WO2015114033A1 - Perspective representation of a vehicle environment with a vehicle model on a vehicle display - Google Patents

Abstract

One aspect of the invention relates to a method for the perspective representation of a vehicle environment on a display of a motor vehicle. Image information of the vehicle environment is produced by means of one or preferably more cameras arranged on the vehicle. Then a perspective view of the vehicle environment with a vehicle model of the vehicle from the perspective of a virtual camera is produced on the basis of said image information of the one or preferably more cameras. The virtual camera is directed over the vehicle into the travel path, and the viewing direction of the virtual camera depends on the current steering angle. The perspective view of the vehicle environment with the vehicle model is shown on the display. According to the invention, the transparency of the shown vehicle model depends on the current steering angle.

Description

 Perspective view of a vehicle environment with a

Vehicle model on a vehicle display

The invention relates to the perspective view of a vehicle environment on a display of a motor vehicle, in particular for the driver support of parking and maneuvering operations.

For motor vehicles display systems are known in which the

Image information of a plurality of cameras arranged on a vehicle is combined to a plan view of the vehicle from a virtual bird's eye view and displayed on a display in the vehicle cockpit. This is described for example in the document DE 10 2006 036 933 A1.

Furthermore, display systems are known in which a perspective

Representation of the vehicle environment is generated from the perspective of a virtual camera based on the image information of multiple cameras, so that the viewer, in contrast to the representation in plan view, a three-dimensional, spatial impression is conveyed.

Such a display system is for example in the document

DE 10 2008 034 594 A1. The presentation of the

 Vehicle environment contains there preferably still a perspective vehicle model, the camera perspective for the representation of the vehicle model and the vehicle environment are identical and the position of the vehicle model for virtual vehicle environment substantially corresponds to the actual position of the vehicle to the vehicle environment. The camera perspective corresponds to a follower perspective or third-person perspective, wherein the virtual camera is behind the vehicle and is directed over the vehicle in the direction of travel. It is preferably provided that the perspective depends on current odometric data of the vehicle, such as the

 Speed or steering angle, or changed by the detected driving intention.

Another such display system is described for example in the document DE 10 2009 051 526 A1, in which a three-dimensional

Map of the environment is generated and displayed with a variable viewpoint adapted to the respective driving situation. Here is one

three-dimensional model of the vehicle in the three-dimensional

Area map included and additionally shown.

If, in the case of a perspective, three-dimensional representation of the vehicle environment with integrated vehicle model, the virtual camera is directed into the driving tube via the vehicle and is adjusted to the viewing direction depending on the steering angle, the problem arises that the vehicle model shown increases with increasing steering angle more areas of the environment covered in the driving tube. Due to the concealment of relevant environment areas in the driving tube by the Vehicle model of your own vehicle, it may happen that, for example, obstacles in the driving tube for the driver in the display are not visible. It is therefore an object of the invention, in a perspective,

three-dimensional representation of the vehicle environment with

Steering angle-dependent viewing direction of the virtual camera to reduce the disturbing occlusion of important environmental areas in the driving tube through the vehicle model.

The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. A first aspect of the invention relates to a method for the perspective representation of a vehicle environment on a display of a motor vehicle. In this case, image information of the vehicle surroundings is generated by means of one or preferably a plurality of cameras arranged on the vehicle. Then, based on this image information of the one or preferably a plurality of cameras, a perspective view of the vehicle surroundings with a vehicle model of the vehicle is generated from the perspective of a virtual camera. This is preferably done by creating a synthetic, three-dimensional world in which the camera is arbitrary

can be positioned.

In this case, the virtual camera is directed into the driving tube via the vehicle and the viewing direction of the virtual camera is dependent on the current steering angle. The viewing direction of the virtual camera is

For example, depending on the current steering angle so that the yaw angle of the virtual camera relative to the vehicle longitudinal axis of the current steering angle is dependent. The location of the vehicle model to the virtual vehicle environment corresponds essentially to the actual position of the vehicle for

Vehicle environment. The dimensions of the vehicle model in relation to the illustrated vehicle environment essentially correspond to the actual dimensions of the vehicle in relation to the actual environment.

On the display, the perspective view of the vehicle environment is displayed together with the vehicle model, so that the viewer, in contrast to the representation in plan view, a three-dimensional, spatial impression is conveyed.

According to the invention, the transparency (i.e., transparency) of the

represented vehicle model of the current steering angle. The vehicle model can thus be dependent on the current

Steering angles are displayed transparently.

For example, with a steering angle of 0 ° (straight ahead), the vehicle model becomes completely opaque (not transparent) so as to obscure the surrounding areas seen from the camera's perspective directly behind the vehicle model. In fact, with such a steering angle the occlusion of surrounding areas by the vehicle model is not disturbing. The vehicle model provides information about the position in the room and serves as a reference model for orientation for the driver.

With a high amount of the steering angle, in particular the maximum amount of the steering angle, if the driving tube is strongly curved, the covering of relevant surrounding areas in the driving tube by the vehicle model would be very large. The camera would, so she always looks in the direction of driving tube, look at the flank of the vehicle model. Therefore, for example, for high steering angles, the vehicle model can be presented with a high degree of transparency, so the from the point of view of the virtual camera lying directly behind the vehicle model

Environment areas are clearly visible to the driver. The vehicle model can be completely transparent so that it is no longer visible at all; Although preferably at the maximum amount of the steering angle, the transparency of the vehicle model is high (for example, greater than 50%), but this still visible to the driver's orientation.

Preferably, a degree of transparency is indicated

Transparency value whose range of values includes transparent gradations, determined for the representation of the vehicle model. In which

 Transparency value is typically a so-called alpha value. The transparency value may, for example, have a value range of 256 values, where the value = 0 corresponds to the attribute "completely transparent" (ie invisible) and the value = 255 corresponds to the attribute "opaque" (ie opaque) and intervening transparency values intervening gradations in the Transparency match. A transparency value of 0 then corresponds to a degree of transparency of 100% (completely transparent, ie invisible) and a transparency value of 255 then corresponds to a transparency level of 0% (ie opaque).

This transparency value preferably applies to the entire vehicle model, i. H. for all pixels of the representation of the vehicle model.

The transparency value depends on the current steering angle. The transparency value, for example, depends on the current one

 Steering angle determined. For determining the transparency value, however, it is also possible to use information associated with the current steering angle, for example information about the curvature of the driving tube, in particular the radii of the two circles with the same center of the circle on which the two steered

Move front wheels at the current steering angle. It can be provided that, at least in a certain steering angle range, the degree of transparency of the illustrated vehicle model continuously increases with increasing steering angle, so that the vehicle slowly fades out as the steering angle increases (but is not completely dimmed at maximum steering angle). , In this case, for example, a linear relationship between degree of transparency and steering angle can be provided. It may alternatively be provided that below a certain

 Threshold for the amount of steering angle the vehicle model is shown substantially opaque and from reaching or exceeding a certain threshold for the amount of steering angle with a high degree of transparency (but not necessarily completely transparent, for example, a degree of transparency of 90%) is displayed , It can thus be dimmed in a jump shape, the vehicle model.

For example, such a relationship between steering angle and transparency may be provided that at a steering angle of substantially zero the transparency of the illustrated vehicle model is minimal (eg, the degree of transparency corresponds to a transparency of 0% and the vehicle model is complete)

opaque), while at the maximum possible amount of

Steering angle the transparency of the vehicle model shown is maximum (for example, the degree of transparency then corresponds to a transparency of 90% and the vehicle model is highly transparent, but still visible).

A second aspect of the invention is directed to a display system for

perspective view of a vehicle environment with a vehicle model directed. The display system includes a display for superimposing the vehicle environment with the vehicle model of the vehicle Motor vehicle. Furthermore, one or more cameras are provided for generating image information of the vehicle surroundings. A

Image calculation unit is used to generate a perspective view of the vehicle environment with the vehicle model based on this image information, wherein the location of the vehicle model to the vehicle environment shown corresponds substantially to the actual position of the vehicle to the vehicle environment. The dimensions of the vehicle model in relation to the illustrated vehicle environment substantially correspond to the actual dimensions of the vehicle in relation to

actual environment. The image calculation unit is set up, the viewing direction of the virtual camera directed into the driving tube via the vehicle as a function of the current steering angle or other information related to the current steering angle

set.

Furthermore, the arithmetic unit is set up to determine a transparency value indicative of the transparency for the representation of the vehicle model as a function of the current steering angle or other information related to the current steering angle.

This information can be, for example, information about the curvature of the driving tube, in particular the radii of the two circles with the same center of the circle, on which the two steered front wheels move at the current steering angle. The larger the steering angle, the smaller are the radii of the two circles.

The above statements on the method according to the invention according to the first aspect of the invention also apply correspondingly to the display system according to the invention according to the second aspect of the invention. Not explicitly described here advantageous

Embodiments of the display system according to the invention correspond the described advantageous embodiments of the method according to the invention.

The invention is described below with the aid of the attached

Drawings described by way of example. In these show:

Figure 1 shows the viewing direction of a virtual camera in the straight ahead position of the steered wheels of the front axle. 2 shows the viewing direction of a virtual camera during a right turn of the steered wheels of the front axle;

3 shows the viewing direction of a virtual camera with maximum steering angle of the steered wheels of the front axle; and

Fig. 4 shows two exemplary gradients of the degree of transparency for the vehicle model over the amount of the steering angle.

Fig. 1 shows the left a motor vehicle with steerable front wheels 2, 3 in a straight ahead position in plan view with engaged forward gear. at

Movement of the vehicle pass through the centers of the front wheels 2, 3, the lines 4, 5. The travel tube is bounded by the lines 6, 17.

On a display of the vehicle 1, a perspective view of the vehicle environment is created with the drawn vehicle model (not shown), for which purpose the perspective of a virtual camera 7 is selected, which is in pickled forward speed in pursuer's perspective behind the vehicle 1 and from behind is directed over the vehicle 1 in the lying in the direction of travel driving tube. If the

Reverse gear is engaged, the virtual camera is positioned in the straight ahead position of the wheels 2,3 instead of behind the vehicle in front of the vehicle and directed from the front over the vehicle 1 in the direction in the rearward driving line (see the dotted virtual camera in Fig. 1).

The perspective of the virtual camera 7 is chosen, for example, so that the virtual camera 7 is always directed in the plan view to the vehicle center 10 and the distance d of the virtual camera 7 from

Vehicle center 10 regardless of the steering angle always remains the same.

The yaw angle β of the virtual camera 7 with respect to

Vehicle longitudinal axis 8 of the vehicle 1 is dependent on the steering angle of the front axle and is selected to zero at a steering angle of 0 ° (straight ahead), d. H. the viewing direction 9 of the virtual camera 7 falls in the

Top view with the vehicle longitudinal axis 8 together. As shown in the right side view in FIG. 1, the virtual camera 7 is positioned higher than the vehicle 1 with respect to the vertical axis of the vehicle 1 (not shown) and inclined at an angle toward the road surface. The height of the camera 7 and the pitch angle of the camera 7 are

typically independent of the steering angle.

In the perspective view of the vehicle environment is at the

Straight ahead position of the front wheels 2, 3, the lying ahead driving hose by the vehicle model only slightly obscured, since the camera can look over the own vehicle.

Since in the perspective view the vehicle model is not disturbing, the vehicle model is shown in the straight ahead position of the front wheels 2,3 completely opaque on the display; However, it would also be conceivable to provide a low level of transparency for the vehicle model in the case of a straight-line exhibition, for example 10% transparency. Fig. 2 shows the situation with a right turn of the front wheels 2, 3 and inlaid forward gear. The viewing direction 9 of the virtual camera 7 has been adjusted as a function of the steering angle in order to be able to better look ahead in the forwardly lying driving tube in front of the vehicle 1. The virtual camera 7 remains on the

Focused center 10, wherein the distance between the virtual camera 7 and the vehicle center 10 is independent of the steering angle.

The additionally drawn, dotted camera shows the viewing direction of the virtual camera, provided the reverse gear is engaged. Here too, the viewing direction has been adjusted in comparison to FIG. 1 in order better to be able to look behind the vehicle 1 in the driving tube lying ahead in the backward direction. The driving route view focuses on the relevant areas in the vehicle environment and the obstacles in this area are displayed in an optimized way. Thus, for example, the driver has the opportunity to look into a gap and to aim. The viewing direction 9 of the virtual camera in this example is dependent on the current steering angle of the vehicle such that the yaw angle β of the virtual camera 7 relative to the vehicle longitudinal axis 8 in FIG

Depending on the current steering angle or other related to the current steering angle information is set.

For example, based on calculated radii values r _r , η for the two circles 4, 5 with the same center of the circle M, on which the two steered front wheels 2, 3 move at the current steering angle, the yaw angle β of the virtual camera 7 can be determined. As the amount of steering angle increases, the vehicle model would mask the view of the drive line. Therefore, according to the invention, the transparency of the vehicle model shown in the vehicle display Depending on steering angle, to improve the visibility of otherwise concealed by the vehicle model areas in the drive tube. The degree of transparency of the vehicle model is set as a function of the current steering angle or other information related to the current steering angle, for example, based on the radii r _r , n for the two circles 4, 5. Depending on the steering angle, the two radii values change r _r , n. For example, it is possible to determine an average value of the radii values r _r , η from both radii values r _r , n. When driving straight ahead, the mean value of the radii values r _r , n is infinite and the vehicle model should then be displayed with the minimum degree of transparency (eg 0%). at

Full scale is the mean of the two radii r _r , η minimum and the vehicle model should then be displayed with the maximum transparency value (eg 90%). For mean values of the two radii r _r , η lying in between, a function is used which describes a continuous change in transparency.

In the steering angle shown in Fig. 2, for example, a

Level of transparency selected for presentation of the vehicle model of 50%.

Fig. 3 shows the situation with the maximum amount of the steering angle (i.e.

Full wrap) of the front wheels 2, 3 and inlaid forward gear. In this case, in comparison to FIG. 3, the yaw angle β of the virtual camera 7 was further increased in order to be able to look better into the driving tube. Since in the perspective view of the vehicle environment, the vehicle model would severely restrict the view into the travel tube, a high

Transparency straight chosen for the representation of the vehicle model, for example, 90%. In Fig. 4 are two exemplary, alternative gradients 20, 21 of the

Degree of transparency T of the illustrated vehicle model as a function of the amount | LW | the steering angle LW shown. In the dotted course shown 20 is at steering angles LW with an amount | LW | small LW _S wi the vehicle model completely opaque shown, ie the degree of transparency T corresponds to 0%. For amounts | LW | greater than or equal to LWswi, the transparency T increases continuously, for example linearly, so that the vehicle model becomes increasingly transparent. At the maximum possible amount LW _max of

Steering angle LW (and even for steering angle greater than or equal to LWsw3) is the degree of transparency T maximum, for example, T = 90%. In this case, the vehicle model is only slightly visible.

In the case of the curve 21, which is shown in broken lines, at steering angles LW an amount | LW | small LW _S w2 the vehicle model completely opaque shown, ie the degree of transparency T corresponds to 0%. When a threshold value LWsw for the amount of the steering angle LW is exceeded, the vehicle model is dimmed and the transparency T of the illustrated vehicle model increases abruptly, for example to T = 90%.

Claims

claims 1. A method for perspective representation of a vehicle environment on a display of a motor vehicle (1), wherein  - By means of one or more cameras image information of the  Vehicle environment is generated,  - A perspective view of the vehicle environment with a  Vehicle model of the vehicle (1) is generated from the perspective of a virtual camera (7) based on this image information, wherein the virtual camera (7) via the vehicle (1) is directed into the forward driving tube and the viewing direction (9) virtual camera (7) is dependent on the current steering angle, and  the display shows the perspective view of the vehicle environment with the vehicle model, and  wherein the transparency of the illustrated vehicle model is dependent on the current steering angle. 2. The method of claim 1, wherein a degree of transparency  indicating transparency value whose range of values includes transparent gradations, for the representation of the vehicle model is determined and the transparency value of the current steering angle is dependent. 3. The method according to any one of the preceding claims, wherein at least in a certain steering angle range, the transparency of the illustrated vehicle model continuously increases with increasing amount of the steering angle. 4. The method according to claims 1-2, wherein - Below a certain threshold (LW _S w2) for the amount of steering angle, the vehicle model is shown substantially opaque, and  - from reaching or exceeding the specific threshold value (LWsw2) for the amount of steering angle, the vehicle model is displayed semi-transparent or completely transparent. 5. The method according to any one of the preceding claims, wherein  at a steering angle of substantially zero, the transparency of the illustrated vehicle model is minimal, and  - At the maximum possible amount of steering angle the  Transparency of the illustrated vehicle model is maximum. 6. Display system for perspective representation of a  Vehicle environment with a vehicle model for the driver of a motor vehicle (1), comprising  a display for superimposed representation of the vehicle environment with the vehicle model of the motor vehicle,  - One or more cameras for generating image information of the vehicle environment and  an image calculation unit for generating a perspective view of the vehicle surroundings with the vehicle model from the perspective of a virtual camera (7) directed into the forward driving tube via the vehicle based on this image information, and  wherein the image calculation unit is set up, the viewing direction (9) of the virtual camera (7) as a function of the current one  Steering angle or other with the current steering angle in the Determine the context of related information, and wherein the arithmetic unit is further adapted to provide a transparency value indicative of transparency for the representation of the vehicle model as a function of the current steering angle or other related to the current steering angle To determine information.