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WO2010025792A1 - Method and device for monitoring an environment of a vehicle - Google Patents

Method and device for monitoring an environment of a vehicle Download PDF

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Publication number
WO2010025792A1
WO2010025792A1 PCT/EP2009/005413 EP2009005413W WO2010025792A1 WO 2010025792 A1 WO2010025792 A1 WO 2010025792A1 EP 2009005413 W EP2009005413 W EP 2009005413W WO 2010025792 A1 WO2010025792 A1 WO 2010025792A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
image
environment
overall
overall image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2009/005413
Other languages
German (de)
French (fr)
Inventor
Jochen Feese
Uwe Franke
Markus Griesinger
Joachim Missel
Hartmut Schaeffer
Jürgen Seekircher
Tom Van Den Elst
Bernd Woltermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Publication of WO2010025792A1 publication Critical patent/WO2010025792A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/106—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using night vision cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the invention relates to a method for monitoring an environment of a vehicle according to the preamble of claim 1 and to a device for monitoring an environment of a vehicle according to the preamble of claim 6.
  • DE 600 03 750 T2 discloses a method for guided parking and a Einpark Wennvorraum with a vehicle position calculation unit for calculating the position of the vehicle in a plan view and a bird's-eye view and a Schiserortbeticianshim for calculating a Schharmoniasortes of Vehicle body, when the vehicle is moved in a predetermined steering angle with respect to the vehicle position calculated by the vehicle position calculation unit position.
  • the apparatus further comprises a display unit for displaying the vehicle position calculated by the vehicle position calculation unit together with the estimated movement location of the vehicle body calculated by the estimated location calculation unit.
  • the vehicle or its calculated vehicle position as well as all relevant for parking areas of the environment of the vehicle depending on the situation are output by means of the display unit.
  • JP 2007 102 798 A1 discloses a system for displaying an environment of a vehicle from a bird's eye view known.
  • a front image acquisition unit for detecting an area of an environment of the vehicle in front of the vehicle and a rear image acquisition unit for detecting an area behind the vehicle of the environment are provided, wherein the captured images are converted by means of an image processing unit into an image which the vehicle and whose surroundings show a bird's eye view.
  • This image is output by means of an optical output unit, wherein a displayed image area is shifted such that the vehicle is displayed as a function of the situation in a first representation together with its front environment or in a second representation with its rear environment.
  • a rear vehicle edge is moved to a lower edge of the image area
  • a front vehicle edge is displaced at the upper edge opposite the lower edge of the image area.
  • DE 102 92 327 T5 describes an image processing device for environmental images of a vehicle.
  • the vehicle includes an image capture unit for acquiring an image of the surroundings of the vehicle, and a display unit for displaying an image, which processes the image captured by the image capture unit and displays the processed image on the display unit.
  • the vehicle further comprises means for generating a bird's-eye view image which generates a bird's-eye view image by converting the image picked up by the image capture unit and a region discriminating means comprising a first image generated from the bird's-eye view creation means Bird's eye view and a second bird's-eye view taken later in time and created, identifying matching and mismatched areas.
  • a device for generating a composed image which generates the composite image from a bird's eye view by adding the mismatching area to the second image and supplies to display processing means for displaying the composite image on the display unit.
  • the vehicle is positioned in the composite image from a bird's-eye view in such a way that a region of the surroundings of the vehicle that is relevant to a driving situation of the vehicle is displayed.
  • the invention has for its object to provide a comparison with the prior art improved method and an improved device for monitoring an environment of a vehicle, by means of which a precise and clear representation of the vehicle and its surroundings can be realized.
  • the object is achieved by the features specified in claim 1 and in terms of the device by the features specified in claim 6.
  • the environment is detected by means of at least one image acquisition unit, wherein an overall image is generated from individual images captured by the at least one image acquisition unit and output by means of a display unit, the overall image comprising the vehicle and its surroundings shows a bird's eye view and the vehicle is positioned depending on the situation in the overall picture.
  • environmental regions relevant for a driving situation of the vehicle are determined and output on the basis of at least one distance to one or more obstacles detected by means of at least one distance sensor.
  • the device according to the invention for monitoring an environment of a vehicle comprises at least one image acquisition unit for detecting the surroundings, an image processing unit for generating an overall image from individual images captured by the at least one image acquisition unit, a display unit for outputting the overall image, which shows the vehicle and its surroundings from a bird's-eye view , And a control unit for a situation-dependent positioning of the vehicle in the overall picture.
  • the control unit is coupled to at least one proximity sensor such that surrounding areas relevant for a driving situation of the vehicle can be determined and output on the basis of at least one detected distance to one or more obstacles.
  • Fig. 1 shows schematically a vehicle with a device for monitoring a
  • FIG. 2 shows schematically a display unit with an overall image of the vehicle according to FIG. 1 and its surroundings from a bird's-eye view, with surrounding areas relevant for a driving situation of the vehicle being highlighted on the overall image,
  • FIG. 3 shows schematically the vehicle according to Figure 2, wherein the relevant
  • Fig. 4 shows schematically the vehicle according to Figure 2, wherein the relevant
  • Fig. 5 shows schematically the vehicle according to Figure 2, wherein the relevant
  • FIG. 1 shows a vehicle 1 with a device 2 for monitoring an environment of the vehicle 1.
  • the device 2 comprises in the illustrated embodiment of the invention a first image capture unit 2.1, which is arranged at the front end of the vehicle 1, and a second image capture unit 2.2, which is arranged at the rear end of the vehicle 1, wherein by means of the image capture units 2.1 and 2.2, the vehicle. 1 and whose surroundings are detectable.
  • the image acquisition units 2.1 and 2.2 are preferably cameras which have a large detection range. In addition to conventional cameras, these may in particular be omnidirectional cameras. These can be, for example, mosaic-based cameras, rotating cameras, cameras with special wide-angle lenses, so-called fisheye lenses, or based on a catadioptric system.
  • the image acquisition units 2.1 and 2.2 detect the vehicle 1 and its surroundings in individual images E, which is converted by means of an image processing unit 2.3 in a detail shown in Figure 2 overall G, which shows the vehicle 1 and its surroundings from a bird's eye view.
  • a display unit 2.4 for example an actuation screen, is provided so that a driver of the vehicle 1 can output this and its surroundings from a bird's-eye view.
  • the display unit 2.4 is limited in size due to limited space in the vehicle 1, so that the overall image G can be output only in the limited size.
  • a control unit 2.5 is coupled to a distance sensor 3 of the vehicle 1 such that according to FIGS. 2 to 5 surrounding areas U1 relevant for a driving situation of the vehicle 1, U2 be determined and output by means of the distance sensor 3 detected distances A1, A2 and A3.
  • the distance sensor 3 comprises a plurality of distance sensors 3.1 to 3.6, by means of which a distance A1, A2, A3 to obstacles 2, 5 and 6 shown in more detail in FIGS. 2 to 5 are detected.
  • the distance sensor 3 is preferably part of a driver assistance system, not shown, such as a parking aid, a lane detection and lane departure of a night vision assistant or other systems, the distance sensors are 3.1 to 3.6 in particular cameras, radar, lidar and / or ultrasonic sensors.
  • Figure 2 shows the display unit 2.4 with the overall image G, which shows the vehicle 1 in a parking between two obstacles 4 and 6, which are in particular vehicles, from a bird's eye view.
  • a parking space or a parking space in which the vehicle 1 is to be parked is laterally delimited by a further obstacle 6, which may be, for example, a wall, a house wall or a fence.
  • the vehicle 1 is arranged in the middle of the overall image G, but can also be positioned in the overall image G as a function of the situation, deviating from this representation.
  • the vehicle 1 in the direction of travel on the display unit 2.4 can be displayed, wherein the driver of the vehicle 1 can preferably choose in which presentation to him the vehicle 1 and its surroundings to be issued.
  • the relevant ambient areas U1 and U2 are determined for the driving situation, since the distances A1 and A2 of the obstacles 4 and 5 to the vehicle 1 are very low and thus for the current driving situation are relevant or critical.
  • markers M1 and M2 are provided, which draw the driver's attention to the surrounding areas U1 and U2.
  • the markers M1 and M2 are preferably colored, especially in signal colors, designed so that they are particularly noticeable.
  • the highlighting of the relevant surrounding areas U1 and U2 is achieved on the basis of a representation of this with a contrast that is greater than the rest of the overall image G or a representation in a hue deviating from the rest of the overall G image.
  • the remaining overall image G can be displayed during the representation of the relevant surrounding areas U1 and U2 with reduced contrast and / or with a lower color intensity, for example in gray levels.
  • FIG. 3 shows the display unit 2.4 and the vehicle 1 illustrated thereon during the parking procedure according to FIG. 2.
  • the relevant environmental areas U1 and U2 are shown enlarged on the overall image G, d. H. they are "zoomed out" of the overall picture G, so that the driver of the vehicle 1 is a detailed representation of the driving situation available and this can customize his ride so that the vehicle 1 can be moved past the obstacles 4 and 5 without touching.
  • FIG. 4 shows a third embodiment of the invention, in which the vehicle 1 and its surroundings are represented on the overall image G in the parking procedure according to FIG. 2, the relevant surrounding areas U1 and U2 being represented on the overall image G and on the basis of additional images Z1 and Z2 ,
  • the surrounding areas U1 and U2 are preferably shown enlarged on this additional images Z1 and Z2, so that a clear and detailed representation of the surrounding areas U1 and U2 is achieved.
  • the additional images are also shown in a non-illustrated embodiment of the invention with a greater contrast or with a deviating from the rest of the overall G color.
  • the additional images Z1 and Z2 are preferably displayed in regions of the overall image G, which are not relevant to the current driving situation of the vehicle 1. Furthermore, the markers M1 and M2 are additionally preferably arranged around the surrounding areas U1 and U2, so that the driver knows which areas of the surroundings of the vehicle 1 are displayed to him.
  • FIG. 5 shows the display unit 2.4, which represents the relevant surrounding areas U1 and U2 on the basis of the additional images Z1 and Z2, but in contrast to the exemplary embodiment of the invention shown in FIG. 4, the overall image G is blanked out.
  • the additional images Z1 and Z2 represent the surrounding areas U1 and U2 in an enlarged form and are designed such that an available size of the display unit 2.4 is optimally utilized.
  • a complete vehicle side or a complete vehicle area and its adjacent surroundings are output as the relevant surrounding area U1, U2 as an alternative to the illustrations shown in FIGS.
  • the relevant surrounding area U1, U2 as an alternative to the illustrations shown in FIGS.
  • the device 1 for monitoring the environment of the vehicle 1 in a particularly profitable development of the invention via means, based on which the driver of the vehicle 1, the desired representation of the relevant environmental areas U1 and U2, d. H. the highlighted representation and / or the enlarged representation on the overall image or the representation based on the additional images Z1 and Z2 together with the overall image G or without this, can choose.
  • the type of representation of the relevant surrounding areas U1 and U2 is automatically determined, for example, depending on the size of the detected distances A1, A2, A3 between the vehicle 1 and the obstacles 4, 5, 6 and alternatively automatically each changed according to the driving situation or the size of the detected distances A1, A2, A3.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

The invention relates to a method for monitoring an environment of a vehicle (1), in which the environment is recorded by means of at least one image recording unit (2.1, 2.2), wherein an overall image (G) is produced using an image processing unit (2.3) from individual images (E) recorded by means of the image recording unit (2.1, 2.2) and output by means of a display unit (2.4), wherein the overall image (G) shows the vehicle (1) and the environment thereof from a bird's-eye view and the vehicle (1) is positioned in the overall image (G) according to the situation. According to the invention, environment areas (U1, U2) relevant to a driving situation of the vehicle (1) are detected and output using at least one distance (A1, A2, A3) to one or more obstacles (4, 5, 6) recorded by means of a distance sensor (3). The invention further relates to a device (1) for monitoring an environment of a vehicle (1) having at least one image recording unit (2.1, 2.2) for recording the environment.

Description

Verfahren und Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges Method and device for monitoring an environment of a vehicle

Die Erfindung betrifft ein Verfahren zur Überwachung einer Umgebung eines Fahrzeuges gemäß dem Oberbegriff des Anspruchs 1 und eine Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges gemäß dem Oberbegriff des Anspruchs 6.The invention relates to a method for monitoring an environment of a vehicle according to the preamble of claim 1 and to a device for monitoring an environment of a vehicle according to the preamble of claim 6.

Nutzfahrzeuge zum Güter- oder Personentransport sind häufig durch große Fahrzeugabmessungen und eine geringe Übersichtlichkeit gekennzeichnet. Auch moderne Personenkraftwagen weisen aufgrund ihrer äußeren Gestalt häufig eine sehr geringe Übersichtlichkeit auf. Daraus resultiert, dass insbesondere ein Rangieren mit diesen Fahrzeugen für einen Fahrer sehr schwierig ist. Deshalb ist es vorteilhaft, Fahrzeuge und deren Umgebung aus einer Vogelperspektive auf einem Bildschirm darzustellen, so dass das Fahrzeug und dessen gesamte Umgebung für den Fahrer sichtbar sind.Commercial vehicles for goods or passenger transport are often characterized by large vehicle dimensions and a low clarity. Modern passenger cars also often have a very small clarity due to their external shape. As a result, in particular, maneuvering with these vehicles is very difficult for a driver. Therefore, it is advantageous to display vehicles and their surroundings from a bird's eye view on a screen, so that the vehicle and its entire environment are visible to the driver.

Aus dem Stand der Technik sind verschiedene Verfahren und Vorrichtungen zu einer derartigen Überwachung und Darstellung einer Umgebung eines Fahrzeuges bekannt, wobei einem Fahrer des Fahrzeuges insbesondere ein Bild des Fahrzeuges und dessen Umgebung aus einer Vogelperspektive ausgegeben wird. Dadurch wird für den Fahrer eine verbesserte Rundumsicht geschaffen, die diesem als Assistenzfunktion bzw. Unterstützung während des Fahrbetriebes, beispielsweise bei einem Rangieren des Fahrzeuges, dient. Weiterhin können Unfälle vermieden werden, welche sich häufig aufgrund einer schlechten Rundumsicht, insbesondere bei großen und schwer überschaubaren Fahrzeugen, ereignen.From the prior art, various methods and devices for such monitoring and representation of an environment of a vehicle are known, wherein a driver of the vehicle, in particular an image of the vehicle and its surroundings is output from a bird's eye view. As a result, an improved all-round view is created for the driver, who serves this as an assistance function or assistance during the driving operation, for example when maneuvering the vehicle. Furthermore, accidents can be avoided, which often occur due to poor visibility, especially in large and difficult manageable vehicles occur.

Die DE 600 03 750 T2 offenbart ein Verfahren zum geführten Einparken und eine Einparkführvorrichtung mit einer Fahrzeugpositionsberechnungseinheit zur Berechnung der Position des Fahrzeugs in einer Draufsicht bzw. einer Vogelperspektive und einer Schätzortberechnungseinheit zur Berechnung eines Schätzbewegungsortes des Fahrzeugkörpers, wenn das Fahrzeug in einem festgelegten Lenkwinkel in Bezug auf die durch die Fahrzeugpositionsberechnungseinheit berechnete Fahrzeug position bewegt wird. Die Vorrichtung umfasst weiterhin eine Anzeigeeinheit zur Anzeige der durch die Fahrzeugpositionsberechnungseinheit berechneten Fahrzeugposition zusammen mit dem durch die Schätzortberechnungseinheit berechneten Schätzbewegungsort des Fahrzeugkörpers. Während des Einparkens werden das Fahrzeug bzw. dessen berechnete Fahrzeugposition sowie alle für das Einparken relevante Bereiche der Umgebung des Fahrzeuges situationsabhängig mittels der Anzeigeeinheit ausgegeben.DE 600 03 750 T2 discloses a method for guided parking and a Einparkführvorrichtung with a vehicle position calculation unit for calculating the position of the vehicle in a plan view and a bird's-eye view and a Schätzortberechnungseinheit for calculating a Schätzbewegungsortes of Vehicle body, when the vehicle is moved in a predetermined steering angle with respect to the vehicle position calculated by the vehicle position calculation unit position. The apparatus further comprises a display unit for displaying the vehicle position calculated by the vehicle position calculation unit together with the estimated movement location of the vehicle body calculated by the estimated location calculation unit. During parking, the vehicle or its calculated vehicle position as well as all relevant for parking areas of the environment of the vehicle depending on the situation are output by means of the display unit.

Weiterhin ist aus der JP 2007 102 798 A1 ein System zur Darstellung einer Umgebung eines Fahrzeuges aus einer Vogelperspektive bekannt. Dabei sind eine vordere Bilderfassungseinheit zur Erfassung eines vor dem Fahrzeug befindlichen Bereiches einer Umgebung des Fahrzeuges und eine hintere Bilderfassungseinheit zur Erfassung eines hinter dem Fahrzeug befindlichen Bereiches der Umgebung vorgesehen, wobei die erfassten Bilder mittels einer Bildverarbeitungseinheit in ein Bild umgewandelt werden, welches das Fahrzeug und dessen Umgebung aus einer Vogelperspektive zeigt. Dieses Bild wird mittels einer optischen Ausgabeeinheit ausgegeben, wobei ein dargestellter Bildbereich derart verschoben wird, dass das Fahrzeug situationsabhängig in einer ersten Darstellung gemeinsam mit dessen vorderer Umgebung oder in einer zweiten Darstellung mit dessen hinterer Umgebung dargestellt wird. Dabei wird in der ersten Darstellung eine hintere Fahrzeugkante an einen unteren Rand des Bildbereiches verschoben und in der zweiten Darstellung eine vordere Fahrzeugkante an den dem unteren Rand des Bildbereiches gegenüberliegenden oberen Rand verschoben.Furthermore, from JP 2007 102 798 A1 discloses a system for displaying an environment of a vehicle from a bird's eye view known. In this case, a front image acquisition unit for detecting an area of an environment of the vehicle in front of the vehicle and a rear image acquisition unit for detecting an area behind the vehicle of the environment are provided, wherein the captured images are converted by means of an image processing unit into an image which the vehicle and whose surroundings show a bird's eye view. This image is output by means of an optical output unit, wherein a displayed image area is shifted such that the vehicle is displayed as a function of the situation in a first representation together with its front environment or in a second representation with its rear environment. In this case, in the first representation, a rear vehicle edge is moved to a lower edge of the image area, and in the second representation, a front vehicle edge is displaced at the upper edge opposite the lower edge of the image area.

Ferner beschreibt die DE 102 92 327 T5 eine Bildverarbeitungsvorrichtung für Umgebungsbilder eines Fahrzeuges. Das Fahrzeug umfasst eine Bilderfassungseinheit zur Erfassung eines Bildes der Umgebung des Fahrzeuges und eine Anzeigeeinheit zum Anzeigen eines Bildes, welche das von der Bilderfassungseinheit aufgenommene Bild verarbeitet und das verarbeitete Bild auf der Anzeigeeinheit anzeigt. Das Fahrzeug umfasst weiterhin eine Einrichtung zum Erzeugen eines Bildes aus einer Vogelperspektive, welche ein Bild aus einer Vogelperspektive durch Umwandlung des von der Bilderfassungseinheit aufgenommenen Bildes erzeugt und eine Bereichsunterscheidungseinrichtung, welche ein von der Einrichtung zum Erzeugen des Bildes aus einer Vogelperspektive erzeugtes erstes Bild aus einer Vogelperspektive und ein zweites Bild aus einer Vogelperspektive vergleicht, das zeitlich später aufgenommen und erzeugt wurde und einander zusammenpassende und nicht zusammenpassende Bereiche ermittelt. Weiterhin ist eine Einrichtung zur Erzeugung eines zusammengesetzten Bildes vorgesehen, welche das zusammengesetztes Bild aus einer Vogelperspektive durch Hinzufügen des nicht zusammenpassenden Bereichs zu dem zweiten Bild erzeugt und einer Anzeigeverarbeitungseinrichtung zum Anzeigen des zusammengesetzten Bildes auf der Anzeigeeinheit zuführt. Dabei wird das Fahrzeug in dem zusammengesetzten Bild aus der Vogelperspektive derart positioniert, dass ein für eine Fahrsituation des Fahrzeuges relevanter Bereich der Umgebung des Fahrzeuges dargestellt wird.Furthermore, DE 102 92 327 T5 describes an image processing device for environmental images of a vehicle. The vehicle includes an image capture unit for acquiring an image of the surroundings of the vehicle, and a display unit for displaying an image, which processes the image captured by the image capture unit and displays the processed image on the display unit. The vehicle further comprises means for generating a bird's-eye view image which generates a bird's-eye view image by converting the image picked up by the image capture unit and a region discriminating means comprising a first image generated from the bird's-eye view creation means Bird's eye view and a second bird's-eye view taken later in time and created, identifying matching and mismatched areas. Furthermore, a device for generating a composed image which generates the composite image from a bird's eye view by adding the mismatching area to the second image and supplies to display processing means for displaying the composite image on the display unit. In this case, the vehicle is positioned in the composite image from a bird's-eye view in such a way that a region of the surroundings of the vehicle that is relevant to a driving situation of the vehicle is displayed.

Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren und eine verbesserte Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges anzugeben, mittels welchen eine exakte und übersichtliche Darstellung des Fahrzeuges und dessen Umgebung realisierbar ist.The invention has for its object to provide a comparison with the prior art improved method and an improved device for monitoring an environment of a vehicle, by means of which a precise and clear representation of the vehicle and its surroundings can be realized.

Hinsichtlich des Verfahrens wird die Aufgabe erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale und hinsichtlich der Vorrichtung durch die im Anspruch 6 angegebenen Merkmale gelöst.With regard to the method, the object is achieved by the features specified in claim 1 and in terms of the device by the features specified in claim 6.

Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.

Bei dem erfindungsgemäßen Verfahren zur Überwachung einer Umgebung eines Fahrzeuges wird die Umgebung mittels wenigstens einer Bilderfassungseinheit erfasst, wobei aus mittels der wenigstens einen Bilderfassungseinheit erfassten Einzelbildern anhand einer Bildverarbeitungseinheit ein Gesamtbild erzeugt und mittels einer Anzeigeeinheit ausgegeben wird, wobei das Gesamtbild das Fahrzeug und dessen Umgebung aus einer Vogelperspektive zeigt und das Fahrzeug in dem Gesamtbild situationsabhängig positioniert wird. Erfindungsgemäß werden für eine Fahrsituation des Fahrzeuges relevante Umgebungsbereiche anhand zumindest eines mittels wenigstens einer Abstandssensorik erfassten Abstandes zu einem oder mehreren Hindernissen ermittelt und ausgegeben.In the method according to the invention for monitoring an environment of a vehicle, the environment is detected by means of at least one image acquisition unit, wherein an overall image is generated from individual images captured by the at least one image acquisition unit and output by means of a display unit, the overall image comprising the vehicle and its surroundings shows a bird's eye view and the vehicle is positioned depending on the situation in the overall picture. According to the invention, environmental regions relevant for a driving situation of the vehicle are determined and output on the basis of at least one distance to one or more obstacles detected by means of at least one distance sensor.

Dadurch wird in vorteilhafter Weise erreicht, dass auch bei einer geringen Darstellungsgröße der Anzeigeeinheit eine optimale Anzeige des Fahrzeuges und seiner Umgebung zu einer Unterstützung des Fahrers erzielt wird. Weiterhin wird der Fahrer aufgrund der Darstellung der relevanten Umgebungsbereiche, welche in bevorzugten Ausgestaltungen der Erfindung auf dem Gesamtbild in hervorgehobener oder vergrößerter Form erfolgt, auf mögliche Gefahren, beispielsweise eine mögliche Kollision mit einem Hindernis, hingewiesen und kann diese somit vermeiden.This advantageously achieves that, even with a small display size of the display unit, an optimal display of the vehicle and its surroundings is achieved in support of the driver. Furthermore, due to the representation of the relevant environmental regions, which in preferred embodiments of the invention are highlighted in the overall image in FIG enlarged form, attention is drawn to possible dangers, such as a possible collision with an obstacle, and thus can avoid them.

Die erfindungsgemäße Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges umfasst wenigstens eine Bilderfassungseinheit zur Erfassung der Umgebung, eine Bildverarbeitungseinheit zur Erzeugung eines Gesamtbildes aus mittels der wenigstens einen Bilderfassungseinheit erfassten Einzelbildern, eine Anzeigeeinheit zur Ausgabe des Gesamtbildes, welches das Fahrzeug und dessen Umgebung aus einer Vogelperspektive zeigt, und eine Steuereinheit zu einer situationsabhängigen Positionierung des Fahrzeuges in dem Gesamtbild. Erfindungsgemäß ist die Steuereinheit derart mit wenigstens einer Abstandssensorik gekoppelt, dass für eine Fahrsituation des Fahrzeuges relevante Umgebungsbereiche anhand von zumindest einem erfassten Abstand zu einem oder mehreren Hindernissen ermittelbar und ausgebbar sind.The device according to the invention for monitoring an environment of a vehicle comprises at least one image acquisition unit for detecting the surroundings, an image processing unit for generating an overall image from individual images captured by the at least one image acquisition unit, a display unit for outputting the overall image, which shows the vehicle and its surroundings from a bird's-eye view , And a control unit for a situation-dependent positioning of the vehicle in the overall picture. According to the invention, the control unit is coupled to at least one proximity sensor such that surrounding areas relevant for a driving situation of the vehicle can be determined and output on the basis of at least one detected distance to one or more obstacles.

Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.

Dabei zeigen:Showing:

Fig. 1 schematisch ein Fahrzeug mit einer Vorrichtung zur Überwachung einerFig. 1 shows schematically a vehicle with a device for monitoring a

Umgebung des Fahrzeuges,Environment of the vehicle,

Fig. 2 schematisch eine Anzeigeeinheit mit einem Gesamtbild des Fahrzeuges gemäß Figur 1 und dessen Umgebung aus einer Vogelperspektive, wobei für eine Fahrsituation des Fahrzeuges relevante Umgebungsbereiche auf dem Gesamtbild hervorgehoben dargestellt ist,2 shows schematically a display unit with an overall image of the vehicle according to FIG. 1 and its surroundings from a bird's-eye view, with surrounding areas relevant for a driving situation of the vehicle being highlighted on the overall image,

Fig. 3 schematisch das Fahrzeug gemäß Figur 2, wobei die relevantenFig. 3 shows schematically the vehicle according to Figure 2, wherein the relevant

Umgebungsbereiche auf dem Gesamtbild vergrößert dargestellt sind,Surrounding areas are shown enlarged on the overall picture,

Fig. 4 schematisch das Fahrzeug gemäß Figur 2, wobei die relevantenFig. 4 shows schematically the vehicle according to Figure 2, wherein the relevant

Umgebungsbereiche mittels eines Zusatzbildes zusätzlich zu dem Gesamtbild dargestellt sind, und Fig. 5 schematisch das Fahrzeug gemäß Figur 2, wobei die relevantenSurrounding areas are represented by means of an additional image in addition to the overall picture, and Fig. 5 shows schematically the vehicle according to Figure 2, wherein the relevant

Umgebungsbereiche mittels eines Zusatzbildes bei ausgeblendetem Gesamtbild dargestellt ist.Surrounding areas is shown by means of an additional image with hidden overall picture.

Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.

In Figur 1 ist ein Fahrzeug 1 mit einer Vorrichtung 2 zur Überwachung einer Umgebung des Fahrzeuges 1 dargestellt.FIG. 1 shows a vehicle 1 with a device 2 for monitoring an environment of the vehicle 1.

Die Vorrichtung 2 umfasst im dargestellten Ausführungsbeispiel der Erfindung eine erste Bilderfassungseinheit 2.1 , welche am vorderen Ende des Fahrzeuges 1 angeordnet ist, und eine zweite Bilderfassungseinheit 2.2, welche am hinteren Ende des Fahrzeuges 1 angeordnet ist, wobei mittels der Bilderfassungseinheiten 2.1 und 2.2 das Fahrzeug 1 und dessen Umgebung erfassbar sind.The device 2 comprises in the illustrated embodiment of the invention a first image capture unit 2.1, which is arranged at the front end of the vehicle 1, and a second image capture unit 2.2, which is arranged at the rear end of the vehicle 1, wherein by means of the image capture units 2.1 and 2.2, the vehicle. 1 and whose surroundings are detectable.

Bei den Bilderfassungseinheiten 2.1 und 2.2 handelt es sich vorzugsweise um Kameras, welche einen großen Erfassungsbereich aufweisen. Dabei kann es sich neben herkömmlichen Kameras insbesondere um omnidirektionale Kameras handeln. Diese können beispielsweise mosaikbasierte Kameras, rotierende Kameras, Kameras mit speziellen Weitwinkellinsen, so genannten Fischaugen-Linsen, sein oder auf einem katadioptrischen System basieren.The image acquisition units 2.1 and 2.2 are preferably cameras which have a large detection range. In addition to conventional cameras, these may in particular be omnidirectional cameras. These can be, for example, mosaic-based cameras, rotating cameras, cameras with special wide-angle lenses, so-called fisheye lenses, or based on a catadioptric system.

Die Bilderfassungseinheiten 2.1 und 2.2 erfassen das Fahrzeug 1 und dessen Umgebung in Einzelbildern E, welche mittels einer Bildverarbeitungseinheit 2.3 in ein in Figur 2 näher dargestelltes Gesamtbild G umgewandelt wird, welches das Fahrzeug 1 und dessen Umgebung aus der Vogelperspektive zeigt.The image acquisition units 2.1 and 2.2 detect the vehicle 1 and its surroundings in individual images E, which is converted by means of an image processing unit 2.3 in a detail shown in Figure 2 overall G, which shows the vehicle 1 and its surroundings from a bird's eye view.

Zu einer optischen Ausgabe des Gesamtbildes G ist eine Anzeigeeinheit 2.4, beispielsweise ein Betätigungsbildschirm, vorgesehen, so dass einem Fahrer des Fahrzeuges 1 dieses und dessen Umgebung aus der Vogelperspektive ausgebbar sind. Dies führt insbesondere zu einer verbesserten Übersicht über das Fahrzeug 1 und somit beispielsweise zu einem vereinfachten Rangieren des Fahrzeuges 1 für den Fahrer. Es besteht jedoch das Problem, dass die Anzeigeeinheit 2.4 aufgrund begrenzter Platzverhältnisse im Fahrzeug 1 in ihrer Größe begrenzt ist, so dass auch das Gesamtbild G lediglich in der begrenzten Größe ausgebbar ist.For an optical output of the overall image G, a display unit 2.4, for example an actuation screen, is provided so that a driver of the vehicle 1 can output this and its surroundings from a bird's-eye view. This leads in particular to an improved overview of the vehicle 1 and thus, for example, to a simplified maneuvering of the vehicle 1 for the driver. However, there is the problem that the display unit 2.4 is limited in size due to limited space in the vehicle 1, so that the overall image G can be output only in the limited size.

Um eine verbesserte Übersicht über das Fahrzeug 1 und dessen Umgebung sowie eine detaillierte Darstellung zu schaffen, ist erfindungsgemäß eine Steuereinheit 2.5 derart mit einer Abstandssensorik 3 des Fahrzeuges 1 gekoppelt, dass gemäß den Figuren 2 bis 5 für eine Fahrsituation des Fahrzeuges 1 relevante Umgebungsbereiche U1 , U2 anhand von mittels der Abstandssensorik 3 erfassten Abständen A1 , A2 und A3 ermittelt und ausgegeben werden.In order to provide an improved overview of the vehicle 1 and its surroundings as well as a detailed representation, according to the invention a control unit 2.5 is coupled to a distance sensor 3 of the vehicle 1 such that according to FIGS. 2 to 5 surrounding areas U1 relevant for a driving situation of the vehicle 1, U2 be determined and output by means of the distance sensor 3 detected distances A1, A2 and A3.

Die Abstandssensorik 3 umfasst mehrere Abstandssensoren 3.1 bis 3.6, anhand welcher ein Abstand A1 , A2, A3 zu in den Figuren 2 bis 5 näher dargestellten Hindernissen 4, 5 und 6 erfasst wird. Die Abstandssensorik 3 ist vorzugsweise Bestandteil eines nicht näher dargestellten Fahrerassistenzsystemes, wie einer Einparkhilfe, eines Spurerkennung- und Spurhalteassistents eines Nachtsicht-Assistents oder weiterer Systeme, wobei die Abstandssensoren 3.1 bis 3.6 insbesondere Kameras, Radar-, Lidar- und/oder Ultraschallsensoren sind.The distance sensor 3 comprises a plurality of distance sensors 3.1 to 3.6, by means of which a distance A1, A2, A3 to obstacles 2, 5 and 6 shown in more detail in FIGS. 2 to 5 are detected. The distance sensor 3 is preferably part of a driver assistance system, not shown, such as a parking aid, a lane detection and lane departure of a night vision assistant or other systems, the distance sensors are 3.1 to 3.6 in particular cameras, radar, lidar and / or ultrasonic sensors.

Figur 2 zeigt die Anzeigeeinheit 2.4 mit dem Gesamtbild G, welches das Fahrzeug 1 bei einem Einparkvorgang zwischen zwei Hindernissen 4 und 6, bei welchen es sich insbesondere um Fahrzeuge handelt, aus einer Vogelperspektive zeigt. Ein Parkraum bzw. eine Parklücke, in welcher das Fahrzeug 1 abgestellt werden soll, ist durch ein weiteres Hindernis 6 seitlich begrenzt, bei welchen es sich beispielsweise um eine Mauer, eine Häuserwand oder einen Zaun handeln kann. Das Fahrzeug 1 ist dabei in der Mitte des Gesamtbildes G angeordnet, kann jedoch situationsabhängig auch abweichend von dieser Darstellung in dem Gesamtbild G positioniert werden.Figure 2 shows the display unit 2.4 with the overall image G, which shows the vehicle 1 in a parking between two obstacles 4 and 6, which are in particular vehicles, from a bird's eye view. A parking space or a parking space in which the vehicle 1 is to be parked is laterally delimited by a further obstacle 6, which may be, for example, a wall, a house wall or a fence. The vehicle 1 is arranged in the middle of the overall image G, but can also be positioned in the overall image G as a function of the situation, deviating from this representation.

In einer nicht näher dargestellten Weiterbildung der Erfindung ist das Fahrzeug 1 in Fahrtrichtung auf der Anzeigeeinheit 2.4 darstellbar, wobei der Fahrer des Fahrzeuges 1 bevorzugt wählen kann, in welcher Darstellung ihm das Fahrzeug 1 und dessen Umgebung ausgegeben werden soll.In a further embodiment of the invention, not shown, the vehicle 1 in the direction of travel on the display unit 2.4 can be displayed, wherein the driver of the vehicle 1 can preferably choose in which presentation to him the vehicle 1 and its surroundings to be issued.

Während des Einparkvorganges werden mittels der Abstandssensoren 3.1 bis 3.6 fortlaufend die Hindernisse 4, 5 und 6 und/oder deren Abstände A1 , A2 und A3 zu dem Fahrzeug 1 erfasst. Anhand eines zeitlichen Verlaufes der Abstände A1 , A2 und A3 und/oder deren absoluter Größen werden für die Fahrsituation die relevanten Umgebungsbereiche U1 und U2 ermittelt, da die Abstände A1 und A2 der Hindernisse 4 und 5 zu dem Fahrzeug 1 sehr gering und somit für die aktuelle Fahrsituation relevant bzw. kritisch sind.During the parking process by means of the distance sensors 3.1 to 3.6 continuously the obstacles 4, 5 and 6 and / or their distances A1, A2 and A3 to the Vehicle 1 detected. Based on a time course of the distances A1, A2 and A3 and / or their absolute sizes, the relevant ambient areas U1 and U2 are determined for the driving situation, since the distances A1 and A2 of the obstacles 4 and 5 to the vehicle 1 are very low and thus for the current driving situation are relevant or critical.

Diese Umgebungsbereiche U1 und U2 werden im dargestellten Ausführungsbeispiel der Erfindung hervorgehoben auf dem Gesamtbild G dargestellt. Zu dieser Hervorhebung sind kreisförmige Markierungen M1 und M2 vorgesehen, welche die Aufmerksamkeit des Fahrers auf die Umgebungsbereiche U1 und U2 lenken. Die Markierungen M1 und M2 sind dabei vorzugsweise farbig, insbesondere in Signalfarben, ausgeführt, so dass diese besonders auffällig sind.These surrounding areas U1 and U2 are highlighted in the illustrated embodiment of the invention shown on the overall image G. For this emphasis circular marks M1 and M2 are provided, which draw the driver's attention to the surrounding areas U1 and U2. The markers M1 and M2 are preferably colored, especially in signal colors, designed so that they are particularly noticeable.

Alternativ oder zusätzlich zu den Markierungen M1 und M2 wird die Hervorhebung der relevanten Umgebungsbereiche U1 und U2 anhand einer Darstellung dieser mit einem gegenüber dem restlichen Gesamtbild G vergrößerten Kontrast oder einer Darstellung in einem vom restlichen Gesamtbild G abweichenden Farbton erzielt. Zu diesem Zweck kann das restliche Gesamtbild G während der Darstellung der relevanten Umgebungsbereiche U1 und U2 mit verringertem Kontrast und/oder mit einer geringeren Farbintensität, beispielsweise in Graustufen, dargestellt werden.As an alternative or in addition to the markings M1 and M2, the highlighting of the relevant surrounding areas U1 and U2 is achieved on the basis of a representation of this with a contrast that is greater than the rest of the overall image G or a representation in a hue deviating from the rest of the overall G image. For this purpose, the remaining overall image G can be displayed during the representation of the relevant surrounding areas U1 and U2 with reduced contrast and / or with a lower color intensity, for example in gray levels.

Weiterhin können je nach der Größe der Abstände A1 , A2 und A3 zu den Hindernissen 4, 5 und 6 oder weiterer nicht näher dargestellter Abstände zu weiteren ebenfalls nicht näher dargestellten Hindernissen auch mehr oder weniger als die zwei relevanten Umgebungsbereiche U1 und U2 hervorgehoben dargestellt werden.Furthermore, depending on the size of the distances A1, A2 and A3 to the obstacles 4, 5 and 6 or other distances not shown in detail to other obstacles not shown also more or less than the two relevant surrounding areas U1 and U2 are highlighted.

Figur 3 zeigt die Anzeigeeinheit 2.4 und das auf dieser dargestellte Fahrzeug 1 während des Einparkvorgangs gemäß Figur 2.FIG. 3 shows the display unit 2.4 and the vehicle 1 illustrated thereon during the parking procedure according to FIG. 2.

Hierbei sind die die relevanten Umgebungsbereiche U1 und U2 auf dem Gesamtbild G vergrößert dargestellt, d. h. sie werden aus dem Gesamtbild G "herausgezoomt", so dass dem Fahrer des Fahrzeuges 1 eine detaillierte Darstellung der Fahrsituation zur Verfügung steht und dieser seine Fahrt derart anpassen kann, dass das Fahrzeug 1 ohne Berührung an den Hindernissen 4 und 5 vorbeibewegt werden kann.Here, the relevant environmental areas U1 and U2 are shown enlarged on the overall image G, d. H. they are "zoomed out" of the overall picture G, so that the driver of the vehicle 1 is a detailed representation of the driving situation available and this can customize his ride so that the vehicle 1 can be moved past the obstacles 4 and 5 without touching.

Zusätzlich besteht ebenfalls die Möglichkeit, dass die vergrößert dargestellten Umgebungsbereiche U1 und U2 wie bereits beschrieben mit einem größeren Kontrast oder einer Darstellung in einem vom restlichen Gesamtbild G abweichenden Farbton mittels der Anzeigeeinheit 2.4 ausgegeben werden.In addition, there is also the possibility that the enlarged areas shown U1 and U2 as already described with a greater contrast or a representation in a shade deviating from the rest of the overall image G by means of the display unit 2.4.

Figur 4 zeigt eine dritte Ausgestaltung der Erfindung, bei welcher das Fahrzeug 1 und dessen Umgebung bei dem Einparkvorgang gemäß Figur 2 auf dem Gesamtbild G dargestellt ist, wobei die relevanten Umgebungsbereiche U1 und U2 auf dem Gesamtbildes G und anhand von Zusatzbildern Z1 und Z2 dargestellt werden.FIG. 4 shows a third embodiment of the invention, in which the vehicle 1 and its surroundings are represented on the overall image G in the parking procedure according to FIG. 2, the relevant surrounding areas U1 and U2 being represented on the overall image G and on the basis of additional images Z1 and Z2 ,

Die Umgebungsbereiche U1 und U2 sind auf diesem Zusatzbildern Z1 und Z2 vorzugsweise vergrößert dargestellt, so dass eine eindeutige und detaillierte Darstellung der Umgebungsbereiche U1 und U2 erzielt wird. Die Zusatzbilder sind in einer nicht näher dargestellten Ausgestaltung der Erfindung ebenfalls mit einem größeren Kontrast oder mit einem vom restlichen Gesamtbild G abweichenden Farbton dargestellt.The surrounding areas U1 and U2 are preferably shown enlarged on this additional images Z1 and Z2, so that a clear and detailed representation of the surrounding areas U1 and U2 is achieved. The additional images are also shown in a non-illustrated embodiment of the invention with a greater contrast or with a deviating from the rest of the overall G color.

Dabei werden die Zusatzbilder Z1 und Z2 vorzugsweise in Bereichen des Gesamtbildes G dargestellt, welche für die aktuelle Fahrsituation des Fahrzeuges 1 nicht relevant sind. Weiterhin sind zusätzlich vorzugsweise die Markierungen M1 und M2 um die Umgebungsbereiche U1 und U2 angeordnet, so dass der Fahrer weiß, welche Bereiche der Umgebung des Fahrzeuges 1 ihm angezeigt werden.In this case, the additional images Z1 and Z2 are preferably displayed in regions of the overall image G, which are not relevant to the current driving situation of the vehicle 1. Furthermore, the markers M1 and M2 are additionally preferably arranged around the surrounding areas U1 and U2, so that the driver knows which areas of the surroundings of the vehicle 1 are displayed to him.

In Figur 5 ist die Anzeigeeinheit 2.4 dargestellt, welche die relevanten Umgebungsbereiche U1 und U2 anhand der Zusatzbilder Z1 und Z2 darstellt, wobei jedoch im Unterschied zu dem in Figur 4 dargestellten Ausführungsbeispiel der Erfindung das Gesamtbild G ausgeblendet wird.FIG. 5 shows the display unit 2.4, which represents the relevant surrounding areas U1 and U2 on the basis of the additional images Z1 and Z2, but in contrast to the exemplary embodiment of the invention shown in FIG. 4, the overall image G is blanked out.

Die Zusatzbilder Z1 und Z2 stellen die Umgebungsbereiche U1 und U2 in vergrößerter Form dar und sind derart ausgebildet, dass eine zur Verfügung stehende Größe der Anzeigeeinheit 2.4 optimal ausgenutzt wird.The additional images Z1 and Z2 represent the surrounding areas U1 and U2 in an enlarged form and are designed such that an available size of the display unit 2.4 is optimally utilized.

In einer nicht näher dargestellten Ausgestaltung der Erfindung wird bei einer Unterschreitung eines der Abstände A1, A2, oder A3 und/oder fahrsituationsabhängig von der Darstellung des Fahrzeuges 1 und dessen Umgebung aus der Vogelperspektive auf eine Anzeige aus einem anderen Blickwinkel, beispielsweise auf ein Bild einer Rückfahrkamera, umgeschaltet, so dass der Fahrer des Fahrzeuges 1 die Fahrsituation besser bewerten kann. In einer nicht näher dargestellten Weiterbildung der Erfindung werden alternativ zu den in den Figuren 2 bis 5 gezeigten Darstellungen eine komplette Fahrzeugseite bzw. ein kompletter Fahrzeugbereich und deren angrenzende Umgebung als relevanter Umgebungsbereich U1 , U2 ausgegeben. So wird beispielsweise alternativ zu den dargestellten zwei Umgebungsbereichen U1, U2 bei der gleichen Fahrzeugsituation, d. h. dem in den Figuren 2 bis 5 dargestellten Einparkvorgang, der rechte zu dem Hindernis 6 gerichtete Fahrzeugbereich und das Hindernis 6 in einem einzelnen relevanten Umgebungsbereich dargestellt.In an embodiment not shown in detail of the invention is at a fall below one of the distances A1, A2, or A3 and / or depending on the driving situation of the representation of the vehicle 1 and its surroundings from a bird's eye view of a display from a different angle, such as an image of a Reversing camera, switched so that the driver of the vehicle 1 can better evaluate the driving situation. In a further embodiment of the invention, not shown in detail, a complete vehicle side or a complete vehicle area and its adjacent surroundings are output as the relevant surrounding area U1, U2 as an alternative to the illustrations shown in FIGS. Thus, for example, as an alternative to the illustrated two surrounding areas U1, U2 in the same vehicle situation, ie the parking operation shown in Figures 2 to 5, the right directed to the obstacle 6 vehicle area and the obstacle 6 are shown in a single relevant environment.

In vorteilhafter Weise verfügt die Vorrichtung 1 zur Überwachung der Umgebung des Fahrzeuges 1 in einer besonders gewinnbringenden Weiterbildung der Erfindung über Mittel, anhand welcher der Fahrer des Fahrzeuges 1 die gewünschte Darstellung der relevanten Umgebungsbereiche U1 und U2, d. h. die hervorgehobene Darstellung und/oder die vergrößerte Darstellung auf dem Gesamtbild oder die Darstellung anhand der Zusatzbilder Z1 und Z2 gemeinsam mit dem Gesamtbild G oder ohne dieses, wählen kann.Advantageously, the device 1 for monitoring the environment of the vehicle 1 in a particularly profitable development of the invention via means, based on which the driver of the vehicle 1, the desired representation of the relevant environmental areas U1 and U2, d. H. the highlighted representation and / or the enlarged representation on the overall image or the representation based on the additional images Z1 and Z2 together with the overall image G or without this, can choose.

In einer weiteren Ausgestaltung der Erfindung wird die Art der Darstellung der relevanten Umgebungsbereiche U1 und U2 automatisch, beispielsweise in Abhängigkeit von der Größe der erfassten Abstände A1 , A2, A3 zwischen dem Fahrzeug 1 und den Hindernissen 4, 5, 6 vorgegeben und alternativ automatisch je nach Fahrsituation oder der Größe der erfassten Abstände A1 , A2, A3 gewechselt. In a further embodiment of the invention, the type of representation of the relevant surrounding areas U1 and U2 is automatically determined, for example, depending on the size of the detected distances A1, A2, A3 between the vehicle 1 and the obstacles 4, 5, 6 and alternatively automatically each changed according to the driving situation or the size of the detected distances A1, A2, A3.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1 Fahrzeug1 vehicle

2 Vorrichtung2 device

2.1 Bilderfassungseinheit2.1 image capture unit

2.2 Bilderfassungseinheit2.2 image capture unit

2.3 Bildverarbeitungseinheit2.3 Image processing unit

2.4 Anzeigeeinheit2.4 Display unit

2.5 Steuereinheit2.5 control unit

3 Abstandssensorik3 distance sensor

3.1 Abstandssensor3.1 distance sensor

3.2 Abstandssensor3.2 Distance sensor

3.3 Abstandssensor3.3 Distance sensor

3.4 Abstandssensor3.4 Distance sensor

3.5 Abstandssensor3.5 Distance sensor

3.6 Abstandssensor3.6 Distance sensor

4 Hindernis4 obstacle

5 Hindernis5 obstacle

6 Hindernis6 obstacle

A1 AbstandA1 distance

A2 AbstandA2 distance

A3 AbstandA3 distance

E EinzelbildE single image

G GesamtbildG overall picture

M1 MarkierungM1 mark

M2 MarkierungM2 mark

U1 UmgebungsbereichU1 environment area

U2 Umgebungsbereich U2 environment area

Claims

Patentansprüche claims 1. Verfahren zur Überwachung einer Umgebung eines Fahrzeuges (1), bei dem die Umgebung mittels wenigstens einer Bilderfassungseinheit (2.1 , 2.2) erfasst wird, wobei aus mittels der wenigstens einen Bilderfassungseinheit (2.1 , 2.2) erfassten Einzelbildern (E) anhand einer Bildverarbeitungseinheit (2.3) ein Gesamtbild (G) erzeugt und mittels einer Anzeigeeinheit (2.4) ausgegeben wird, wobei das Gesamtbild (G) das Fahrzeug (1) und dessen Umgebung aus einer Vogelperspektive zeigt und das Fahrzeug (1) in dem Gesamtbild (G) situationsabhängig positioniert wird, dadurch gekennzeichnet, dass für eine Fahrsituation des Fahrzeuges (1) relevante Umgebungsbereiche (U1 , U2) anhand zumindest eines mittels wenigstens einer Abstandssensorik (3) erfassten Abstandes (A1 , A2, A3) zu einem oder mehreren Hindernissen (4, 5, 6) ermittelt und ausgegeben werden.1. A method for monitoring an environment of a vehicle (1), in which the environment is detected by means of at least one image acquisition unit (2.1, 2.2), wherein from the at least one image acquisition unit (2.1, 2.2) captured individual images (E) using an image processing unit ( 2.3) generates an overall image (G) and is output by means of a display unit (2.4), the overall image (G) showing the vehicle (1) and its surroundings from a bird's-eye view and positioning the vehicle (1) in the overall image (G) as a function of the situation is characterized in that for a driving situation of the vehicle (1) relevant environmental areas (U1, U2) based on at least one detected by at least one distance sensor (3) distance (A1, A2, A3) to one or more obstacles (4, 5, 6) are determined and output. 2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die relevanten Umgebungsbereiche (U1 , U2) auf dem Gesamtbild (G) hervorgehoben dargestellt werden.2. The method according to claim 1, characterized in that the relevant surrounding areas (U1, U2) are highlighted on the overall image (G). 3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die relevanten Umgebungsbereiche (U1 , U2) auf dem Gesamtbild (G) vergrößert dargestellt werden.3. The method according to claim 1 or 2, characterized in that the relevant surrounding areas (U1, U2) on the overall image (G) are displayed enlarged. 4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die relevanten Umgebungsbereiche (U1 , U2) anhand des Gesamtbildes (G) und anhand von Zusatzbildern (Z 1 , Z2) dargestellt werden.4. The method according to any one of claims 1 to 3, characterized in that the relevant surrounding areas (U1, U2) on the basis of the overall picture (G) and on the basis of additional pictures (Z 1, Z 2). 5. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die relevanten Umgebungsbereiche (U 1 , U2) anhand von Zusatzbildern (Z1 , Z2) dargestellt werden, wobei das Gesamtbild (G) ausgeblendet wird.5. The method according to any one of claims 1 to 3, characterized in that the relevant surrounding areas (U 1, U2) are displayed on the basis of additional images (Z1, Z2), wherein the overall image (G) is hidden. 6. Vorrichtung (1) zur Überwachung einer Umgebung eines Fahrzeuges (1) mit wenigstens einer Bilderfassungseinheit (2.1 , 2.2) zur Erfassung der Umgebung, einer Bildverarbeitungseinheit (2.3) zur Erzeugung eines Gesamtbildes (G) aus mittels der wenigstens einen Bilderfassungseinheit (2.1 , 2.2) erfassten Einzelbildern (E), einer Anzeigeeinheit (2.4) zur Ausgabe des Gesamtbildes G), welches das Fahrzeug (1) und dessen Umgebung aus einer Vogelperspektive zeigt, und einer Steuereinheit (2.5) zu einer situationsabhängigen Positionierung des Fahrzeuges (1) in dem Gesamtbild (G), dadurch gekennzeichnet, dass die Steuereinheit (2.5) derart mit wenigstens einer Abstandssensorik (3) gekoppelt ist, dass für eine Fahrsituation des Fahrzeuges (1 ) relevante Umgebungsbereiche (U1 , U2) anhand von zumindest einem erfassten Abstand (A1 , A2, A3) zu einem oder mehreren Hindernissen (4, 5, 6) ermittelbar und ausgebbar sind. 6. Device (1) for monitoring an environment of a vehicle (1) with at least one image acquisition unit (2.1, 2.2) for detecting the environment, an image processing unit (2.3) for generating an overall image (G) by means of the at least one image acquisition unit (2.1, 2.2) captured individual images (E), a display unit (2.4) for outputting the overall image G), which the vehicle (1) and its surroundings from a bird's eye view, and a control unit (2.5) to a situation-dependent positioning of the vehicle (1) in the overall image (G), characterized in that the control unit (2.5) is coupled to at least one distance sensor (3) that for a driving situation of the vehicle (1) relevant environmental areas (U1, U2) based on at least one detected distance (A1 , A2, A3) to one or more obstacles (4, 5, 6) can be determined and output.
PCT/EP2009/005413 2008-09-08 2009-07-27 Method and device for monitoring an environment of a vehicle Ceased WO2010025792A1 (en)

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