Method for determining a plan view image for a motor vehicle having a trailer

Abstract

The invention relates to a method for determining a plan view image (20) for a motor vehicle (1) having a trailer (2). The method comprises determining (S1) trailer information (30) which describes whether or not the motor vehicle (1) is coupled to a trailer (2). If the trailer information (30) describes that the motor vehicle (1) is coupled (S2) to the trailer (2), the plan view image (20) is determined (S3) in such a way that it describes the motor vehicle (1), at least part of the trailer (2) and at least part of the surroundings (4) of the motor vehicle (1) and of the trailer (2), wherein the determined plan view image (20) is composed only of camera data (32) from a plurality of cameras of the motor vehicle (1) and, in comparison to a plan view image (21) for a motor vehicle (1) without a trailer (2), shows an extended view of the surroundings (4) in a rear region (12) of the motor vehicle (1).

Description

[0001] Method for determining a top view image for a motor vehicle with a trailer

[0002] The invention relates to a method for determining a top-view image for a motor vehicle with a trailer. The invention also relates to a control device for a motor vehicle, a motor vehicle, and a computer program product for implementing such a method.

[0003] A motor vehicle can be configured to acquire a top-view image of the motor vehicle and display it, for example, using a display device in the motor vehicle. The top-view image is an image that shows the motor vehicle and its surroundings from a bird's-eye view. It can alternatively be referred to as a top-view image. The top-view image thus shows the motor vehicle and its surroundings viewed from above. The top-view image can be displayed, for example, when a parking function is activated, in particular when a parking assistant is activated.

[0004] If the motor vehicle is coupled to a trailer, the trailer and, if possible, its surroundings should also be described in the top-down view. However, since a combination of motor vehicle and trailer is dimensioned differently than the motor vehicle alone, it is advisable to determine the top-down view, at least in part, differently for a combination of motor vehicle and trailer than for a motor vehicle without a trailer.

[0005] DE 10 2021 106 670 A1 discloses a method for generating an environmental image of a multi-unit vehicle, in which detection areas around the vehicle are captured by rear, front, and side cameras, and individual images are generated. The individual images are evaluated and / or cropped in such a way that overlapping areas are formed at least between the front and rear side individual images, and the individual images are combined to form the environmental image of the vehicle, taking into account a bend angle and / or a correspondence between the individual images in the overlapping areas.

[0006] The object of the invention is to provide a solution by which a top-view image of a motor vehicle with a trailer can be reliably determined. This object is achieved by the subject matter of the independent patent claims.

[0007] A first aspect of the invention relates to a method for determining a top-view image for a motor vehicle with a trailer. The top-view image is an image that shows the motor vehicle, at least partially the trailer, and the surroundings of the motor vehicle and the trailer from a bird's-eye view. It can alternatively be referred to as a top-view image.

[0008] The invention is based at least on the recognition that the surroundings described in the plan view image are typically limited to a predefined area around the motor vehicle. The size of an image section of the plan view image that describes a partial area of ​​the predefined area adjacent to a front area of ​​the motor vehicle generally corresponds to the size of an image section of the plan view image that describes a partial area of ​​the predefined area adjacent to a rear area of ​​the motor vehicle. However, in the case of a motor vehicle to which a trailer is coupled, this image section is typically not sufficient to display the trailer in its entirety. The plan view image should therefore at least be adapted to the changed required size of the image section that describes the partial area adjacent to the rear area.

[0009] The method comprises determining trailer information which describes whether or not the motor vehicle is coupled to a trailer. It is therefore first determined whether a combination consisting of a motor vehicle and trailer exists or whether the motor vehicle is without a trailer and therefore does not form a combination. If the trailer information describes that the motor vehicle is coupled to the trailer, the top view image is determined in such a way that it describes the motor vehicle, at least partially the trailer and at least partially the surroundings of the motor vehicle and the trailer. The determined top view image is only composed of camera data from several cameras on the motor vehicle. This means that no camera on the trailer and its camera data are required to determine the top view image. Determining the top view image means that it is generated.

[0010] In comparison to a top view image for a motor vehicle without a trailer, the determined top view image shows the surroundings in the rear area of ​​the motor vehicle in an extended manner. This surroundings in the rear area refers to the part of the area of ​​the surroundings described by the top view image that is adjacent to the rear area of ​​the motor vehicle. For example, if in the case of a top view image for a motor vehicle without a trailer the top view image has a predetermined length in a longitudinal direction of the motor vehicle, this length can be enlarged. However, this enlargement or extension only affects the part of the top view image that shows the surroundings adjacent to the rear area and not, for example, the surroundings adjacent to the front area. Due to this enlargement or extension, the trailer can be shown at least partially without reaching or exceeding the edges of the top view image.The size of the image section of the top view image which describes the part of the specified area adjacent to the front area of ​​the motor vehicle therefore no longer corresponds to the size of the image section of the top view image which describes the part of the specified area adjacent to a rear area of ​​the motor vehicle, whereby it is smaller, for example only half as large, in particular only half as long.

[0011] The individual images from the motor vehicle's cameras, and thus the individual camera data from which the top-view image is composed, are captured by the motor vehicle's cameras and used to carry out the method. For this purpose, the camera data can be transmitted, for example, internally within the vehicle from the respective camera to a control device of the motor vehicle, which carries out the method according to the invention. It is assumed that the camera data are available to the control device in order to carry out the method, so that the control device can provide and evaluate the camera data for carrying out the method. The method according to the invention is preferably carried out entirely by means of the control device. The method can therefore be understood as a computer-implemented method.

[0012] The method according to the invention ensures that the trailer is taken into account when determining the top view image, so that it is enlarged compared to the top view image for a motor vehicle without a trailer, since more space is available than before, at least for the rear area of ​​the motor vehicle and the trailer there and the surrounding area. This results in a top view image that is particularly useful for a combination consisting of a motor vehicle and a trailer. Thus, a top view image for a motor vehicle with a trailer is reliably determined.

[0013] Preferably, the trailer is not only partially, but completely described by the top-view image. The at least partially depicted surroundings of the motor vehicle and the trailer are, for example, spatially limited to a detection range of the cameras and / or to a predefined area that can be detected by the motor vehicle's cameras.

[0014] One embodiment provides that the top view image is composed of camera data from a front camera, camera data from side cameras arranged on two opposite sides of the motor vehicle, and camera data from a rear camera of the motor vehicle. Preferably, there are at least partially overlapping regions between the camera data from the front camera, the side cameras, and / or the rear camera, by means of which the individual camera data and thus individual images from the multiple cameras can be combined to generate the top view image. Based on the overlaps, the images can be related to one another, thus ultimately compiling the top view image from multiple images.

[0015] The side cameras can, for example, be arranged in the side mirrors of the motor vehicle. Alternatively or additionally, they can be designed as camera side mirrors, i.e. as cameras that are mounted on the sides of the motor vehicle by means of holding devices in order to be able to provide, for example, electronic exterior mirrors. The front camera can, for example, be arranged in an upper region of a windshield of the motor vehicle (as viewed vertically of the motor vehicle). Analogously, the rear camera can, for example, be arranged in an upper region of a rear window of the motor vehicle (as viewed vertically). Alternatively or additionally, the front camera and / or the rear camera can be arranged lower, for example in the area of ​​a bumper, a license plate and / or a manufacturer's logo of the motor vehicle. Various cameras are thus possible, the camera data from which, when combined, can produce the top view image.

[0016] The motor vehicle itself can be represented in the top view image, for example, as an animation. For this purpose, a schematic or realistic representation of the motor vehicle can be stored in the motor vehicle, for example in a storage device of the motor vehicle. A schematic or realistic representation can also be stored for the trailer. The respective realistic representation is, for example, an image of the motor vehicle or the trailer. The motor vehicle's cameras therefore do not have to be able to capture the motor vehicle and trailer from a bird's eye view, but only the surroundings of the motor vehicle. This makes it clear how the top view image can be composed based on the motor vehicle's camera data.A preferred embodiment provides that the top view image comprises camera data from the side cameras in a first partial area of ​​the surroundings in the rear area of ​​the motor vehicle, which can be captured by the rear camera without a trailer but is now obscured by the trailer. The first partial area therefore borders on the rear area of ​​the motor vehicle. The top view image is therefore composed in such a way that the described first partial area does not contain camera data from the rear camera, even though the first partial area is in the rear area and thus within the typical capture range of the rear camera, but rather camera data from the side cameras. The first partial area can form a contiguous area or comprise several spatially separate areas. For example, the first partial area comprises areas of the surroundings on both sides when viewed in a transverse direction to a central axis of the motor vehicle, so that camera data from both side cameras may be required.The areas that the rear camera can no longer capture because the trailer is now coupled to the vehicle are replaced, as far as possible, with camera data from the side cameras, so that camera data from the side cameras is also used in the rear area. This is atypical in that typically only data from the rear camera is used to display the surroundings in the rear area. However, it is taken into account here that at least part of the detection area of ​​the rear camera may be obscured by the trailer, but may still be at least partially detectable by the side cameras. Therefore, it is particularly suitable to use the camera data from the side cameras in the first sub-area.

[0017] A further exemplary embodiment provides that the top view image comprises camera data from the rear camera in a second partial area of ​​the surroundings in the rear area, which can be captured by the rear camera despite the trailer. The first and the second partial area are separate from one another. In particular, they do not overlap or only overlap locally. If possible, the camera data from the rear camera is used even though the motor vehicle is coupled to the trailer. The second partial area comprises, for example, an area between the motor vehicle and the trailer that lies outside the detection range of the side cameras. However, the second partial area can also comprise areas of the surroundings arranged to the side of the trailer and adjacent to the rear area.Whenever it is possible to access camera data from the rear camera, this is done so that the camera data from the side cameras can only be used for those parts of the surroundings that are actually obscured by the trailer. In the rear area, the top view image is therefore composed of both camera data from the rear camera and camera data from the side cameras. In addition, the size of the second sub-area, which is provided by the camera data from the rear camera, and the size of the first sub-area, which is provided by the camera data from the side cameras, can be selected to be different depending on the size and / or orientation of the trailer relative to the motor vehicle. The first and second sub-areas are therefore not fixed, but can at least depend on the trailer and its relative position and / or orientation to the motor vehicle.

[0018] Another exemplary embodiment provides that the top view image comprises camera data from the front camera in a third sub-area of ​​the surroundings in a front area of ​​the motor vehicle, which can be captured by the front camera, and / or comprises camera data from the respective side camera in a respective fourth sub-area of ​​the surroundings in a side area of ​​the motor vehicle, which can be captured by a side camera. A total of, for example, four different sub-areas can therefore be distinguished, with at least the third and the respective fourth sub-areas corresponding to classic camera assignments, as are also selected for top view images without a trailer. The front area is therefore preferably captured by the front camera and the side areas by the respective side camera. With the exception of the surroundings in the rear area, it is therefore possible to use camera data assignments that are typical for top view images, for example.This makes the process particularly easy to implement in the front and side areas.

[0019] A particularly preferred embodiment provides for the determination of angle information that describes an angle between the motor vehicle and the trailer. The determined angle information is taken into account when determining the top view image, so that the top view image describes the trailer at the angle relative to the motor vehicle according to the angle information. The angle information can thus be used, for example, to determine how and in which orientation the trailer should be positioned relative to the motor vehicle in the top view image.

[0020] In addition, the angle information contains information about the part of the rear area in which camera data from the rear camera can be expected, since the trailer does not restrict the rear camera's field of view there. The angle information can therefore be used to display at least part of the trailer in the top view image, but also to assign the first and second partial areas in the rear area. It is therefore particularly useful to take into account that the trailer does not have to be positioned directly behind the motor vehicle with an angle information of 0 degrees, but can deviate from this and thus be angled or diagonally positioned to the motor vehicle. This is particularly useful in practice for top view images.

[0021] A further exemplary embodiment provides that at least the first and second sub-areas are selected differently when the angle information is not equal to 0 degrees than when the angle information is 0 degrees. The angle information not equal to 0 degrees can be greater or less than 0 degrees. If the trailer is located directly behind the motor vehicle with no angle between the motor vehicle and the trailer, this has no influence on the first and second sub-areas. The angle information then amounts to 0 degrees. If the trailer is inclined relative to the motor vehicle, i.e. when the angle information is not equal to 0 degrees, parts of the first or second sub-area on one side can be smaller or larger than on the other side relative to the central axis of the motor vehicle, since the trailer is inclined towards one of the two sides or away from it.

[0022] The angle between the motor vehicle and the trailer is typically specified relative to the motor vehicle's center axis, which is oriented parallel to a longitudinal direction of the motor vehicle. Furthermore, a center axis of the trailer is considered to be in its longitudinal direction, so that the angle between the two center axes at their intersection is described by the angle information. The respective center axis is understood here as a geometric axis.

[0023] It can be provided that a predefined tolerance range is specified around 0 degrees, in which the angle information is assumed to be 0 degrees. The tolerance range can, for example, range between 0 degrees and 0.1 degrees, 0.2 degrees, 0.3 degrees, 0.5 degrees, 1 degree, 2 degrees, 3 degrees, 5 degrees, 10 degrees, or in particular 2 degrees in the plus and minus directions. Alternative tolerance ranges, which are, for example, larger or smaller than the specified tolerance ranges or lie between the specified tolerance ranges, are possible.

[0024] It should therefore be considered that the design of the first sub-area becomes asymmetrical with respect to the center axis of the motor vehicle if the angle information is not equal to 0 degrees, in particular if it is outside the tolerance range. This thus leads to asymmetrical designs of the first and second sub-areas compared to the center axis.

[0025] Another exemplary embodiment provides that the angle information is determined by applying an angle determination criterion to the camera data and / or driving data of the motor vehicle describing a journey of the motor vehicle. The angle determination criterion comprises at least one algorithm and / or a rule, the implementation of which, by evaluating the camera data and / or the driving data, can calculate the angle at which the motor vehicle is oriented to the trailer or vice versa. The camera data is the camera data provided by the cameras of the motor vehicle. The rear camera is particularly suitable for this purpose, with its camera data that at least partially describes the trailer. Alternatively or additionally, camera data from the side cameras can be used, provided that this at least partially describes the trailer. The driving data of the motor vehicle can alternatively be referred to as odometry data.The driving data is recorded, calculated and / or estimated using corresponding sensors in the motor vehicle. The driving data describes, for example, a steering angle, a wheel turning angle, a speed, an acceleration, a position of the motor vehicle and / or another variable describing the travel of the motor vehicle. Based on the driving data, it can be determined, for example, whether or not an angle other than 0 degrees is to be expected between the motor vehicle and the trailer. Furthermore, the aforementioned driving data can be used to draw conclusions about how the motor vehicle has been moving so far. Finally, various data recorded in the motor vehicle, such as camera data or driving data, can be used to record the angle information precisely and thus reliably.

[0026] Another exemplary embodiment provides that the top view image describes the entire trailer. The top view image therefore preferably shows the entire trailer and not just a part of the trailer. A partial area of ​​the surroundings located behind the trailer is also preferably provided. However, it may be the case that, due to the surroundings being obscured by the trailer, only partial or no camera data is available for the area of ​​the surroundings behind the trailer, i.e. in the rear area of ​​the trailer. In this case, for example, the top view image may have a gap. This can, for example, be marked and / or highlighted as such. If necessary, camera data from other motor vehicles and / or external cameras can be received and used, which at least partially show the surroundings in the gap.Alternatively or additionally, camera data from a rear camera of the trailer can be used and transmitted to the control device.

[0027] According to a further exemplary embodiment, the top-view image shows the surroundings in the rear area of ​​the motor vehicle further (or longer) by a predetermined factor than in the top-view image for the motor vehicle without a trailer. This factor is, in particular, a factor of 2. Alternatively or additionally, the factor can be 1, 5, 3, 4, or, in particular, 5. Another factor between the aforementioned factors, which is, in particular, greater or smaller than these, can be selected or specified.

[0028] The factor can, for example, be selected depending on the size or type of trailer. However, it can be the case that, regardless of, for example, the trailer length of the motor vehicle, it is always specified that the length of the surroundings in the rear area shown in the top view image for the motor vehicle without a trailer is always doubled when the top view image for the motor vehicle with a trailer is determined. The specified factor can therefore be a fixed value that is stored, for example, in the memory device and is repeatedly applied. By doubling or otherwise multiplying the area of ​​the surroundings of the motor vehicle with the trailer shown in the rear area, it is achieved that typical trailers can be represented in full without the need for complex determinations, for example regarding the actual shape and / or size of the trailer.The top view image can therefore be assembled particularly quickly and with little computational effort.

[0029] In another exemplary embodiment, it is provided that the top view image shows the surroundings in the rear area of ​​the motor vehicle expanded by an additional area compared to the top view image for the motor vehicle without a trailer. The additional area is particularly dependent on a trailer length, a trailer width, a trailer coupling length and / or a trailer outline of the trailer. Thus, unlike in the exemplary embodiment, in which a factor is predetermined, any additional area can be added to the top view image for the motor vehicle without a trailer if the motor vehicle has the trailer. This additional area depends on the trailer. If, for example, a specific trailer length of the trailer is determined and / or is known, the additional area can have a total length in the rear area that at least corresponds to the trailer length or preferably extends slightly beyond it.Depending on the trailer width, the width of the top view image in a transverse direction of the motor vehicle and the trailer can also be enlarged compared to the width of the top view image for the motor vehicle without a trailer. The trailer coupling length can, if necessary, be added to the trailer length in order to determine a minimum length of the additional area so that the entire trailer can be shown. The trailer coupling length is, for example, a distance between the rear of the motor vehicle and the front of the trailer that faces the motor vehicle. It therefore describes, for example, the length of a trailer coupling device between the motor vehicle and the trailer. The trailer outline can, if necessary, also help to at least estimate which additional areas must be included in the top view image in order to be able to show the motor vehicle with the trailer.This makes it possible to reliably determine and map the areas covered by the top-down image, especially in the rear area, depending on the situation and the actual trailer. This enables a particularly precise process.

[0030] In a further exemplary embodiment, the trailer information is determined by applying a trailer detection criterion to the camera data and / or sensor data of a trailer coupling sensor of the trailer coupling device. The trailer detection criterion comprises at least one algorithm and / or a rule, when implemented, it can be determined from the camera data and / or sensor data that a trailer is coupled to the motor vehicle or that no trailer is coupled to the motor vehicle. Ultimately, for example, by evaluating the camera data from the rear camera and / or, if applicable, the side cameras, it can be determined that a trailer is coupled to the motor vehicle. Furthermore, the sensor in the trailer coupling device, which is referred to here as the trailer coupling sensor, can detect the coupled trailer.This sensor can, for example, be provided in the trailer coupling between the motor vehicle and trailer, for example on the motor vehicle side or the trailer side. It is therefore determined very reliably at the beginning of the method whether a change in the top view compared to the top view for the motor vehicle without a trailer actually needs to be made and thus the method should be carried out, or whether the motor vehicle is without a trailer. Then, for example, the method according to the invention can be prevented from being carried out at all. This is particularly resource-efficient. A further aspect of the invention relates to a control device for a motor vehicle. The control device is designed to carry out the method described above. The control device carries out the described method, in particular an exemplary embodiment or a combination of exemplary embodiments of the described method.The control device comprises, for example, a processor device. This can comprise at least one microprocessor, microcontroller, FPGA (Field Programmable Gate Array), and / or DSP (Digital Signal Processor). Furthermore, it can comprise program code, which can alternatively be referred to as a computer program product. The program code can be stored in a data memory of the processor device.

[0031] Another aspect of the invention relates to a motor vehicle. The motor vehicle can have the control device and, for example, a plurality of cameras. The motor vehicle is designed to carry out the method described above. The motor vehicle preferably has a front camera, side cameras, and a rear camera and is thus designed to capture camera data and transmit it to the control device or provide it to the control device so that the control device can carry out the method described above. The motor vehicle is, for example, a passenger car, a truck, a bus, a motorcycle, and / or a moped.

[0032] Furthermore, the motor vehicle can have a display device by means of which the determined top view image can be displayed in the motor vehicle for a driver or another user of the motor vehicle. Furthermore, the motor vehicle can comprise a memory device in which, for example, information required by the method according to the invention can be stored, as well as, for example, the predetermined factor. It can also be provided that information about the trailer can be manually entered by the driver of the motor vehicle or by the other user of the motor vehicle, so that, for example, information about the trailer length, trailer width, trailer coupling length and / or trailer outline of the trailer can be stored in the memory device. The motor vehicle can comprise an input device for this purpose.

[0033] A further aspect of the invention relates to a computer program product. The computer program product is a computer program. The computer program product comprises instructions which, when the program is executed by a computer, such as by the control devices, cause the computer to perform the steps of the method according to the invention. The exemplary embodiments described in connection with the method according to the invention, each individually and in combination with one another, apply accordingly, where applicable, to the motor vehicle according to the invention, the control device according to the invention, and the computer program product according to the invention. The invention encompasses combinations of the described exemplary embodiments.

[0034] Showing:

[0035] Fig. 1 is a schematic representation of a motor vehicle with a trailer;

[0036] Fig. 2 is a schematic comparison of a plan view of a motor vehicle without a trailer and a plan view of a motor vehicle with a trailer;

[0037] Fig. 3 shows a schematic representation of a signal flow graph of a method for determining a top view image for a motor vehicle;

[0038] Fig. 4 is a schematic representation of various parts of a plan view of a motor vehicle with a trailer; and

[0039] Fig. 5 is a schematic representation of various parts of a plan view of a motor vehicle with an angled trailer.

[0040] In the figures, functionally identical elements are marked with the same reference numerals.

[0041] Fig. 1 shows a motor vehicle 1 to which a trailer 2 is coupled. A trailer coupling device 3 is provided for this purpose, by means of which the motor vehicle 1 is connected to the trailer 2. The trailer coupling device 3 can alternatively be referred to as a trailer coupling.

[0042] The motor vehicle 1 has an environment 4. This environment 4 can be at least partially captured by a front camera 5 of the motor vehicle 1, a respective side camera 6 of the motor vehicle 1 and a rear camera 7 of the motor vehicle 1. The respective side cameras 6 are positioned here in side mirrors 8 of the motor vehicle 1. Alternatively, they can be designed as additional components that are arranged on a vehicle body of the motor vehicle 1, protruding therefrom, as can be provided, for example, for electric rear-view mirrors. The front camera 5 is positioned here in a vertically upper part of a windshield of the motor vehicle 1. Alternatively or additionally, it can be positioned at the front of the motor vehicle, for example on or near the bumper there. Other positions of the individual cameras are possible.

[0043] The motor vehicle 1 here has a control device 9 which can be designed to carry out the method according to the invention.

[0044] Fig. 1 shows various areas of the environment 4 that can be captured by the various cameras. Here, a front area 10 is shown in front of the motor vehicle 1, respective side areas 11 to the side of the motor vehicle 1, and a rear area 12 is shown at the rear of the motor vehicle. In addition, for these various areas in the environment 4, i.e. for the front area 10, the side areas 11, and the rear area 12, the detection range boundaries 13 of the individual cameras, i.e., the front camera 5, the side cameras 6, and the rear camera 7, are each shown as dashed lines. It is clear that the detection ranges of the individual cameras can at least partially overlap. Different arrangements of the cameras and / or more or fewer cameras than those sketched are possible.

[0045] A trailer coupling sensor 14 can be provided, which can detect the presence of the coupled trailer 2 on the motor vehicle 1. Furthermore, a trailer length 15 and a trailer width 16 are schematically sketched for the trailer 2. Furthermore, a trailer coupling length 17, which can specify a distance between the motor vehicle 1 and the trailer 2, is shown.

[0046] Fig. 2 shows a plan view image 20 for the motor vehicle 1 with the trailer 2. In comparison, Fig. 2 also shows a plan view image 21 for a motor vehicle 1 without the trailer 2. It is clear that the plan view image 20 for the motor vehicle 1 with the trailer 2 is extended in the rear area 12 compared to the plan view image 21. Here, it is extended by a difference in length 22. This extension can, for example, amount to a predetermined factor, i.e., the plan view image 21 shows the surroundings 4 in the rear area 12 of the motor vehicle 1 by a predetermined factor, in particular by a factor of 2, further and thus longer than in the plan view image 21 for the motor vehicle 1 without the trailer 2.Alternatively, it can be provided that the top view image 21 shows the surroundings 4 in the rear area 12 of the motor vehicle 1 expanded by an additional area compared to the top view image 21 for the motor vehicle 1 without trailer 2, wherein the additional area can be dependent on the trailer length 15, the trailer width 16, the trailer coupling length 17 and / or a trailer outline of the trailer 2. Preferably, the top view image 20 shows the entire trailer 2.

[0047] Fig. 3 shows a method for determining the top view image 21 for the motor vehicle 1 with the trailer 2. In a method step S1, trailer information 30 is determined. The trailer information 30 describes whether the motor vehicle 1 is coupled to the trailer 2 or not. The trailer information 30 can be determined, for example, by applying a trailer detection criterion 31 to camera data 32 from the various cameras of the motor vehicle 1 and / or to sensor data 33 from the trailer coupling sensor 14. In this example, the camera data 32 are provided by the front camera 5, the side cameras 6, and the rear camera 7.

[0048] In a method step S2, it is checked whether the determined trailer information 30 describes that the motor vehicle 1 is coupled to the trailer 2. If this is the case, i.e. if the trailer information 30 describes that the motor vehicle 1 is coupled to the trailer 2, in a method step S3 the top view image 20 is determined such that it describes the motor vehicle 1, at least partially the trailer 2 and at least partially the surroundings 4 of the motor vehicle 1 and the trailer 2. The top view image 20 is composed only of the camera data 32 from the multiple cameras of the motor vehicle 1. Compared to the top view image 21, which shows the motor vehicle 1 without the trailer 2, the surroundings 4 in the rear area 12 of the motor vehicle 1 are lengthened or expanded. The top view image 20 is composed here of the camera data 32 from the front camera 5, the two side cameras 6 and the rear camera 7 of the motor vehicle 1.

[0049] In a method step S4, it can be provided that angle information 34 is determined. This describes an angle (see reference symbol a in Fig. 5) between the motor vehicle 1 and the trailer 2. The angle information 34 can be taken into account, for example, when determining the top view image 20, so that the top view image 20 describes the trailer 2 at the angle according to the angle information 34 relative to the motor vehicle 1. The angle information 34 can be determined by applying an angle determination criterion 35 to the camera data 32 and / or to driving data 36 that describe a journey of the motor vehicle 1. The driving data 36 describe, for example, a steering angle, a wheel turning angle, a speed, a distance traveled, an acceleration and / or other data describing the journey of the motor vehicle 1. The driving data 36 can alternatively be referred to as odometry data.They can be recorded, determined and / or estimated using sensors of the motor vehicle 1 provided for recording the respective driving data 36.

[0050] In a method step S5, it can be checked whether the angle information 34 is unequal, i.e. whether it is greater or less than 0 degrees. If it is not equal to 0 degrees, this indicates that the motor vehicle 1 is angled or arranged obliquely relative to the trailer 2 or vice versa. In a method step S6, the top view image 20 is then determined not only taking into account the camera data 32, but also taking into account the angle information 34. However, if the angle information 34 is equal to 0, in particular if it is essentially equal to 0 degrees taking into account a predetermined tolerance range, the top view image 20 can be determined, for example, without taking into account the angle information 34, as outlined in method step S3.

[0051] The described method is preferably carried out by means of the control device 9 of the motor vehicle 1. For this purpose, the cameras provide the camera data 32 to the control device 9, for example, by transmitting them to it.

[0052] Fig. 4 shows various sub-areas 40, 41, 42, 43, 44 in the environment 4 into which the top view image 20 can be divided. On the one hand, a first sub-area 40 is shown here, which is arranged in the rear area 12. The first sub-area 40 can be captured by the rear camera 7 without the trailer 2, but is now obscured by the trailer 2. The top view image 20 has camera data 32 from the side cameras 6 in the first sub-area 40, i.e., it shows images there that were captured by the side cameras 6. Strictly speaking, the first sub-area 40 can be divided into two first sub-areas 40, one on a first side of the motor vehicle 1 and the other on the opposite side of the motor vehicle 1, wherein the two sides are arranged next to one another when viewed in a transverse direction of the motor vehicle 1. The top view image 20 here also has a second partial area 41, which also shows the surroundings 4 in the rear area 12.It can be detected by the rear camera 7 despite the trailer 2. Therefore, camera data 32 from the rear camera 7 are shown in the second partial area 41. This applies, for example, to the area between the motor vehicle 1 and the trailer 2, but also to areas located to the side of the motor vehicle 1, which are located around the trailer 2 and may still be within the detection range of the rear camera 7.

[0053] The top view image 20 can include camera data 32 from the front camera 5 in a third sub-area 42 of the environment 4 in the front area 10, which can be captured by the front camera 5. In respective fourth sub-areas 43 of the environment 4 in side areas 11, which can be captured by the respective side camera 6, camera data 32 from the respective side camera 6 are displayed here.

[0054] A possible fifth sub-area 44 is sketched here purely as an example. This sub-area cannot be captured by any of the cameras of the motor vehicle 1 because it is located behind the trailer 2, outside the cameras' detection range. This sub-area can be supplemented, if necessary, by data from a rear camera 12 of the trailer 2. If this data is not available and / or not desired, an image filler can be displayed here, for example.

[0055] Fig. 5 shows a trailer 2 angled relative to the motor vehicle 1. In this case, the trailer is angled by the angle α. It is clear that at least the first partial area 40 and the second partial area 41 deviate from the corresponding partial areas 40, 41 as shown in Fig. 4. This is due to the angle information 34 recorded here, which is clearly not equal to 0 degrees. It is clear that, for example, the second partial area 41 is enlarged in comparison to the plan view image 20 sketched in Fig. 4 on the left side of the motor vehicle 1 in plan view. In addition, the fourth partial area 43 to the right of the motor vehicle is enlarged here. Furthermore, a comparatively large fifth partial area 44 is sketched here, which cannot be captured by the cameras of the motor vehicle 1.

[0056] Overall, the examples demonstrate a trailer-aware bird's-eye view for surround-view systems. An area divided by the trailer 2 for the rearview camera, which is recorded by the side cameras 6, is shown in top view image 20.

[0057] The camera images are stitched to show as much of the area next to trailer 2 as possible (and not as used in the case of an unattached trailer 2). Based on the default parameters for trailer 2 or even the detected parameters (length, width, trailer contour if applicable, trailer hitch length, i.e., trailer length 15, trailer width 16, trailer hitch length 17, and / or trailer outline), the top view image 20 is stitched to show as much of the area next to trailer 2 as possible (and not use the same stitching as when no trailer 2 is attached). The size of the top view image 20 can be resized when a trailer 2 is attached so that the entire trailer 2 is included in the view.

Claims

Patent claims 1. A method for determining a plan view image (20) for a motor vehicle (1) with a trailer (2), comprising - determining (S1) trailer information (30) which describes whether the motor vehicle (1) is coupled to a trailer (2) or not; - if the trailer information (30) describes that the motor vehicle (1) is coupled to the trailer (2) (S2), determining (S3) the top view image (20) in such a way that it describes the motor vehicle (1), at least partially the trailer (2) and at least partially an environment (4) of the motor vehicle (1) and the trailer (2), wherein the determined top view image (20) is composed only of camera data (32) from a plurality of cameras of the motor vehicle (1) and, in comparison to a top view image (21) for a motor vehicle (1) without a trailer (2), shows the environment (4) in a rear area (12) of the motor vehicle (1) in an extended manner.

2. The method according to claim 1, wherein the top view image (20) is composed of camera data (32) of a front camera (5), of two side cameras (6) arranged on opposite sides of the motor vehicle (1) and of a rear camera (7) of the motor vehicle (1).

3. The method according to claim 2, wherein the top view image (20) comprises camera data (32) of the side cameras (6) in a first partial area (40) of the surroundings (4) in the rear area (12) of the motor vehicle (1), which can be captured by the rear camera (7) without the trailer (2) but is now covered by the trailer (2).

4. The method according to claim 2 or 3, wherein the top view image (20) comprises camera data (32) of the rear camera (7) in a second partial area (41) of the environment (4) in the rear area (12), which can be captured by the rear camera (7) despite the trailer (2).

5. Method according to one of claims 2 to 4, wherein the top view image (20) in a third partial area (42) of the environment (4) in a front area (10) of the motor vehicle (1), which can be captured by the front camera (5), camera data (32) of the Front camera (5) and / or in a respective fourth partial area (43) of the surroundings (4) in side areas (11) of the motor vehicle (1), which can each be captured by one of the side cameras (6), camera data (32) of the respective side camera (6).

6. Method according to one of the preceding claims, wherein angle information (34) is determined (S4) which describes an angle between the motor vehicle (1) and the trailer (2), and is taken into account when determining the top view image (20) (S6), so that the top view image (20) describes the trailer (2) at the angle according to the angle information (34) relative to the motor vehicle (1).

7. The method according to claim 6 and one of claims 3 to 5, wherein at least the first and second partial areas (41) are selected differently when the angle information (34) is not equal to 0 degrees than when the angle information (34) is 0 degrees.

8. The method according to claim 6 or 7, wherein the angle information (34) is determined by applying an angle determination criterion (35) to the camera data (32) and / or driving data (36) of the motor vehicle (1) describing a journey of the motor vehicle (1).

9. Method according to one of the preceding claims, wherein the plan view image (20) describes the entire trailer (2).

10. Method according to one of the preceding claims, wherein the plan view image (20) shows the surroundings (4) in the rear area (12) of the motor vehicle (1) further by a predetermined factor, in particular by a factor of two, than in the plan view image (20) for the motor vehicle (1) without a trailer (2).

11. Method according to one of claims 1 to 9, wherein the top view image (20) shows the surroundings (4) in the rear area (12) of the motor vehicle (1) expanded by an additional area compared to the top view image (20) for the motor vehicle (1) without a trailer (2), wherein the additional area is particularly dependent on a trailer length (15), a trailer width (16), a trailer coupling length (17) and / or a trailer outline of the trailer (2).

12. Method according to one of the preceding claims, wherein the trailer information (30) is determined by applying a trailer recognition criterion (31) to the camera data (32) and / or sensor data (33) of a trailer coupling sensor (14) of a trailer coupling device (3).

13. Control device (9) for a motor vehicle (1), wherein the control device (9) is designed to carry out a method according to one of the preceding claims.

14. Motor vehicle (1) with a control device (9), wherein the motor vehicle (1) is designed to carry out a method according to one of claims 1 to 12.

15. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform a method according to any one of claims 1 to 12.

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