to be parked on the parking space. Its new position relative to the environment data is determined, wherein the environment data, in particular that of stationary objects 30, may remain substantially unchanged. For displaying the movement a corresponding rendering may be provided in step 14.

[0073] In a step 16 it is determined, whether the distance 38 is larger than the minimum distance. If this condition is met, it may be proceeded with steps 14. However, if the condition is not met, in a step 18 an adaptation of the maneuvering region 34 is effected. The adaptation may, as previously explained, be performed. The method is then equally continued with step 14. If the motor vehicle 22 reaches the parking space, the parking operation may be completed in step 20.

[0074] The vehicle guiding data consequently may not only serve for assisting the vehicle control apparatus 48 with regard to the at least partially autonomous guiding of the motor vehicle 22, but may also be used to be represented on the graphic display unit 42 of the motor vehicle 22 so that the driver of the motor vehicle 22 may be provided with a driver assistance by visual representation. In particular in the case of using the visual representation of the vehicle guiding data it may be envisaged that the maneuvering region 34 in addition is predetermined depending on a representation of the size of the motor vehicle 22 on a predetermined scale. Thereby, for the person guiding the vehicle or the driver of the motor vehicle 22, respectively, it is possible in a simple way to visually capture the traffic situation with regard to the parking situation in an ergonomically favorable way. In order to be able to change the scale, in the present case a zoom function is used for determining the top view. For this purpose, in the present case it is envisaged that depending on the top view a virtual position of a virtual camera 46 is determined by the virtual camera 46. This allows for the driver assistance system 24 to be able to provide the zoom function in a particularly simple way. This is represented by Fig. 6. Figs. 7 and 8 represent two options as to how the zoom function may be realized by the virtual camera 46. Fig. 7 shows a first option, in which the zoom function can be achieved by changing the height of the virtual camera 46 relative to the ground surface 50. In the first option the virtual camera 46 is virtually shifted from a first height 52 to a second height 54 relative to the ground surface 50. A height difference between the heights 52 and 54 amounts to AH. This height difference AH leads to a spread in the ground surface 50, which in Fig. 7 is designated with Aa. Between the height difference AH and the spread Aa the following mathematical formula exists: a AH = Aa ■ ctg— a refers to an angle in Fig. 7, which corresponds to an opening angle or a virtual capture range of the virtual camera 46 with regard to the capturing.

[0075] By this first option the maneuvering region 34 may be adapted, in particular also the region indicated on the display. If needed, thus, a corresponding scale may be set in a simple way.

[0076] Fig. 8 shows a second option, in which the virtual camera 46 for realizing the zoom function is arranged at a consistent height 56, which in Fig. 8 is designated as H. The zoom function in this option may be achieved by the fact that the virtual capture range of the virtual camera 46 may be virtually changed. In a first setting it may be envisaged that the virtual capture range has an angle a. Thereby a first region is rendered, which has a dimension a in the ground surface 50. In a second virtual setting the virtual capture range a is enlarged by a virtual region Aa, as this is represented by Fig. 8. From this results an additional distance Aa. Therefrom it may be gathered that the spread Aa of Fig. 7 may here be achieved by the virtual capture range of the virtual camera 46 increases by the angle Aa in Fig. 8. This means that thus in Fig. 8 a capture angle an results, as shown in Fig. 8, results. The following mathematical formulas exist:

[0077] Basically, of course, there is also the possibility of combining these two options with each other.

[0078] Fig. 9 shows a schematic perspective representation of the further motor vehicle 30, in which suddenly the driver’s door is opened. By the procedure according to the invention it is possible, even by a driver assistance system 24 having poor processing power with regard to data processing, to consider such a suddenly occurring effect almost in real time in the vehicle guiding data or to represent this on the display unit 42 in the display range. Thereby, also with limited processing power of the driver assistance system 24 a reliable good functionality may be achieved, as this is shown with reference to Fig. 9.

[0079] Equally, the invention is able to consider a motor vehicle 30 suddenly occurring in the maneuvering region 34 almost in real time, as this is shown with reference to Fig. 10. The further motor vehicle 30 is oncoming towards the motor vehicle 22 and thus is to be considered when maneuvering the motor vehicle 22. This, too, may be considered by the invention in the vehicle guiding data almost in real time.

[0080] Fig. 11 in a further schematic flow diagram shows the use of the vehicle guiding data for representing on a display range the display unit 42. In a step 60, the parking operation starts by detecting the parking situation, as previously explained. The previously explained top view is determined by the driver assistance system 24. The motor vehicle 22 and the further motor vehicles 30 as well as further objects, if applicable, are represented by corresponding three-dimensional models of the respective motor vehicles 22, 30 or objects in the top view. In a step 64 the environment data is provided, and this on the basis of the data or signals, respectively, currently provided by the camera system 26, 28. In a step 66 the representation of the top view is updated and rendered by using the environment data and model data of the motor vehicles 22, 30 or objects, respectively. In a step 68 the virtual camera 46 is determined and may be adjusted by the driver of the motor vehicle 22 or also by the driver assistance system 24 or also by the vehicle control apparatus 48. In a step 70 it is examined whether the virtual camera 46 is represented for a certain time or a certain number of images of an image sequence, which is represented on the display range of the display unit 42, is fixed or static, respectively. If this is not the case, the procedure branches out and is continued with step 66.

[0081] If, however, the virtual camera 46 is static or fixed, respectively, in a step 72 the three- dimensional models of the motor vehicles 22, 30 are replaced by two-dimensional models in the representation. The three-dimensional models may be stored in a system memory. Then the environment data 64 is considered additionally and in a step 74 a top view with a reduced complexity is generated, and this based on the two-dimensional models. Thereby system resources can be released. In a following step 76 it is checked whether the virtual camera 46 continues to be static or fixed, respectively. If this is the case, the method branches out to step 74. If this not the case, the method branches out to step 66 and is continued there. The method then ends when the parking operation is effected or completed, respectively, which means that the motor vehicle 22 has reached its final position on the parking space or in the reverse case that the motor vehicle 22 has left the parking space completely and preferably has pulled out into the ongoing traffic.

[0082] In the case of these designs it is thus possible to clearly reduce the computing power further by the switching from three-dimensional models to two-dimensional models in the virtual top view. The invention allows for positioning the virtual camera 46 not only somewhere outside the own motor vehicle 22, but it may basically also be positioned within the motor vehicle 22 so that a synthetic view during the parking operation may be provided. Moreover, of course, also respective regions of the parking situation may be highlighted, if required. The virtual camera 46 can respond very fast. During this time the afore-mentioned rendering from image to textures need not be applied. However, as long as the virtual camera 46 is fixed in its movement, the invention may be used for better optimizing the performance, without impairing a visual output effect.

[0083] The representation of further objects, in particular the further motor vehicles 30, needs to represent merely essential features that may be relevant to some risk. This may for instance concern the door explained with regard to Fig. 9. For representing the motor vehicles 22, 30 a hybrid vehicle model rendering technique may be employed. Thereby, the respective motor vehicle mode may be divided into several functional parts. If the virtual camera 46 is static or fixed, respectively, it may be envisaged that the motor vehicles 22, 30 are represented based on their respective three- dimensional models, wherein some features may be internally marked as changeable, such as for example the door Fig. 10. Due to the received requirement signal the three- dimensional model or a respective feature can be changed depending thereon in the representation. Otherwise, preferably two-dimensional models may be employed.

[0084] The maneuvering region 34 may for example be chosen as rectangular maneuvering region with an edge length of about 15 m to about 20 m.

[0085] For the use of the vehicle guiding data for representation on the display unit 42 it may further be envisaged that the spread Aa, as it was explained as to Figs. 7 and 8, in the real world comprises a distance in a region of several millimeters, which may relate to a calibrated number of pixels of the display range of the display unit 42. This may be depending on a resolution of the display range of the display unit 42. For example the display range may have a width of 1920 pixels. Prior to using a virtual camera 46 every millimeter of the display range may be considered as follows:

[0086] D = Resolution H, V) / a

[0087] D therein corresponds to a density of pixels per millimeter.

[0088] After the distance a has changed by a distance Aa, for the density D it results:

[0089] D = Resolution (H, K) / (a + Aa)

[0090] The resolution (V, H) is a resolution of the display range in pixels in the horizontal or vertical direction, for example in horizontal direction 1520 and in vertical direction 1920.

[0091] In this connection it may be considered that the top view is a top view from a bird’s eye perspective. The view has a perspective effect for all directions. The density value may represent a measure for the visualized object size on the display range, for example the three-dimensional model size of the motor vehicle 22 on the display range. Basically, the driver or the user may determine when the vehicle guiding data is represented on the display unit 42, in particular its display range. However, it may also be envisaged that the driver assistance system 24 automatically activates the representation of the vehicle guiding data on the display unit 42, for example when the parking situation was detected. Depending on demand, it may be envisaged that the driver assistance system 24 detects the objects in the environment data and merely indicates that there are objects, without specifying them. The objects in such a case may be characterized by red lines, boxes or the like.

[0092] As part of the zoom function a size or a measure of the motor vehicle 22 may be changed. For example the representation of the motor vehicle 22 when using the second option according to Fig. 8 may be decreased by removing the virtual camera 46 from the ground surface 50. In the reverse case it may be increased. In order to achieve a suitable representation of the motor vehicle 22 as model on the display range of the display unit 42, a pixel density may be calculated and applied in order to have a boundary region for the model size. The calculation may be repeated at any time, for instance if the virtual camera 46 is adjusted.

[0093] In the afore-mentioned formula L is the length of the motor vehicle 22 in the units. L / 2 is here used with respect to a point of origin, which usually is chosen to be in the center of the motor vehicle 22. (Rv / h) is a screen resolution in the horizontal or vertical direction, respectively. D is the pixel density with pixels per mm. Pdand Puare percentage parameters, which may be selected, for example Pd= 10% und Pu= 40%. This formula may allow for the model of the motor vehicle 22 not to be represented too small or too large. A medium percentage value may represent the optimum size for the representation. An automatic renewed adjusting of the virtual camera 46 may be envisaged and applied to the data. Since the density D depends on the distance of the virtual camera 46 to the motor vehicle 22 and its capture range, the afore-mentioned formula is not only suitable for the top view, but it may equally as well be used for other top views, as long as the distance between the virtual camera 46 in the motor vehicle 22 stays substantially the same. The embodiments exclusively serve to explain the invention and are not intended to limit these....

Claims

Claims1 . Method for providing vehicle guiding data by a driver assistance system (24), which serve the guiding of a motor vehicle (22) in a driving operation according to the intended purpose, wherein at least one object (30) in a predetermined environment region (32) of the motor vehicle (22) is captured by a camera system (26, 28) of the motor vehicle (22) and at least depending thereon environment data is provided, wherein the environment data is processed by the driver assistance system (24), wherein, at least for the predetermined environment region (32), a stitched top view from a bird’s eye perspective upon the motor vehicle (22) and the at least one object (30) is determined, wherein the motor vehicle (22) is represented by a motor vehicle dataset and the at least one object (30) is represented by an object dataset, wherein a parking situation is detected by the driver assistance system (24), characterized in that at a point in time of the detecting of the parking situation, the predetermined environment region (32) is determined, wherein within the environment region (32) a maneuvering region (34) is determined, so that the motor vehicle (22), at least during the maneuvering of the motor vehicle (22), is positioned within the maneuvering region (34), wherein at least during the maneuvering of the motor vehicle (22) a distance (38) between the motor vehicle (22) and an edge (36) of the maneuvering region (34) is determined, wherein the distance (38) is compared with a predetermined minimum distance, wherein the vehicle guiding data is determined at least dependent on the maneuvering region (34).

2. Method according to claim 1 , characterized in that the maneuvering region (34) is shifted within the environment region (32) depending on the comparison so that the distance (38) is larger than the minimum distance.

3. Method according to claim 1 or 2, characterized in thatby the vehicle guiding data an output of a graphic display unit (42) of the motor vehicle (22) is controlled so that the maneuvering region (34) is represented in a predetermined display range (44) of the display unit (42).

4. Method according to claim 3, characterized in that the maneuvering region (34) is predetermined depending on a representation of a size of the motor vehicle (22) on a predetermined scale, wherein preferably the scale is changed by using a zoom function for determining the top view.

5. Method according to claim 4, characterized in that depending on the top view a virtual position of a virtual camera (46) is determined and the zoom function is provided by the virtual camera (46).

6. Method according to any one of the preceding claims, characterized in that the motor vehicle (22) is represented by a 2D motor vehicle dataset of a virtual two- dimensional model of the motor vehicle (22) and / or the at least one object (30) by a 2D object dataset of a virtual two-dimensional model of the object (30) in the top view.

7. Method according to any one of claims 1 to 6, characterized in that the motor vehicle (22) is represented by a 3D motor vehicle dataset of a virtual three-dimensional model of the motor vehicle (22) and / or the at least one object (30) by a 3D object dataset of a virtual three-dimensional model of the object (30) in the top view.

8. Method according to claim 6 and 7, characterized in that the representation by the two-dimensional dataset and the representation by the three-dimensional dataset is changed.

9. Method according to any one of claims 3 to 8,characterized in that that the maneuvering region (34) in the display range is represented rotated by a predetermined angle about a predetermined rotation axis.

10. Method according to claim 9, characterized in that the rotation axis is a central height axis of the motor vehicle.11 . Method according to any one of the preceding claims, characterized in that the vehicle guiding data is used by a vehicle control apparatus (48) for controlling of the motor vehicle (22) , which controls the motor vehicle (22) at least partly autonomously.

12. Method according to any one of the preceding claims, characterized in that the vehicle guiding data are submitted at least partially to a mobile device being in communication connection with at least one of the vehicle control apparatus (48) or the driver assistance system (24).

13. Computer program product for a driver assistance system (24), comprising program code means, which in particular are stored in a computer-readable medium, in order to perform a method for providing vehicle guiding data, which serves the guiding of a motor vehicle (22) in a driving operation according to the intended purpose, wherein depending on a capturing of at least one object (30) in a predetermined environment region (32) of the motor vehicle (22) provided environment data of a camera system (26, 28) of the motor vehicle (22) is processed by determining at least for the predetermined environment region (32) a stitched top view from a bird’s eye perspective upon the motor vehicle (22) and the at least one object (30) are determined, wherein the motor vehicle (22) is represented by a motor vehicle dataset and the at least one object (30) is represented by an object dataset, wherein a parking situation is detected by the driver assistance system (24), wherein at a point in time of the detecting of the parking situation the predetermined environment region (32) is determined, wherein within the environment region (32) a maneuvering region (34) is determined so that the motor vehicle (22) at least duringthe maneuvering of the motor vehicle (22) is positioned within the maneuvering region (34), wherein at least during the maneuvering of the motor vehicle (22) a distance (38) between the motor vehicle (22) and an edge (36) of the maneuvering region (34) is determined, wherein the distance (38) is compared with a predetermined minimum distance, wherein the vehicle guiding data is determined depending at least on the maneuvering region (34), if the computer program product is executed on a computer of a driver assistance system (24).

14. Computer-readable data carrier, on which a computer program product at least according to claim 13 is stored.

15. Driver assistance system (24) for providing vehicle guiding data by the driver assistance system (24), which serves the guiding of a motor vehicle (22) in a driving operation according to the intended purpose, wherein the driving assistance system (24) is configured to receive at least environment data of a camera system (26, 28) of the motor vehicle (22) relating to at least one object (30) captured in a predetermined environment region (32) of the motor vehicle (22), to process the environment data, to determine a stitched top view from a bird’s eye perspective upon the motor vehicle (22) at least for the predetermined environment region (32), wherein the motor vehicle (22) is represented by a motor vehicle dataset and the at least one object (30) is represented by an object dataset, and to detect a parking situation, characterized in that the driver assistance system (24) is further configured to determine the predetermined environment region (32) at a point in time of detecting the parking situation and to determine a maneuvering region (34) within the environment region (32) so that the motor vehicle (22) at least during the maneuvering of the motor vehicle (22) is positioned within the maneuvering region (34), wherein the driver assistance system (24) is configured to determine at least during the maneuvering of the motor vehicle (22) a distance (38) between the motor vehicle (22) and an edge (36) of the maneuvering region (34), to compare the distance (38) with a predetermined minimum distance, and to determine the vehicle guiding data at least depending on a maneuvering region (34).

Images