Method for generating a display image of an environment of a motor vehicle, computer program product, computer-readable storage medium as well as electronic computing device

Abstract

The invention relates to a method for generating a display image (8) of an environment (6) of a motor vehicle (1) for displaying on a display device (3) of the motor vehicle (1) by means of an electronic computing device (4), comprising the steps: providing a three-dimensional map (9) of the environment (6) by means of the electronic computing device (4); receiving a currently captured environment (10) by means of the electronic computing device (4); generating the display image (8) by overlaying the three-dimensional map (9) with the currently captured environment (10) in a preset area (11) by means of the electronic computing device (4). Further, the invention relates to a computer program product, to a computer-readable storage medium as well as to an electronic computing device (4).

Description

[0001] 2024PF00750

[0002] 1

[0003] Method for generating a display image of an environment of a motor vehicle, computer program product, computer-readable storage medium as well as electronic computing device

[0004] The following invention relates to a method for generating a display image of an environment of a motor vehicle for displaying on a display device of the motor vehicle by means of an electronic computing device according to the applicable claim 1 . Further, the invention relates to a computer program product, to a computer-readable storage medium as well as to an electronic computing device.

[0005] A so-called surround view implementation usually uses multiple wide-angle cameras with a field of view of about 180 degrees to cover the entire environment of the motor vehicle. The image data, which is generated by the multiple cameras, subsequently serves as inputs for texturing a fixed and invariant surface to be able to virtually represent the vehicle environment in the interior of the motor vehicle.

[0006] Due to the use of a fixed 3D surface in the surround view application, the representation of the vehicle environment cannot coincide with the reality around the motor vehicle in many cases and cause visual artifacts in the form of distorted representations of the environment. These distortions, which mainly occur if the motor vehicle is in the vicinity of various objects, for example pedestrians, other motor vehicles or buildings, which occupy a large part of what the cameras can capture and are reproduced on a 3D spherical surface, are projected onto the ground and respective side of the currently used fixed 3D spherical surface and represented with substantially larger distance to the vehicle and substantially larger scale than the object is in the real world.

[0007] This distorted representation of the vehicle environment can result in many potential risks in certain situations. For example, if the driver attempts to completely use the 3D views for driving in narrow areas or in parking the motor vehicle into a confined parking spot. Due to the current representation, it is difficult to correctly estimate the actual distance to other obstacles.

[0008] A further risk associated with objects is the non-display of the object, which can occur as a result of the use of a statistically generated 3D surface and the combination of two 2024PF00750

[0009] 2 cameras. This can result in the disappearance of an object if an object like a column is in the so-called overlap area.

[0010] US 2017 / 158131 A1 discloses a camera surround view system for a motor vehicle with at least one vehicle camera, which provides camera images, which are processed by a data processing unit, to generate a live video image stream, which is displayed on a display unit, wherein the camera surround view system loads local cloud information data with respect to an object shown in the live video image stream from a data network and displays the obtained local cloud information data as an overlay in the displayed live video image stream.

[0011] It is the object of the present invention to provide a method, a computer program product, a computer-readable storage medium as well as an electronic computing device, which displays an improved virtual representation of an environment of a motor vehicle

[0012] This object is solved by a method, a computer program product, a computer-readable storage medium as well as an electronic computing device according to the independent claims. Advantageous forms of configuration are specified in the dependent claims.

[0013] An aspect of the invention relates to a method for generating a display image of an environment of a motor vehicle for displaying on a display device of a display system of the motor vehicle by means of an electronic computing device. A three-dimensional map of the environment is provided by means of the electronic computing device. A currently captured environment is received by means of the electronic computing device. Generating the display image by overlaying the three-dimensional map with the currently captured environment in a preset area is effected by means of the electronic computing device.

[0014] Thus, it is allowed that an improved display image can be provided for the display device. In particular, the generated display image can then be communicated to the display device and be correspondingly represented on the display device. In particular, the currently captured environment can be captured by means of a capturing device of the motor vehicle or of the display system and transmitted to the electronic computing device.

[0015] The environment is in particular a known environment the motor vehicle is currently located. Alternatively to the term overlaying the three-dimensional map with the currently 2024PF00750

[0016] 3 captured environment the term combining the three-dimensional map with the currently captured environment can be used.

[0017] Thus, it is in particular provided that the three-dimensional map is basically correspondingly displayed around the motor vehicle. In the preset area, for example in the near area of the motor vehicle, the display of the currently captured environment is in turn effected, for example based on captured information of a camera as the capturing device.

[0018] The advantage is in particular in that, compared to the surround view technology from the prior art, a real representation of the vehicle environment without the typical and known distortions and artifacts can be provided, which are visible on a corresponding surround view application according to the prior art. Thus, the ability is in particular combined, to create a live representation of the environment of the vehicle together with previously generated three-dimensional maps of this environment, including their localization by shifting the created three-dimensional map in relation to the vehicle with the aid of odometry data, as well as the actual camera feed, to be able to correspondingly ensure the safety.

[0019] In the teleoperated shuttle service, an unexperienced operator can for example have difficulties in maneuvering the motor vehicle in narrow spaces. Therefore, a 3D environmental model can help a new operator to be able to more easily estimate the distance between various objects and himself and to more efficiently and safer drive, in particular if the 3D view is used for maneuvering.

[0020] Furthermore, at locations, at which the driver often drives, such as for example at home, at the place of work or other different locations, a current representation of the environment with a "spherical surface" can be replaced with a 3D environmental model of the site, at which the driver is currently located. With this newly rendered 3D surface, the passengers as well as the driver can observe and examine the pose of the virtual environment, for example to identify possible parking spots or simply to look through the environment, in which the driver is often located. In this further example, this will result in a realistic representation of the common environment, for example in the application, in which the driver shares the environment of his vehicle with a remote user, wherein a previously generated 3D map is created at the same time, which enhances the user experience since he can better interpret the vehicle environment. 2024PF00750

[0021] 4

[0022] Thus, the invention in particular provides to combine a previously generated 3D map with real-time camera data. Previously generated 3D data can for example originate from the cloud or various imaging apparatuses. Therein, a GPS coordinate is for example assigned to 3D map material to select the respective model for representing the site of the driver. Then, the calculation of the distance between the GPS coordinates of the motor vehicle and the previously generated 3D maps is effected. Then, the environment with the lowest distance is selected, wherein a threshold value describing the maximum distance between is applied to ensure that it is in the field of view to be able to save corresponding resources. The current 3D model is replaced with the selected map based on its GPS coordinates and the position of the virtual motor vehicle is matched with the actual position in that GPS coordinates and for example gyroscope data are used. Therein, the transformation matrix is continuously updated with the aid of GPS coordinates and course angles to correctly position the motor vehicle on the map while it moves. The 3D map material is adapted with the 3D vehicle model. An area is defined around the motor vehicle in that the live camera data can in turn be displayed. A height map of the 3D map is correspondingly created to decide where the live camera images are to be used and not to be used.

[0023] According to an advantageous form of configuration, a near area of the motor vehicle as the preset area is overlaid with the currently captured environment. For example, a circular area centered at the motor vehicle with a predefined radius of for example substantially five meters, four meters, three meters, two meters, one meter can be correspondingly defined as the near area and overlaid. Of course, other perimeter radii are also possible. In other words, the near area around the motor vehicle is correspondingly enriched with the real-time information about the environment. Thus, the near area of the motor vehicle can be correspondingly displayed with current values, whereby the safety in the road traffic can be increased.

[0024] In a further advantageous form of configuration, it is provided that an area around the motor vehicle as the preset area is overlaid with the currently captured environment. Thus, a front area, the lateral areas as well as the rear area of the motor vehicle can in particular be correspondingly enriched with real-time data. Thus, the driver of the motor vehicle can get an overview of the environment of the motor vehicle, whereby the safety in the road traffic can in particular be increased.

[0025] It has further proven to be advantageous if the currently captured environment is substantially circularly / and or rectangular overlaid around the motor vehicle. In particular, 2024PF00750

[0026] 5 the captured environment is circularly / rectangular overlaid around the motor vehicle. In other words, the motor vehicle constitutes the center of the live camera data area and the environment is then correspondingly displayed for example at a radius of five meters or a rectangle with for example double size as the motor vehicle. Thus, an improved generation of the display image is allowed, whereby the safety in the road traffic can be increased.

[0027] Further, it has proven to be advantageous if an optical transition from the currently captured environment to the three-dimensional map is optically highlighted. For example, the transition can be correspondingly indicated by a red line such that the user is informed, where the corresponding currently captured environment is displayed and where the display is based on the map data.

[0028] In a further advantageous form of configuration, it is provided that a brightness of the three-dimensional map is adapted to the currently captured environment. Further, a contrast of the three-dimensional map can also be adapted to the currently captured environment. Thus, an improved image can be correspondingly displayed. At night, the captured environment can for example be correspondingly displayed and the map environment can also be correspondingly darkly displayed. Inversely, the map environment can for example be correspondingly brightly represented, and upon a night shot of the currently captured environment, the currently captured environment can be correspondingly brightened. Thus, the corresponding information can be displayed in improved manner.

[0029] It has further proven to be advantageous if the preset area is adapted depending on the driving direction of the motor vehicle and / or depending on a speed of the motor vehicle. In a forward drive of the motor vehicle, a front area of the motor vehicle can for example be displayed correspondingly improved. In particular, the display area can for example correspondingly shift such that the front area is displayed farther than the rear area. Furthermore, the preset area can also be adapted depending on speed. In a very fast drive of the motor vehicle, the area can for example be correspondingly shifted to the front such that the real-time data is represented in the front area and the rear area is correspondingly only sparsely displayed. Furthermore, the live camera area can change depending on the speed. For example, at a higher speed, the live camera area of the currently captured environment can be increased, while the live camera area can be reduced at a lower speed. Furthermore, also the steering angle can be taken into 2024PF00750

[0030] 6 consideration. Thereby, the display image can be generated adapted to the current situation.

[0031] In a further advantageous form of configuration, it is provided that an orientation of the motor vehicle and / or a roll angle of the motor vehicle and / or a pitch angle of the motor vehicle are taken into account in generating the display image. Thus, the localization of the motor vehicle within the map can in particular be advantageously utilized.

[0032] Furthermore, the driving direction can for example be used to display the display image stabilized in direction. Further, the display can also be adapted with corresponding pitch angle or roll angle such that the user can advantageously get displayed the display image.

[0033] In a further advantageous form of configuration, it is provided that the display image is generated as a surround view image. It is in particular a surround view image. In other words, the environment is in particular represented as a 360 degree environment. Thus, the user can get a corresponding overview of the environment, whereby the safety in the road traffic can be increased.

[0034] It has further proven to be advantageous if height information of the environment is taken into account in the three-dimensional map for generating the display image. Thus, it can in particular be ascertained in the three-dimensional map where the ground or the road is located, whereby the motor vehicle can be reliably projected onto the road. Thereto, the height information can be used, for example of houses or further objects in the environment, such that the preset area dynamically adapts its shape to avoid representing objects with height information as ground. Further, the current environment is only displayed where a ground could be identified via the height information.

[0035] It is also advantageous if a localization of the motor vehicle is performed in the three- dimensional map. Thus, it is allowed that the map data is correspondingly adapted to the site of the motor vehicle. Thereby, an improved display of the display image can be realized.

[0036] In a further advantageous form of configuration, it is provided that only static objects in the environment are represented in the three-dimensional map as dynamic objects are not guaranteed to always be present at this location in the three dimensional map. Hereto, a corresponding object recognition algorithm can for example be used such that upon capturing the three-dimensional map with corresponding dynamic objects, such as for example other motor vehicles, they can be filtered out. The object recognition algorithm 2024PF00750

[0037] 7 then recognizes the dynamic object like a motor vehicle and can correspondingly remove it from the three-dimensional map. Thus, an improved generation of a display image, with respect to the shape of objects in the vehicle motor surroundings, is allowed.

[0038] The presented method is in particular a computer-implemented method. Therefore, a further aspect of the invention relates to a computer program product with program code means, which cause an electronic computing device, when the program code means are processed by the electronic computing device, to perform a method according to the preceding aspect.

[0039] Furthermore, the invention also relates to a computer-readable storage medium with a computer program product according to the preceding aspect.

[0040] A still further aspect of the invention relates to an electronic computing device for a display system for generating a display image of an environment of a motor vehicle for displaying on a display device of the motor vehicle, wherein the electronic computing device is formed for performing a method according to the preceding aspect. In particular, the method is performed by means of the electronic computing device.

[0041] Further, the invention also relates to a display system with at least one electronic computing device according to the preceding aspect and with a capturing device for capturing the environment. Furthermore, the display system also includes a display device for displaying the generated display image.

[0042] Further, the invention also relates to a motor vehicle with a display system according to the preceding aspect.

[0043] Advantageous forms of configuration of the method are to be regarded as advantageous forms of configuration of the computer program product, of the computer-readable storage medium, of the electronic computing device, of the display system as well as of the motor vehicle. Hereto, the electronic computing device, the display system as well as the motor vehicle comprise concrete features to be able to perform corresponding method steps.

[0044] Within the scope of the present disclosure, an object recognition algorithm can be understood as a computer algorithm, which is capable of identifying and localizing one or more objects within a provided input dataset, for example input image, for example in that it determines corresponding bounding boxes or regions of interest (ROI) and in particular 2024PF00750

[0045] 8 associates a corresponding object class with each of the bounding boxes, wherein the object classes can be selected from a predefined set of object classes. Therein, the assignment of an object class to a bounding box can be understood such that a corresponding confidence value or a probability that the object identified within the bounding box belongs to the corresponding object class, is provided. For example, the algorithm can provide such a confidence value or a probability for each of the object classes for a given bounding box. The assignment of the object class can for example include the selection or provision of the object class with the greatest confidence value or the greatest probability. Alternatively, the algorithm can also only determine the bounding boxes without associating a corresponding object class. Furthermore, the by the algorithm detected object classes could be represented as dynamic objects in the generated display image as complement to the three dimensional map.

[0046] In the present disclosure, a computing unit / electronic computing device can for example be understood as a data processing apparatus with processing circuits. Thus, a computing unit can perform computing operations to process data. The computing operations can also include indexed accesses to a data structure, for example a look-up table, LUT.

[0047] In particular, a computing unit can 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 can 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 can also include a physical or virtual cluster of computers or others of the mentioned units.

[0048] A computing unit can also include one or more hardware and / or software interfaces and / or one or more storage units. Therein, a storage unit can be designed as a volatile data memory, for example as a dynamic random access memory, DRAM, or static random access memory, SRAM, or as a non-volatile data memory, for example as a read-only memory, ROM, as a programmable read-only memory, PROM, as an erasable programmable read-only memory, EPROM, as an electrically erasable programmable read-only memory, EEPROM, as a flash memory or flash EEPROM, as a ferroelectric 2024PF00750

[0049] 9 random access memory, FRAM, as a magnetoresistive random access memory, MRAM, or as a phase-change random access memory, PCRAM.

[0050] Further features of the invention are apparent from the claims, the figures and the description of figures. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of figures and / or shown in the figures alone are usable not only in the respectively specified combination, but also in other combinations without departing from the scope of the invention. Thus, implementations are also to be considered as encompassed and disclosed by the invention, which are not explicitly shown in the figures and explained, but arise from and can be generated by separated feature combinations from the explained implementations. Implementations and feature combinations are also to be considered as disclosed, which thus do not comprise all of the features of an originally formulated independent claim. Moreover, implementations and feature combinations are to be considered as disclosed, in particular by the implementations set out above, which extend beyond or deviate from the feature combinations set out in the relations of the claims.

[0051] There show:

[0052] Fig. 1 a schematic top view to an embodiment of a motor vehicle with an embodiment of a display system with an embodiment of an electronic computing device;

[0053] Fig. 2 a schematic perspective image according to an embodiment of a display image;

[0054] Fig. 3 a schematic flow diagram according to an embodiment of the method; and

[0055] Fig. 4 a further schematic flow diagram according to an embodiment of the method.

[0056] In the figures, identical or functionally identical elements are provided with identical reference characters. 2024PF00750

[0057] 10

[0058] Fig. 1 shows a schematic top view to an embodiment of a motor vehicle 1 . The motor vehicle 1 comprises at least one display system 2. The display system 2 comprises a display device 3, an electronic computing device 4 as well as a capturing device 5 for capturing an environment 6 of the motor vehicle 1 . The capturing device 5 can for example be formed as a camera, for example as a fish-eye camera. The electronic computing device 4 can communicate with an electronic computing device 7 external to motor vehicle. For example, map data for the environment 6 can be transmitted from the electronic computing device 7 external to motor vehicle to the electronic computing device 4 internal to motor vehicle.

[0059] Fig. 2 shows a schematic perspective image of an embodiment of a display image 8, which has been generated by means of the electronic computing device 4.

[0060] Therein, it is in particular provided that the display image 8 can be displayed on the display device 3. Therein, a three-dimensional map 9 of the environment 6 is in particular provided by means of the electronic computing device 4. Receiving the currently captured environment 10 is effected by means of the electronic computing device 4. The display image 8 is generated by overlaying / combining the three-dimensional map 9 with the currently captured environment 10 in a preset area 11 by means of the electronic computing device 4.

[0061] Therein, Fig. 2 in particular shows that a near area of the motor vehicle 1 as the preset area 11 is overlaid with the currently captured environment 10. Further, an area around the motor vehicle 1 as the preset area 11 can in particular be overlaid with the currently captured environment 10. Furthermore, the currently captured environment 10 can be substantially circularly / rectangular overlaid around the motor vehicle 1 .

[0062] Furthermore, Fig. 2 shows that an optical transition 12 from the currently captured environment 10 to the three-dimensional map 9 is optically highlighted. In the following embodiment, the optical transition 12 is represented dashed. Alternatively or additionally, this can for example also be highlighted in color.

[0063] Furthermore, it can be provided that a brightness and / or a contrast of the three- dimensional map 9 is adapted to the currently captured environment 10 or vice versa.

[0064] Further, it can be provided that the preset area 11 is adapted depending on a driving direction of the motor vehicle 1 and / or depending on a speed of the motor vehicle 1 and / or 2024PF00750

[0065] 11 an orientation of the motor vehicle 1 . Furthermore, a roll angle of the motor vehicle 1 and / or a pitch angle of the motor vehicle 1 can be taken into account in generating the display image 8.

[0066] Further, it can be provided that the display image 8 is generated as a surround view image. Furthermore, height information of the environment 6 can be taken into account in the three-dimensional map 9 for generating the display image 8. Further, a localization of the motor vehicle 1 in the three-dimensional map 9 occurs. Furthermore, it can be provided that only static objects in the environment 6 are represented in the three- dimensional map 9.

[0067] Fig. 3 shows a schematic flow diagram according to an embodiment of the method. In a first step S1 , the three-dimensional map 9 is selected and the motor vehicle 1 is correspondingly localized in the three-dimensional map 9. In a second step S2, the capture of the environment 6 with the capturing device 5 is effected. In a third step S3, corresponding height information is used to identify a ground, on which the motor vehicle 1 is located. In a fourth step S4, the brightness and a contrast in the display image 8 can be correspondingly adapted. In a fifth step S5, the overlay and the display of the display image 8 on the display device 3 are effected.

[0068] Thus, the possibility is in particular given to eliminate the problems of the distortion and to improve the virtual representation of the vehicle environment at certain sites, in that the three-dimensional spherical surface model is in particular replaced with a detailed 3D environmental model at sites specified by the user. Since multiple 3D environmental models are possible, the first step is the creation of the offline 3D maps, which can for example be effected such that a user scans the area with a terminal, such as for example a mobile phone or a drone, communicates the captured images for example to the electronic computing device 7 external to motor vehicle and it in turn creates 3D map material therefrom, and the corresponding GPS coordinates of the user are linked with the map generated offline. Further, the motor vehicle 1 or else other motor vehicles can correspondingly drive through the environment 6 and record the images and correspondingly communicate the captured images such that the three-dimensional map material can be created therefrom.

[0069] Fig. 4 shows a further schematic flow diagram according to an embodiment of the method. In particular, the assigned GPS coordinate of the 3D map can be used to select the closest model of the environment 6 to represent the current site of the motor vehicle 1 . 2024PF00750

[0070] 12

[0071] Hereto, an algorithm is used, which ascertains the most suitable models from all of the possible models, as it is illustrated in Fig. 4. Therein, it is examined in a sixth step S6, if models are present. If this should not be the case, thus, it is transitioned into a seventh step S7, in which a default spherical state of the art surface is outputted. If a corresponding model should be present, thus, an eighth step S8 is performed proceeding from the sixth step S6. It in turn selects the corresponding GPS data assigned as LUT to the respective three dimensional map. In a ninth step S9, the distance from the model to the motor vehicle 1 is ascertained, in particular by the so-called Haversine formula. In a tenth step S10, the calculated distance is stored. In an eleventh step S11 , it is examined if other 3D models are present. If this should be the case, thus, a twelfth step S12 is performed and the next model is correspondingly selected. Proceeding from the twelfth step S12, the eighth step S8 is again performed. If further models should not be present, thus, a thirteenth step S13 is performed proceeding from the eleventh step S11 , which selects the 3D model with the shortest distance to the motor vehicle 1 . In a fourteenth step S14, it is examined if the correspondingly determined distance is lower than a preset threshold value. If this should not be the case, thus, it is transitioned into the seventh step S7. If this should be the case, thus, a fifteenth step S15 is performed, wherein the selected pre-generated three dimensional map is correspondingly output. Proceeding from the seventh step S7 and the fifteenth step S15, a sixteenth step S16 can in turn be performed, which correspondingly terminates the method.

[0072] Thus, the selection of the suitable previously generated three dimensional map is in particular effected such that the distances between the GPS coordinates of each stored site and of the motor vehicle 1 are calculated with the Haversine formula and temporarily stored. After each spacing or each distance has been calculated, the environment 6 with the lowest distance is selected. In order to prevent that a model is loaded and rendered, while the site is not in the vicinity of the motor vehicle 1 , a parameter is now additionally used as a threshold, which examines if the site is visible for the new 3D environmental model, to prevent that resources are consumed by the attempt to render the entire model, even if it is not displayed. Finally, after a 3D environmental model has been selected to be displayed, the 3D sphere according to the prior art is replaced with the 3D map selected based on the assigned GPS coordinates. The loaded 3D map material is transformed / positioned such that the virtual position of the motor vehicle 1 in the 3D environmental model reflects the position in the real pose. Hereto, various sensors like GPS coordinates for the current position of the motor vehicle 1 and gyroscopes, for example for the head, inclination and roll angle determination, for the current orientation, in which the motor vehicle 1 is located, are combined. These two sensor outputs are used 2024PF00750

[0073] 13 to create a translation and rotation matrix, which is attached to the current transformation matrix of the 3D environmental model at each frame to always have the motor vehicle 1 in the correct position.

[0074] By applying the calculated transformation matrix to the displayed 3D environmental model or three dimensional map, the motor vehicle 1 can be correctly placed on the 3D map. In case of a vehicle movement, the difference between the actual GPS coordinates and course angle and the initial vehicle GPS coordinates and the course angle is used to update the transformation matrix, which is finally applied to the 3D map and yields an impression of movement.

[0075] Since surround view is in particular a safety-critical application, it is important to incorporate real-time images of wide-angle cameras to partially texture the new three dimensional map and to visualize the information to the environment of the motor vehicle 1 in real time. Hereto, the 3D model is first transformed into its correct position as it is in the real environment 6. Subsequently, it is examined, which vertex (a position in the 3D map) of the model can be regarded as ground and the distance of each vertex from the origin, in particular where the 3D model for the motor vehicle 1 is located. If a vertex is classified as ground and has a distance, which is equal to or less than a predefined value, it is correspondingly projected for the sphere with the camera images as in the prior art. Subsequently, the steps are performed, as already described, to combine the previously generated 3D map material with the live camera recordings. Therein, the 3D map is aligned with the 3D vehicle model as already explained. An area, in particular the preset area 11 , is established around the motor vehicle 1 , in that the live camera recordings are displayed. A height map of the 3D map is created to decide, where the live camera recordings are to be used and not to be used.

[0076] In case that the preset area 11 in the perimeter of the motor vehicle 1 coincides with the height map area, which is not a ground, or the ground area is outside of the area established by the live camera, the previously generated map is displayed. An example hereto is shown in Fig. 2. For example, curbs cannot be regarded as ground and be located in the "no ground" area of the height map. Therefore, the previously generated 3D map is here used for the representation.

[0077] Then, the brightness and contrast adaptations are further calculated between the previously generated 3D map and the live camera recordings. Then, the visual 2024PF00750

[0078] 14 identification is applied to distinguish the live camera area from the area of the previously generated 3D map.

[0079] In order to achieve an optimum result, the previously generated 3D map can be created in an environment, which only contains static objects like buildings, ground, trees and the like. In this manner, it is always ensured that the previously generated 3D map does not contain information about dynamic objects, which are possibly not part of the current environment 6.

Claims

2024PF00750Claims1 . A method for generating a display image (8) of an environment (6) of a motor vehicle (1 ) for displaying on a display device (3) of the motor vehicle (1) by means of an electronic computing device (4), comprising the steps:- providing a three-dimensional map (9) of the environment (6) by means of the electronic computing device (4);- receiving the currently captured environment (10) by means of the electronic computing device (4); and- generating the display image (8) by overlaying the three-dimensional map (9) with the currently captured environment (10) in a preset area (11) by means of the electronic computing device (4).

2. The method according to claim 1 , characterized in that a near area of the motor vehicle (1 ) as the preset area (11 ) is overlaid with the currently captured environment (10).

3. The method according to claim 1 or 2, characterized in that an area around the motor vehicle (1 ) as the preset area (11) is overlaid with the currently captured environment (10).

4. The method according to any one of the preceding claims, characterized in that the currently captured environment (10) is substantially circularly and / or rectangular overlaid around the motor vehicle (1 ).

5. The method according to any one of the preceding claims, characterized in that2024PF0075016 an optical transition (12) from the currently captured environment (10) to the three- dimensional map (9) is optically highlighted.

6. The method according to any one of the preceding claims, characterized in that a brightness and / or a contrast of the three-dimensional map (9) is adapted to the currently captured environment (10).

7. The method according to any one of the preceding claims, characterized in that the preset area (11) is adapted depending on a driving direction of the motor vehicle (1 ) and / or depending on a speed of the motor vehicle (1 ).

8. The method according to any one of the preceding claims, characterized in that an orientation of the motor vehicle (1 ) and / or a location of the motor vehicle (1) and / or a roll angle of the motor vehicle (1 ) and / or a pitch angle of the motor vehicle (1) are taken into account in generating the display image (8).

9. The method according to any one of the preceding claims, characterized in that the display image (8) is generated as a surround view image.

10. The method according to any one of the preceding claims, characterized in that height information of the environment (6) is taken into account in the three- dimensional map (9) for generating the display image (8).11 . The method according to any one of the preceding claims, characterized in that a localization of the motor vehicle (1 ) is performed in the three-dimensional map (9).

12. The method according to any one of the preceding claims, characterized in that2024PF0075017 only static objects in the environment (6) are represented in the three-dimensional map (9).

13. A computer program product with program code means, which cause an electronic computing device (4), when the program code means are processed by the electronic computing device (4), to perform a method according to any one of claims 1 to 12.

14. A computer-readable storage medium with a computer program product according to claim 13.

15. An electronic computing device (4) for generating a display image (8) of an environment (6) of a motor vehicle (1 ) for displaying on a display device (3) of the motor vehicle (1 ), wherein the electronic computing device (4) is formed for performing a method according to any one of claims 1 to 12.

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