DE102005003191A1 - Motor vehicle e.g. passenger car`s, surrounding field detecting device for parking spot measurement, has light source and camera arranged with basis distance from one another, which serves to determine distance between vehicle and obstacle - Google Patents

Abstract

The device has a laser diode serving as a light source (5), which projects a light beam for representing a light line on a potential obstacle in surrounding field of a vehicle. The light line is detected by a camera (7). The source and the camera are arranged with a basis distance from one another to an evaluation unit, where the basis distance serves as a basis for determining a distance between the vehicle and the obstacle. The basis distance between the camera and the light source is about 0.5 meters. Independent claims are also included for the following: (A) a motor vehicle including a device for detecting the surrounding field (B) a method for detecting the surrounding field of a motor vehicle.

Description

The The invention relates to a device for detecting the surroundings of a movable Object, in particular a motor vehicle, with a light source, a Camera and an evaluation unit connected to the camera, wherein from the light source a plane light beam to represent a Light line on a potential obstacle in the environment of the object can be projected and the light line can be detected by means of the camera. In addition, refers The invention relates to a motor vehicle with such a device. About that In addition, the invention relates to a method for environment detection a movable, a light source and a camera having Object, in particular a motor vehicle, one of the Light source radiated plane light beam on a potential obstacle in the environment of the object is projected as a light line and where the light line is detected by the camera.

Out EP 0 361 188 A2 is an aforementioned device and an initially described motor vehicle and method known. This document describes a method for protecting a vehicle against collisions, according to which a travel path of the vehicle in a direction of travel in front of the vehicle is illuminated by a light curtain directed obliquely from the vehicle towards a ground, which is on the ground in a direction transverse to the direction of travel extending impingement line strikes. This impact line is monitored from the vehicle. In the case of interruptions or offsets of line regions of the impact line, the drive of the vehicle receives a control command; an active intervention in the control of the vehicle takes place. In addition, from the aforementioned document, a collision-protected vehicle is known, on which a laser and a lens is arranged eccentrically in the laser light. The light emerging from the lens is directed obliquely to a floor after exiting the vehicle. Furthermore, a camera monitoring an impingement area of the laser light on the ground and an evaluation unit connected to the camera are provided.

In addition revealed DE 195 07 957 C1 a motor vehicle with a laterally mounted in an exterior mirror optical scanning device for non-contact scanning of a side roadway area and an evaluation unit downstream of the scanning device. The optical scanning device includes near each other lying in the outside mirror a plurality of juxtaposed infrared transmitting elements and an associated charge-coupled device (CCD) array for scanning a road surface for the purpose of detecting a lane boundary. The CCD array and the evaluation unit should generally be set up for determining transit time, contrast determination and contour recognition from the data supplied by the scanning device.

A distance measuring device for a vehicle disclosed EP 0 686 857 A2 , In this case, a laser beam is emitted in the direction of a target vehicle and calculated by detection of a laser beam reflected from the target vehicle, a distance to the target vehicle. In addition, in this document, a distance measuring apparatus having a light emitting device and a signal processing part for detecting a reflected laser beam is disclosed.

A method for monitoring the surroundings of a moving vehicle and a vehicle-mounted device for carrying out the method with a camera and a beam scanning laser radar for detecting vehicles on a road and in a lane describes DE 196 29 775 A1 , The beam scanning laser radar is mounted on the vehicle such that the center of its optical axis coincides with the optical axis of the camera. When reflection occurs in the irradiation direction of the laser radar, the laser radar receives the reflected light, and the distance to the reflective object in the forward direction of the vehicle is detected by measuring a propagation delay time from emission to reception of the reflected light. It is therefore made a runtime measurement.

In addition revealed US 5,701,122 A a motor vehicle with a front bumper with a front bumper, on which a pair of optical sensor units is arranged. The sensor units may detect a distance from the front apron to a solid near the front apron. The distance is determined according to an output of an optical detector based on the intensity of the reflected light when light is reflected back from an optical transmitter into the optical detector.

Besides that is a camera is known that is capable of taking a picture of an object and at the same time the distance between camera and object to eat. The camera is going through with a laser rangefinder a light splitting element connected.

Based on the prior art, the present invention seeks to provide a device for environment detection, which allows in addition to obstacle detection in a simple way, a detection of the distance to the obstacle. Furthermore, the invention has for its object to provide a motor vehicle with such a device. In addition, it is an object of the invention to provide a method for detecting surroundings, by means of which, in addition to an obstacle detection, a determination of the distance to the obstacle can be made.

The The first object is achieved according to the invention in that in a device of the type mentioned, the light source and the camera with one of the evaluation unit as a basis for a determination an obstacle distance between object and obstacle serving Base distance from each other are arranged.

Further the above second object is achieved according to the invention with a Motor vehicle of the type mentioned, in which the light source in the motor vehicle tail for the radiation of the light beam in a rear area of the motor vehicle and the camera in the vehicle rear for detecting a Picture in the back area of the motor vehicle is arranged or at which the light source a motor vehicle longitudinal side for the radiation of the light beam in a lateral area of the motor vehicle and the camera the same motor vehicle longitudinal side for detecting an image in the lateral area of the motor vehicle is arranged.

The The third object mentioned above is achieved by the fact that in a method of the type mentioned by means of a triangulation measurement the obstacle distance of object and obstacle from one Base distance between light source and camera is determined.

Advantages of invention

The base distance according to the invention is present as a defined, predetermined distance between the camera and the light source. In the invention, preferably only in the case where an obstacle is present in the vicinity of the movable object, an image of this object can be detected, so that the extracted data volume can advantageously be kept low and the detection is simplified. By projecting a light line, additional information, for example about the shape of the obstacle, can be obtained compared to a simple light beam. The light line may also have gaps to a limited extent, it may for example consist of a number of points of light whose distance is so small that they are directly visible in their entirety as a line. Thus, the light beam may consist of either an infinite number of light beams arranged in a plane or of a significant, possibly large, but limited number of such light beams. As the wavelength of the light, a wavelength between 780 and 1000 nm may be selected, which is visible only to cameras, but not to the human eye; In principle, however, a visible wavelength can also be selected. In the invention, it is not necessary to use a high-resolution camera with complex optics, but it is sufficient to use a simple, commercial camera, since only a line structure in a gray value image must be detected (that is, it is only a gray value detection required). Essential to the invention is that a considerable base distance, which can also be generally referred to as the basic distance, exists between the camera and the light source. As a result, the obstacle distance between the movable object and the obstacle can be determined in a simple manner on the basis of the base distance as fixed quantity-without, for example, necessitating a complicated transit time measurement of an emitted light beam. No elaborate 2-D image processing is required, but only a line-based or column-based evaluation (1-D evaluation). As a result, the evaluation unit can have a simpler, more cost-effective design than with 2-D image processing. The triangulation measurement of the method according to the invention, in addition to the base distance between the light source and camera is preferably based on an angle between the emitted light beam and (constructively predetermined) base distance and (determined by the camera) angle between reflected from the obstacle light beam and base distance. Of very great advantage is that with the invention, a high measurement accuracy and measurement security ensuring active laser triangulation can be performed. Due to active illumination by means of the light source, the invention can be used without restrictions both in daylight and in the dark. The invention is particularly well suited for a movable object that is a motor vehicle, both for a passenger car and for a commercial vehicle, in particular because of its compact and simple construction and its high reliability. In passenger cars, the following installation locations for light source and camera are advantageously conceivable for a measurement in the lateral direction: 1.) Camera front side in a bumper, light source in a B-pillar or vice versa, 2.) Camera front side in the bumper, light source based on the Vehicle longitudinal axis at the height of an A-pillar, 3.) Rear camera laterally in a bumper, light source in a B-pillar or vice versa, 4.) Camera at the rear side in the bumper, light source in a C-pillar or vice versa. Preferably, the light source can be integrated into an existing light, for example a tail light, of the motor vehicle. This is particularly advantageous when using laser diodes as a light source, since thus the possibility is given already constructive-mechanical to maintain a minimum distance to a potential viewer and thus to protect his eyesight. If, for example, a parking space measurement of a motor vehicle is made with the invention, it is advantageous to carry out the triangulation measurement with a small triangulation angle; because at the rear end of the parking space shading of the light line can be done briefly, the size of the shading area increases with the triangulation angle. Alternatively, it is also conceivable to couple a light source in the motor vehicle center with two cameras, so that at least one measurement signal is always available.

Basically as a light source any light source, such as a LED or an LED array, are provided, by means of which a light line of sufficient brightness and sharpness projectable onto an obstacle is. Especially for a very reliable one Operation of the device according to the invention for example, even at large Ambient brightness, on the other hand, is of particular advantage when according to a Development of the invention, the light source is a laser with downstream Line projector has.

The reliability the device is advantageously additionally increased if, according to a Another embodiment of the invention, the camera is a narrowband having optical bandpass filter. This bandpass filter is on the wavelength tuned to the light source so that - without significant interference from Environmental influences - only from the light source emitted, reflected at an obstacle Light from the camera is displayed.

According to one Another advantageous embodiment of the invention, the base distance between the light source and the camera in about 0.15 to 0.5 m, thereby the device preferably on a motor vehicle in the vehicle rear as a distance-measuring reversing camera for precise Determining an obstacle clearance is suitable.

alternative is according to a another advantageous embodiment of the invention, the base distance between light source and camera at least 0.5 m. In this way can with the device in association with a motor vehicle a accurate and reliable Parking space measurement be made.

A Man-machine interface is advantageous according to another Development of the invention provided for signaling the obstacle distance. For example, an operator of the movable object, in particular a driver, can over the Man-machine interface informed directly about the obstacle clearance become. Preferably, as a man-machine interface, the one an optionally present in the movable object, for example known as Park Pilot and on ultrasonic sensors based, Einparkhilfsvorrichtung be used. The human-machine interface can For example, work acoustically and / or optically, with a more complex and costly screen is basically not required. Optionally, a park pilot control unit can be modified for visual representation be evaluated so that, for example, camera signals a rear-view camera can be. It is also conceivable that a drive circuit of a park-pilot man-machine interface is integrated into a drive circuit, for example a reversing camera. The advantage of using an already existing Parkpilot man-machine interface consists, inter alia, that the driver a familiar signal is maintained, independently whether distance information from sensors of the park pilot or for example, from a reversing camera originate. This will be a simple transition supported by Parkpilot (ultrasonic) sensors to a rear view camera, even if no screen (for example a navigation device) is present is.

According to one advantageous development of the invention is a display device intended for visualization of the obstacle distance. The display device For example, in general, a light source chain may be formed, for example from different colored light-emitting diodes, or even one high-resolution Screen, for example, shared with a navigation device used will include. Thus, for example, the operator of the movable Object, especially the driver, immediate and easy detectable via the obstacle distance and on this basis another operation of the object, for example one of him driven passenger car. On the display device the obstacle clearance can be graphed and, where appropriate be displayed in plain text. It may be for easier orientation static lines are also displayed on the display device, for example, fixed obstacle distances of 0.25 m, 0.5 m, 1 m and 2 m.

Especially the determination of the obstacle distance can easily be made if according to a Another advantageous embodiment of the invention, the light beam in parallel to a surface is arranged, on which the object is movable. Such a thing trained device is also particularly well suited for a distance-measuring backup camera and / or blind spot monitoring a motor vehicle.

According to one Another advantageous development of the invention, the light beam is perpendicular to a surface arranged on which the object is movable. Such a device is advantageous on a motor vehicle for a parking space measurement usable. In particular, roadway markings can also be used with this device and lane boundaries, such as curbs, to simple Be detected.

According to one Advantageous development of the method according to the invention are the light beams of the light beam emitted pulsed by the light source. Preferably, the pulsed Radiation synchronized with an exposure phase of the camera.

Becomes according to a Another advantageous embodiment of the invention a from the camera captured image is transmitted to an evaluation and takes place at Detection of an uninterrupted light line signaling the evaluation, so may in a particularly simple manner the presence a smooth-surfaced Obstruction, for example, a house wall, be communicated. An aforementioned method is, for example, a distance-measuring reversing camera a motor vehicle advantageously used.

According to one Another advantageous embodiment of the invention is one of the Camera transmitted image transmitted to an evaluation, and it takes place upon detection of a broken line of light signaling through the evaluation unit. Here you can take advantage of the circumstance do that on certain obstacles, for example on one Neighbor track driving vehicles, reflected parts of the light line and, for example, a side contour of the on the adjacent lane represent traveling motor vehicle. These obstacles can thus having a straight-line structure in a simple manner Obstacles, such as crash barriers or tunnel walls on the Roadside, to be differentiated. This procedure is therefore very cheap for blind spot monitoring of a motor vehicle and / or for a vehicle parking space measurement can be used.

The clarity is for advantageously increases an operator, if according to one Development of the invention, the obstacle on a display device is pictured. In a simple way, the obstacle representation for example, by means of illuminated points; but it is also conceivable to display a contour of the obstacle.

According to one Another advantageous embodiment of the invention is of the camera alternately an image with the light source switched on and an image detected with the light source switched off. The switched on Light source captured images can then serve an obstacle distance measurement, with the light source switched off Captured images can for one undisturbed Representation of, for example, a motor vehicle rear space detected by means of a reversing camera be used. Unless the camera with a tuned optical Filter is provided for an improved recording a separate areal lighting, for example a rearward motor vehicle environment area be provided. The lighting can not be done, for example directed emitting light emitting diodes, the light of a wavelength of Contained by the above-mentioned light source radiatable light. Advantageous can highlight objects in a measuring plane, that the light source alternately takes a larger number of pictures, for Example ten pictures, turned on and a larger number of pictures, for Example also ten pictures, off. This allows objects in the trade fair level, which for the driver represent potential obstacles, low frequency flashing and so on the driver serve as even clearer signaling, in particular warning.

According to one Another advantageous development of the invention are location coordinates of the obstacle on a digital map. To this Way, a detected position of the obstacle, for example a curb or a parked car, specifying its location coordinates in the digital map For example, a navigation device and taken from the complete geometry for example a parking space be determined. It is a use of this information for automated parking operations possible.

From the camera according to another advantageous embodiment of the invention, a gray scale image of at least a portion of the environment of the movable object is detected. Thus, by means of an additional gray value image evaluation, for example, a parking space determination can be carried out with increased precision if a lateral boundary of the parking space, for example a boundary line painted on a roadway instead of a curb edge, does not immediately appear as an obstacle in the form of a contoured light line. In such a case, in the absence of a significant paragraph in the light line by gray scale image evaluation - for example by means of an edge filter - the obstacle, that is the boundary line here, be determined as a gray value line. The position of a curb in a camera image is then determined, for example, as an intersection between a contoured light line and the gray value line. On the basis of the gray value image acquisition can advantageously vorgenom also a classification of the obstacle be men. Such a classification can be done, for example, based on a gray value curve in the vicinity of a light line. As a result, the reliability of the method according to the invention is further increased, and additional information is obtained, which can serve, for example as part of a parking maneuver as a further help.

drawing

Embodiments of the invention are shown schematically in the drawing and will be described in more detail below. Show it
a motor vehicle with a device for environment detection,
a the geometry of the device according to 1 . 2 clarifying illustration,
another motor vehicle with another device for environment detection in a plan view,
the motor vehicle 4 each in a side view from the front and
the motor vehicle 4 each in a further side view.

description the embodiments

In all Figures are corresponding elements with the same reference numerals Mistake.

1 shows a side view of a motor vehicle 1 with a device 2 for environment detection of a movable object 11 performing motor vehicle 1 , The device 2 for environment detection is with a laser 3 with downstream line projector 4 having light source 5 and with a narrowband optical bandpass filter 6 that is at the wavelength of the light source 5 radiating light is matched and light of this wavelength passes through unfiltered having camera 7 Mistake.

The camera 7 and the light source 5 are electrically connected to an electronic evaluation unit 8th connected. A camera picture 9 , as a camera signal for internal processing in the device 2 is used for Umweisfassung is, for illustration in the right part of the 1 shown. With the camera picture 9 and optionally its evaluation, a driver of the motor vehicle is thus not charged, the camera image 9 is only for internal signal processing.

In addition, one is also electrically connected to the evaluation unit 8th connected, a warning device for the driver forming the display device 38 , which may be in principle but also an acoustic warning device or additionally provided, provided by means of which an obstacle distance can be visualized or optionally in the presence of an object in a blind spot optionally an optical and / or audible warning. The display device 38 , which may be part of a man-machine interface is enlarged in the schematic representation of the drawing only for the sake of clarity and outside of the motor vehicle 1 shown.

From the light source 5 is a plane light beam 10 radiatable, the light beam 10 parallel to a road surface forming 12 on which the motor vehicle 1 is movable, is arranged. The light beam 10 is thus horizontally aligned.

The light source 5 is in this embodiment on a motor vehicle longitudinal side 13 for the radiation of the light beam 10 in a lateral area of the motor vehicle 1 arranged. On the same car long side 13 is the camera 7 for detecting an image in the lateral area of the motor vehicle 1 arranged.

The device 2 For Umweisfassung serves a blind spot monitoring of the motor vehicle 1 , A measuring range 14 results from a camera detection area 15 and the light beam 10 , Is located - as in 1 shown - no obstacle in the measuring range 14 , so shows the camera image 9 no backscattered light of the light beam 10 , the camera image 9 is thus approximately dark.

In 2 a situation is shown in which one of another motor vehicle 16 formed obstacle 17 in the measuring range 14 ( 1 ) is located. In this case, the side contour of the other motor vehicle 16 in the camera picture 9 visible, noticeable. In the example shown, this is the additional vehicle 16 in about half its vehicle length in the measuring range 14 , which can also be referred to in general as a monitoring area, retracted. In the camera picture 9 is a contoured light line 18 visible, noticeable.

The light line 18 in the camera picture 9 is a picture of one on the obstacle 17 shown, from a projection of the light beam 10 from the light source 5 resulting light line 19 taken from the camera 7 was recorded. In the camera picture 9 is a contour 20 a front tire of the further motor vehicle 16 and a contour 21 represented the front end of the vehicle this motor vehicle. Rear wheels of another motor vehicle 16 are in the camera image 9 not (yet) visible.

For a determination of an obstacle clearance 22 between the device 2 For Umfeldfassung having motor vehicle 1 and the other motor vehicle 16 are the light source 5 and the camera 7 with a base distance 23 arranged from each other. A distance calculation takes place on the basis of a pixel position y _{K of} a vehicle contour of the further motor vehicle 16 , from which a winking angle of the camera 7 and from this by means of trigonometric correlations the obstacle distance 22 is calculated (with respect to the trigonometric relationships also compare 3 ). With regard to signal processing, Karsten Haug: "Laser light-section sensor technology for the automation of metal inert gas welding processes", Chap. 2.3.3 and 3.2, Diss. Uni. Stuttgart, 2001.

One is the geometry and in particular the trigonometric relationships of the device 2 for the environment detection 1 . 2 clarifying illustration shows 3 , Taking into account a triangulation angle α which can be derived from a pixel position y _P in the camera image, it is possible to determine, in knowledge of a distance x ₂₃ , the base distance 23 corresponds to the obstacle clearance 22 determine the appropriate distance x ₂₂ according to the following relationships:

One as a motor vehicle 1 trained movable object 11 with a device 2 for environment detection, which is particularly suitable for parking space measurement show 4 to 6 , in which 4 a view from above and 5 . 6 each show a view from the front. Also the aforementioned device 2 has a flat light beam 10 radiating light source 5 and a camera 7 on. A camera detection area 15 is shown in dashed lines. The light beam 10 is perpendicular to a road surface forming 12 on which the motor vehicle 1 is movable, arranged.

With the device 2 to the Umfassungsfassung here lateral obstacles 17 . 24 recorded, on the one hand a curb 25 ( 4 . 5 ) and on the other hand, next to the curb 25 already parked another motor vehicle 16 ( 6 ). A triangulation angle α between an optical axis 30 the camera 7 and the plane of the light beam 10 for performing a triangulation measurement of an obstacle clearance 22 . 31 between the first motor vehicle 1 and the curb 25 or the further motor vehicle 16 is shown by way of example. The base distance 23 between camera 7 and light source 5 In this example, it is approximately 0.5 to 1.5 m to cover a measuring range of several meters.

camera 7 and light source 5 are with an evaluation unit 8th connected to the generally also known as HMI (Human-Machine Interface) man-machine interface 39 connected. The man-machine interface 39 For example, it can work visually and / or acoustically and, for example, have a display device. Furthermore, in each case an equalized camera image 9 to illustrate the measuring principle, namely after 5 an illustration 26 a curb contour line 27 a curb 25 and after 6 a contour line 29 as a picture 28 another motor vehicle 16 taking one from the camera 7 captured, from a projection of the light beam 10 on the other motor vehicle 16 resulting light line is.

In addition, the first motor vehicle 1 (please refer 4 ) in the vehicle rear 32 another device 33 for environment detection. This device 33 , which forms a distance-measuring rear view camera, is with a light source 34 for the emission of a flat, horizontally arranged light bundle 35 in a rear area of the motor vehicle 1 and with a camera 37 for capturing an image of a line of light on an obstacle 36 Mistake. camera 37 and light source 34 are in this example with a vertical distance that forms the base distance, arranged from about 0.15 to 0.5 m to each other. Basically, the camera and the light source need not be mounted laterally offset, but they can be directly below each other.

7 . 8th show the motor vehicle 1 out 4 with the light source 34 and the camera 37 in the vehicle rear 32 each in a further side view. There is also an internal camera image 40 the camera 37 shown, in 8th a a vehicle contour of an obstacle 36 forming further motor vehicle indicating pixel position y _K is located.

Claims (19)

Device for detecting the surroundings of a movable object, in particular a motor vehicle, with a light source, a camera and an evaluation unit connected to the camera, wherein from the light source a flat light beam for displaying a light line on a potential obstacle in the environment of the object can be projected and the light line by means of Camera is detectable, characterized in that the light source ( 5 ) and the camera ( 7 ) with one of the evaluation unit ( 8th ) as a basis for determining an obstacle distance ( 22 ) between object ( 11 ) and obstacle ( 17 ) serving base distance ( 23 ) are arranged from each other. Device according to claim 1, characterized in that the light source ( 5 ) a laser ( 3 ) with downstream line projector ( 4 ) having. Device according to claim 1 or 2, characterized in that the camera ( 7 ) a narrowband optical bandpass filter ( 6 ) having. Device according to one of the preceding claims, characterized in that the base distance between the light source ( 34 ) and camera ( 37 ) in about 0.15 to 0.5 m. Device according to one of claims 1 to 3, characterized in that the base distance ( 23 ) between light source ( 5 ) and camera ( 7 ) is at least 0.5 m. Device according to one of the preceding claims, characterized in that a man-machine interface ( 39 ) for signaling the obstacle distance ( 22 ) is provided. Apparatus according to claim 6, characterized in that a display device ( 38 ) for the visualization of the obstacle distance ( 22 ) is provided. Device according to one of the preceding claims, characterized in that the light beam ( 10 ) parallel to a surface ( 12 ) is arranged, on which the object ( 11 ) is movable. Device according to one of the preceding claims, characterized in that the light beam ( 10 ) perpendicular to a surface ( 12 ) is arranged, on which the object ( 11 ) is movable. Motor vehicle with a device according to one of the preceding claims, characterized in that the light source ( 34 ) in the vehicle rear ( 32 ) for the radiation of the light beam ( 35 ) in a rear region of the motor vehicle ( 1 ) and the camera ( 37 ) in the vehicle rear ( 32 ) for detecting an image in the rear region of the motor vehicle ( 1 ) is arranged. Motor vehicle with a device according to one of claims 1 to 9, characterized in that the light source ( 5 ) on a motor vehicle longitudinal side ( 13 ) for the radiation of the light beam ( 10 ) in a lateral region of the motor vehicle ( 1 ) and the camera ( 7 ) on the same side of the motor vehicle ( 13 ) for detecting an image in the lateral area of the motor vehicle ( 1 ) is arranged. Method for detecting the surroundings of a movable, a light source and a camera having object, in particular a motor vehicle, wherein a light beam emitted from the light source is projected onto a potential obstacle in the environment of the object as a light line and wherein the light line is detected by the camera, characterized in that by means of a triangulation measurement the obstacle distance ( 22 ) of object ( 11 ) and obstacle ( 17 ) starting from a base distance ( 23 ) between light source ( 5 ) and camera ( 7 ) is determined. Method according to claim 12, characterized in that the light beams of the light beam ( 10 ) from the light source ( 5 ) are pulsed. Method according to claim 12 or 13, characterized in that one of the camera ( 7 ) captured image to an evaluation unit ( 8th ) and that upon detection of an uninterrupted light line signaling by the evaluation unit ( 8th ) he follows. Method according to one of claims 12 to 14, characterized in that one of the camera ( 7 ) captured image to an evaluation unit ( 8th ) is transmitted and that upon detection of an interrupted light line signaling by the evaluation unit ( 8th ) he follows. Method according to one of claims 12 to 15, characterized in that the obstacle ( 17 ) on a display device ( 38 ) is pictured. Method according to one of claims 12 to 16, characterized in that from the camera ( 7 ) alternately at least one image with the light source switched on ( 5 ) and at least one image with the light source switched off ( 5 ) is detected. Method according to one of claims 12 to 17, characterized in that location coordinates of the obstacle ( 17 ) are included in a digital map. Method according to one of claims 12 to 18, characterized in that of the camera ( 7 ) a gray scale image of at least a portion of the environment of the movable object is detected.