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WO2013113500A1 - Système d'assistance du conducteur et procédé de représentation virtuelle d'un tracé de route en cas de masquage et/ou de mauvaise visibilité - Google Patents

Système d'assistance du conducteur et procédé de représentation virtuelle d'un tracé de route en cas de masquage et/ou de mauvaise visibilité Download PDF

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Publication number
WO2013113500A1
WO2013113500A1 PCT/EP2013/000284 EP2013000284W WO2013113500A1 WO 2013113500 A1 WO2013113500 A1 WO 2013113500A1 EP 2013000284 W EP2013000284 W EP 2013000284W WO 2013113500 A1 WO2013113500 A1 WO 2013113500A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
vehicle
road
lane
data
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/EP2013/000284
Other languages
German (de)
English (en)
Inventor
Paul Sprickmann Kerkerinck
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.)
Audi AG
Original Assignee
Audi 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 Audi AG filed Critical Audi AG
Publication of WO2013113500A1 publication Critical patent/WO2013113500A1/fr
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
    • B60R1/24—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 in front of the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • 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
    • B60R2300/103—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using camera systems provided with artificial illumination device, e.g. IR light source
    • 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
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
    • 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
    • B60R2300/307—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
    • B60R2300/308—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 by overlaying the real scene, e.g. through a head-up display on the windscreen

Definitions

  • the present invention relates to a driver assistance system and a method for the virtual representation of a road course in the event of occlusion and / or poor visibility.
  • driver assistance systems it is possible to show relevant information to a driver of a vehicle, for example via a head-up display or data glasses directly into his field of vision.
  • Such information may include, for example, route guidance instructions (typically directional arrows), information based on a traffic sign recognized by a sensor system, information about buildings at the edge of the lane, or information relating to a hazardous situation (for example, an imminent danger of collision with another road user or a traffic obstruction).
  • route guidance instructions typically directional arrows
  • information about buildings at the edge of the lane for example, information about buildings at the edge of the lane.
  • information relating to a hazardous situation for example, an imminent danger of collision with another road user or a traffic obstruction.
  • the aim in recent developments is to keep the information in a correct position, ie. in the correct position and perspective correct way in the field of view of the driver.
  • EP 1 586 861 B1 discloses a method for displaying driver information in which route guidance signals are generated from input destination data signals, position signals and map signals, from which route guidance signals, map signals and position signals of at least one first route guidance object are created from the route guidance object Target guidance display object and its coordinates for the correct position display in a display panel is determined, and the at least one target guide display object is output on the display panel.
  • the display panel may be a transparent area in the field of vision between the driver and a driving area of his vehicle, for example a head-up display or data glasses.
  • information objects with, for example, information about buildings can be displayed in the driver's field of vision.
  • a driving assistance device for a motor vehicle having at least one navigation device, an imaging sensor, an image reproduction device and a control device is also known, wherein at least the navigation device, the imaging sensor and the image reproduction device are connected to the control device.
  • the control unit for detecting the lane and the road course processes the images captured by the imaging sensor and determines at least the other, lying outside the field of view of the imaging sensor road from the navigation device available road map data to merge by merging both information, a prediction of the road in Form of a correct position display to produce on the image display device, this display with the image visible to the driver of the current traffic and driving situation is positionally correct and perspective correctly superimposed.
  • the further course of the road for example, due to dense traffic, for example by located in the run-up to his own motor vehicle other road users, often at least partially obscured.
  • the further course of the road is often difficult to recognize for a driver of a road vehicle in poor weather conditions. This is disadvantageous insofar as a driver may be impaired in his orientation and driving behavior.
  • the driver assistance system according to the invention for the virtual representation of the course of the road for a driver of a vehicle comprises a device for satellite position determination provided in the vehicle, a digital road map whose data comprises the position of the vehicle determined by the satellite-supported position determination, a display device provided in the vehicle and a control device , The control device is set up to
  • a vehicle-mounted satellite positioning device (be it a fixed or a portable device) also contains the required information about the longitudinal axis of a vehicle, i. in which direction the front end of a vehicle is oriented, or the orientation of the vehicle can be entered into such a device.
  • the inventively provided control device can calculate a virtual image of the road ahead substantially lying ahead of the vehicle and located in the driver's field of vision with road edges and possibly lane markings in real time.
  • a suspected position of the head of a be taken into account within the vehicle.
  • the actual position of the head of the driver can also be detected, for example, with the aid of a head tracking device and taken into account by the control device in the calculation of the image.
  • a digital road map can either be in the form of an interchangeable data carrier (e.g., CD, DVD, memory card) in the vehicle or stored on a fixed, preferably rewritable, data memory stored in the vehicle.
  • a digital road map may also be available or updatable via wireless data transmission. In particular, by the latter alternatives can be ensured that always up-to-date map data are available for the driver assistance system according to the invention.
  • the data of the digital road map can be read or processed by a suitable device.
  • data from the digital road map is used for the calculation of the virtual image.
  • This data includes, for example, information about the course of the further road course substantially ahead of the vehicle (width and number of lanes of the road, junctions and intersections, direction and altitude of the road, information about buildings on the roadside, underpasses, etc.).
  • the control system present in the driver assistance system can calculate a virtual image of the lane course substantially ahead of the vehicle and located in the driver's field of vision with lane edges and possibly lane markings in real time.
  • the expression "substantially ahead of the driver in the driver's lane” is to be understood here as meaning the lane course (ie the roadway with the lane edges and possibly road markings, such as center markings, turn-off arrows, stop lines), which the driver assumes in a substantially normal manner Sitting position in the vehicle through the windshield of his vehicle can see or see if the view of this road course would not be at least partially obscured by at least one other road user and / or provided for him this road course due to poor visibility conditions (eg at night, fog, Rain or snow, at least partially snow-covered road) would not or only incompletely recognizable from this expression may also include the road course, the driver has or would have in a substantially normal sitting position in the vehicle by looking through front side windows of the vehicle.
  • the view of a driver on the other road course is limited not only, for example, by the direction and altitude of the road, but that the view of the other road course, for example, by at or overlying the roadway building or facilities may be at least partially obscured.
  • lane markings is to be understood in particular as meaning markings for dividing the lane into individual lanes, road boundaries, directional arrows and advance notice arrows as well as stop lines.
  • a virtual representation of at least part of the calculated road edges and optionally of at least part of the lane markings by means of the display device can be displayed to the driver in real-time and in perspective correctly overlapping the driver's real-world view in real time become.
  • the display device may comprise a head-up display and / or data goggles.
  • a head-up display for a vehicle an image is projected into the windshield and / or a side window or to a partially transmissive glass in the driver's field of vision.
  • the lens of data glasses serves as a projection screen.
  • a positionally correct and perspectively correct virtual representation of at least part of the calculated road edges and optionally of at least part of the calculated lane markings by means of the display device takes place while superposing the driver's real view.
  • the driver in addition to the view of the real environment that he sees, additionally sees virtually represented road edges and optionally lane markings, for example when looking through the windshield of his vehicle.
  • GPS Global Positioning System
  • the driver assistance system according to the invention further at least one provided in or on the vehicle imaging sensor device for detecting the vehicle substantially ahead roadway course and one with the imaging Having sensor device connected evaluation device.
  • control device is set up (a) to determine the position of the vehicle by means of the device for satellite-based position determination, (b) in real time a virtual image of the roadway substantially ahead of the vehicle and located in the driver's field of vision Lane edges and optionally lane markings based on the determined position of the vehicle to calculate data of the digital road map and data evaluated by the evaluation device of the imaging sensor device, and (c) in real time a virtual representation of at least one part the calculated road edges and optionally of at least a part of the calculated lane markings by means of the display device to the driver in the correct position and in perspective correctly display overlapping the real view of the driver.
  • the imaging sensor device in the driver assistance system comprises a camera for recording images by means of light visible to a human eye, a camera for recording images by means of light in the infrared range, a radar and / or a lidar. Contraption.
  • the imaging sensor device comprises more than one type of sensor device. Data from different sensor devices can be evaluated by the evaluation device and the results of the various evaluations can be correlated or mutually adjusted.
  • the present invention is intended to enable a driver of a vehicle always to see the road edges that are helpful to him and, if appropriate, lane markings.
  • a virtual reflection or representation of this information can take place according to the invention during the entire driving course. Often this is not necessary. For example, in good visibility, at relatively low traffic and / or undisturbed traffic flow, a driver sees roadsides and possibly lane markings sufficiently clear even without support from the driver assistance system according to the invention.
  • control device in the driver assistance system is set up to calculate data of the digital road map and data of the imaging sensor device on the basis of the determined position of the vehicle whether a driver at least partial concealment of road edges and optional lane markers of the vehicle lying substantially ahead and located in the driver's field of road course is given by at least one other road users, and a virtual representation of road edges and optional lane markers by means of the display device the driver in the correct position and perspectively correct under superposition of the driver's real view only in the presence of at least partial occlusion.
  • control device in the driver assistance system can be set up on the basis of data from at least one imaging sensor device the distance from at least one other road user located substantially in front of the vehicle determine and / or determine whether a situation with daytime and / or weather-dependent limited visibility for the driver is given, and a virtual representation of road edges and possibly lane markers by means of the display device to the driver in the correct position and in perspective properly overlapping the real View of the driver only if the distance between the at least one other road user has fallen below or has fallen below a specifiable minimum distance and / or if the driver's visibility is and / or weather-dependent circumstances have fallen below or below a predefinable minimum quality.
  • the minimum quality of visibility, from which falls below one virtual representation of road edges and possibly lane markings by means of the display device can be determined, for example, on the basis of the ambient brightness, the determined by the at least one sensor device contrast range of the recorded image, etc. If, for example, the range of contrast determined in a recorded image falls below a predefinable minimum value, it can be assumed that a fog layer is present and a virtual representation of the roadway edges and optionally of lane markings is carried out by means of the display device. The same can be provided if an ambient brightness limit is undershot. Of course, these examples are not meant to be exhaustive.
  • the control device may be further configured to additionally display by the display device to the driver at least one destination guidance display object serving for route guidance by the navigation device.
  • a route guidance display object may comprise, for example, a landmark directional arrow and / or the insertion of the name of a road into which should be turned off for optimal route guidance. This information can be displayed to the driver through the display device in the correct position and in the right perspective way, overlaying his real view.
  • control device of the driver assistance system can also be equipped with at least one further display object based on the determined position of the vehicle and data of the digital road map by the display device in addition to the calculated road edges and possibly lane markings an information in relation to the vehicle substantially lying ahead and located in the driver's field of view roadway presentation.
  • a display object may include, for example, a speed limit or the display of shops, restaurants, gas stations, etc.
  • the present invention also comprises a method for virtual representation of the road course for a driver of a vehicle, which comprises a vehicle-provided device for satellite position determination, a digital road map, the data of which determines the position of the vehicle determined by the satellite-based position determination. holds, has provided in the vehicle display device and a control device.
  • the method according to the invention comprises the following steps:
  • This embodiment of the method according to the invention can be further modified such that in step (b) on the basis of the determined position of the vehicle, data of the digital road map and data of the imaging sensor device is calculated, whether for a driver at least partially occlusion of lane edges and optionally lane markings of the lane substantially lying ahead of the vehicle and located in the field of vision of the driver is given by at least one other road user, and in step (c) the virtual representation of lane edges and optionally of lane markings by means of the display device Driver correct position and perspective correctly displayed with superimposition of the driver's real view only in the presence of at least partial occlusion.
  • the distance between at least one other road user located substantially in front of the vehicle can be determined by the control device on the basis of data from the at least one imaging sensor device and / or it can be determined whether a situation with dailytime and / or weather-dependent limited visibility conditions for the driver, and in step (c) a virtual representation of lane edges and optional lane markings by means of the display device to the driver in the correct position and perspective correctly displayed with superimposition of the driver's real view only when the Distance of the at least one other road user falls below a predetermined minimum distance or has fallen below and / or if the visibility of the driver due to daytime and / or weather-dependent circumstances below a predetermined minimum quality ode r have fallen below.
  • the method according to the invention may include the step of additionally displaying to the driver at least one destination guidance display object serving for route guidance from a navigation device present in the vehicle. Furthermore, the method according to the invention can also include the step of additionally displaying to the driver at least one further display object with information relating to the road course substantially ahead of the vehicle and located in the field of vision of the driver.
  • the virtual representation may include either all lane edges and optionally lane markers that are substantially in front of the vehicle and within the driver's field of vision, or the illustration may be limited to those portions of the lane edges and optionally lane markings, for example due to the given traffic situation there is a concealment and / or in which due to the current visibility conditions a bad or no recognizability for the driver is given.
  • the present invention includes the cases where the virtual presentation is automatic or due to a requesting action by the driver.
  • the representation takes place continuously or discontinuously. In the case of a discontinuous representation, for example, an illustration can only take place if predefinable criteria are fulfilled, as has already been described above.
  • Figure 1 is a view through a windshield of a vehicle without a preceding other road users.
  • FIG. 2 shows a view through a windshield of a vehicle with a preceding other road user
  • FIG. 3 is a view through a windshield of a vehicle with a driving ahead of other road users and showing the hidden by the leading other road users road edges and lane markings.
  • FIG. 1 illustrates a schematic view through a windscreen (1) of a road vehicle without a preceding other road user.
  • a driver's view of the environment substantially in front of him is limited by the edges (2) of the windscreen.
  • These windscreen edges are usually formed by the A-pillars (left and right edges), the vehicle roof (upper edge) and the dashboard (lower edge).
  • some obscuring of a driver's view of his be present exposed environment through parts of the steering wheel (3) or an interior mirror (4).
  • the driver's view through the windshield comprises a two-lane road (5) running in front of him and, at some distance, a road also branching off to the right, also having two lanes (6).
  • the road edges (7) are recognizable to the driver.
  • the two roads have lane markings (8) for the optical subdivision of the carriageway into two lanes.
  • the field of vision of the driver includes a certain area to the right and left of the respective road edges (7).
  • Such concealment can occur in a wide variety of traffic situations, for example in dense traffic, congestion, waiting situation in front of a traffic light.
  • the driver in his field of view for example by a head-up display (10) is a virtual representation of the further roadway (5, 6) with the road edges ( 7) and optionally also the lane markings (8) in real time position correct and perspective correctly superimposed superimposing his real view.
  • the insertion can either comprise the entire further course of the lane (5, 6), i. the entire further course of the lane, which he would see - as shown in FIG. 1 - without at least partial obscuring by another traffic participant (9), or the insertion can be limited to the area of the further lane course (5, 6), which is covered by the other road users (9) in front of their own vehicle.
  • the driver knows from the navigation system that he should turn right from the road (5) to the road (6) branching off at some distance, he can not actually see the turn by the other road user (9) in front of him.
  • the branch is virtually displayed to him where he would see it without the other road user (9).
  • the other road user thus, in a sense, the driver becomes "transparent" so that he can better adjust to the turn.
  • a similar situation can occur, for example, when navigating in city traffic.
  • the view of a driver through the windshield is often covered by driving ahead of other road users.
  • the distance to the front vehicle is often so small that the view to the front is clearly limited.
  • an intersection in such a traffic situation, for example, an intersection can be virtually displayed to the driver where he would really see her without the presence of other road users.
  • the virtual display of these multiple lanes together with directional arrows if necessary, timely classification of the vehicle on the right lane (lane change) and greatly facilitate a required turning maneuver for a driver.
  • Another traffic situation in which the present invention is of great advantage is driving in poor visibility, e.g. at night, in fog, rain or snow, or in other weather conditions where road edges are difficult to see for a driver (e.g., on snowy roads).
  • the road edges that are really difficult to recognize for a driver and possibly lane markings are overlaid by virtual boundary lines and possibly virtual markings for identifying the lanes, so that tracking is facilitated.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un système d'assistance du conducteur et un procédé de représentation virtuelle du tracé d'une route pour le conducteur d'un véhicule. Dans le véhicule sont prévus un dispositif de localisation par satellite, une carte routière numérique, un dispositif d'affichage (10) et un dispositif de guidage. Le dispositif de guidage du système d'assistance du conducteur selon l'invention est conçu pour : (a) déterminer la position du véhicule au moyen du dispositif de localisation par satellite; (b) calculer en temps réel une image virtuelle du tracé de la chaussée (5, 6) se trouvant essentiellement devant le véhicule et dans le champ de vision du conducteur, incluant les bords de la chaussée (7) et, en option, le marquage des voies (8), sur la base de la position déterminée du véhicule et de données de la carte routière numérique; et (c) afficher en temps réel au moyen du dispositif d'affichage (10) une représentation virtuelle d'au moins une partie des bords calculés de la chaussée (7) et, en option, d'au moins une partie du marquage des voies (8) calculé, de manière correcte quant à la position et à la perspective, en la superposant à la vue réelle du conducteur.
PCT/EP2013/000284 2012-02-02 2013-01-31 Système d'assistance du conducteur et procédé de représentation virtuelle d'un tracé de route en cas de masquage et/ou de mauvaise visibilité Ceased WO2013113500A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012001955 2012-02-02
DE102012001955.6 2012-02-02

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WO2013113500A1 true WO2013113500A1 (fr) 2013-08-08

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DE102014205489A1 (de) * 2014-03-25 2015-10-01 Conti Temic Microelectronic Gmbh Verfahren und System zur Bereitstellung einer Rundumsicht unter Einbeziehung von nicht sichtbaren Objekten
WO2015144751A1 (fr) * 2014-03-25 2015-10-01 Jaguar Land Rover Limited Système de navigation
DE102015006612A1 (de) * 2015-05-21 2016-11-24 Audi Ag Verfahren zum Betreiben einer Datenbrille in einem Kraftfahrzeug und System mit einer Datenbrille
DE102015007131A1 (de) 2015-06-05 2016-12-08 Audi Ag Verfahren zum Betreiben eines Anzeigesystems und Anzeigesystem
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WO2017042385A1 (fr) * 2015-09-11 2017-03-16 Hella Kgaa Hueck & Co. Procédé et dispositif de projection d'un marquage temporaire de chaussée sur une chaussée
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EP3318441A1 (fr) * 2016-10-15 2018-05-09 MAN Truck & Bus AG Dispositif d'aide à la conduite d'un véhicule pourvu d'un dispositif de projection
CN110392644A (zh) * 2017-03-07 2019-10-29 奥迪股份公司 提供用于在驾驶机动车方面辅助驾驶员的光功能
DE102015007246B4 (de) 2015-06-05 2019-12-05 Audi Ag Verfahren zum Betreiben eines Anzeigesystems und Anzeigesystem für ein Kraftfahrzeug
US10870351B2 (en) 2018-12-12 2020-12-22 Here Global B.V. Method and apparatus for augmented reality based on localization and environmental conditions
CN112562061A (zh) * 2020-11-28 2021-03-26 山西省交通科技研发有限公司 一种基于激光雷达图像的驾驶视觉增强的系统及方法
CN112888604A (zh) * 2018-10-03 2021-06-01 金泰克斯公司 后向车道检测覆盖
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CN115239659A (zh) * 2022-07-19 2022-10-25 北京工业大学 标线可视性动态评估方法和装置以及标线设置方法
CN115335725A (zh) * 2020-05-14 2022-11-11 奥迪股份公司 用于在机动车辆中定位车道标记的方法和机动车辆
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DE102015017339B4 (de) 2015-05-21 2025-01-16 Audi Ag Verfahren zum Betreiben einer Datenbrille in einem Kraftfahrzeug und Sys-tem mit einem Kraftfahrzeug und einer Datenbrille

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DE102014205489B4 (de) 2014-03-25 2021-10-28 Conti Temic Microelectronic Gmbh Verfahren und System zur Bereitstellung einer Rundumsicht unter Einbeziehung von nicht sichtbaren Objekten
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DE102015006612B4 (de) 2015-05-21 2020-01-23 Audi Ag Verfahren zum Betreiben einer Datenbrille in einem Kraftfahrzeug und System mit einer Datenbrille
DE102015017339B4 (de) 2015-05-21 2025-01-16 Audi Ag Verfahren zum Betreiben einer Datenbrille in einem Kraftfahrzeug und Sys-tem mit einem Kraftfahrzeug und einer Datenbrille
DE102015006612A1 (de) * 2015-05-21 2016-11-24 Audi Ag Verfahren zum Betreiben einer Datenbrille in einem Kraftfahrzeug und System mit einer Datenbrille
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DE102015007131A1 (de) 2015-06-05 2016-12-08 Audi Ag Verfahren zum Betreiben eines Anzeigesystems und Anzeigesystem
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DE102015007131B4 (de) 2015-06-05 2018-09-06 Audi Ag Verfahren zum Betreiben eines Anzeigesystems und Anzeigesystem
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EP3318441A1 (fr) * 2016-10-15 2018-05-09 MAN Truck & Bus AG Dispositif d'aide à la conduite d'un véhicule pourvu d'un dispositif de projection
CN110392644A (zh) * 2017-03-07 2019-10-29 奥迪股份公司 提供用于在驾驶机动车方面辅助驾驶员的光功能
DE102018214346B4 (de) 2017-08-29 2024-03-07 Yazaki Corporation Fahrzeuganzeigevorrichtung und Anzeigensteuerungsverfahren
CN112888604A (zh) * 2018-10-03 2021-06-01 金泰克斯公司 后向车道检测覆盖
EP3860881A4 (fr) * 2018-10-03 2021-08-11 Gentex Corporation Élément de recouvrement de détection de voie de circulation orienté vers l'arrière
CN112888604B (zh) * 2018-10-03 2024-02-02 金泰克斯公司 后向车道检测覆盖
US10870351B2 (en) 2018-12-12 2020-12-22 Here Global B.V. Method and apparatus for augmented reality based on localization and environmental conditions
CN115335725A (zh) * 2020-05-14 2022-11-11 奥迪股份公司 用于在机动车辆中定位车道标记的方法和机动车辆
CN112562061A (zh) * 2020-11-28 2021-03-26 山西省交通科技研发有限公司 一种基于激光雷达图像的驾驶视觉增强的系统及方法
CN115239659A (zh) * 2022-07-19 2022-10-25 北京工业大学 标线可视性动态评估方法和装置以及标线设置方法

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