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WO2012028230A1 - Method for representing auxiliary lines in a camera-based driver assistance system - Google Patents

Method for representing auxiliary lines in a camera-based driver assistance system Download PDF

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Publication number
WO2012028230A1
WO2012028230A1 PCT/EP2011/003704 EP2011003704W WO2012028230A1 WO 2012028230 A1 WO2012028230 A1 WO 2012028230A1 EP 2011003704 W EP2011003704 W EP 2011003704W WO 2012028230 A1 WO2012028230 A1 WO 2012028230A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
auxiliary line
ground
image
representing
Prior art date
Application number
PCT/EP2011/003704
Other languages
German (de)
French (fr)
Inventor
Markus Glaser
Michael Hauth
Joachim Missel
Matthias Reichmann
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 WO2012028230A1 publication Critical patent/WO2012028230A1/en

Links

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
    • B60R1/26—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 to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/173—Reversing assist
    • 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
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons

Definitions

  • the present invention relates to a method for representing auxiliary lines assisting a driver in guiding a vehicle in a driver assistance system for the vehicle according to the preamble of claim 1 and a driver assistance system for a vehicle according to the preamble of claim 1.
  • Drivers of vehicles are often assisted in driving the vehicle by one or more driver assistance systems.
  • drivers are supported by camera-based driver assistance systems, which display images of the surroundings of the vehicle on a screen. This is helpful for the driver, especially when reversing.
  • guides are displayed in the surrounding image that, for example, indicate to the driver a roadway along which the vehicle moves as it proceeds. For example, in a reverse park mode (back-in mode) of the vehicle, an auxiliary line is superimposed, or in a trailer docking mode of the vehicle, another guide line is displayed.
  • the surrounding images of the vehicle are typically obtained from a surround view system or a rearview camera. These environmental images are
  • the surround view system includes several cameras, the are each arranged on a right, left, front and rear side of the vehicle, and the at least one electronic control unit with a
  • Vehicle computing unit are operatively coupled, which is connected to the screen and a control unit.
  • Environmental image information is captured by each of the plurality of cameras and converted by the electronic control unit into image data processed by the vehicle computing unit.
  • Display interface comprises three fields, with a first field at least the
  • the plan view is provided from image data of the plurality of cameras calculated by the vehicle computing unit, and at least one of the three fields displays a viewing angle indicator for displaying a surrounding area shown in the first field.
  • the object of the present invention is to provide methods and a
  • this object is achieved by the measures indicated in claim 1 and in terms of the driver assistance system by the measures indicated in claim 8.
  • a method for displaying assist lines assisting a driver in guiding a vehicle in a driver assistance system for the vehicle includes displaying an environmental image of the vehicle including the ground on which the vehicle is moving, superimposing an auxiliary line on the surrounding image, and displaying a map Shadow of the guide on the ground.
  • an environment of the vehicle is detected by means of at least one camera.
  • signals representing a detected environment of the vehicle are processed to obtain the surrounding image of the vehicle including the ground on which the vehicle is moving.
  • a first auxiliary line in a first auxiliary line in a first auxiliary line
  • the first predetermined height corresponds to a distance of a trailer hitch of the vehicle to the ground.
  • a second auxiliary line is shown at a second predetermined height above the ground, wherein the second predetermined height is close to or equal to zero.
  • a height of auxiliary lines above the ground is changed automatically in dependence on a driving mode of the vehicle.
  • a real lighting situation is determined from the environmental image, the shadow being dependent on the real one
  • the driver assistance system achieves the same advantages as previously described with respect to the method or its embodiments.
  • Figure 1 is an environmental image of a parking assistant with auxiliary line without shadow.
  • FIG. 2 shows the surround image of FIG. 1 with auxiliary line and shadow according to a first exemplary embodiment of the present invention
  • Fig. 3 is an environmental image of a trailer docking assistant with superimposed auxiliary line
  • FIG. 4 shows the outline image of FIG. 3 with auxiliary line and shadow according to a second exemplary embodiment of the present invention.
  • a vehicle has a rear view camera with which an environment image 1 is taken in accordance with a rearward view from a vehicle.
  • the vehicle is in a reverse parking mode. This is shown on the screen by a parking mode display 2.
  • a first auxiliary line 3 i. a line complex of several individual lines, shown, which indicates the roadway of the vehicle in straight backward driving.
  • a second auxiliary line 4 is shown in dashed lines, which represents the roadway of the vehicle at full steering angle.
  • the environment image 1 itself acts in three dimensions or perspectives, while the auxiliary lines 3, 4 are two-dimensional objects and thus appear alien to the surrounding image.
  • FIG. 2 the environmental image 1 of Fig. 1 is also shown.
  • the vehicle is unchanged in the park mode, affirming the parking mode display 2.
  • the two auxiliary lines 3 and 4 are shown.
  • a shadow 6, 7 is shown in each case in the image of FIG. 2 for each of the auxiliary lines 3, 4.
  • the auxiliary lines 3, 4 therefore act as if they were lifted off the ground 5 slightly. This gives you a three-dimensional character. As a result, they are considered by the driver rather than
  • an environmental image 10 is shown, which is taken by a rear view camera of the vehicle.
  • the environmental image 10 also shows the ground 15 on which the vehicle is moving.
  • an auxiliary line 13 is superimposed in the image.
  • the auxiliary line 13 serves to assist the driver in a coupling process of a trailer. This guideline 13 appears automatically when the driver places the vehicle in the trailer docking mode.
  • the auxiliary line 13 is displayed as a two-dimensional object in the three-dimensional environmental image 10. It is thus alien to the image and not as part of the environment. Therefore, according to the invention, as shown in FIG. 4, in addition to the auxiliary line 13, its shadow 16 is faded into the surrounding image 10. Thus, the auxiliary line 13 acts three-dimensionally, and the driver perceives the auxiliary line 13 as part of the real three-dimensional environment.
  • the representation of the auxiliary lines 3, 4, 13 can be done in a predetermined virtual height with the respective shadow 6, 7, 16 at ground level.
  • the predetermined altitude should correspond to a distance from the ground to a trailer hitch.
  • the auxiliary lines 3, 4 in the reverse parking mode can be displayed very close to the ground. If necessary, the guides are then shown so close to the bottom 5, that the shadow is no longer or only slightly visible.
  • the virtual height of the auxiliary line preferably changes automatically with the choice of the driving mode.
  • Lighting situation done This can be done, for example, by evaluating a
  • Exposure control can be realized in a multi-camera system or by analyzing an image in a single-camera system. It is then adapted to the shadow of the guides to the real shadow of an object in the area. Optionally, the shadow may also change position as the vehicle rotates, thereby changing the actual lighting situation.
  • auxiliary lines Due to the spatial representation of the auxiliary lines, the guide lines for the driver intuitively become the different projection levels of the guide lines in the three-dimensional Environment image can be assigned.
  • the auxiliary lines therefore do not act on the three-dimensional environment image, but rather as elements integrated therein. Thereby, when performing a driving operation using a
  • auxiliary lines may be e.g. in the surround view system can also be used for other purposes.
  • the maximum possible steering angle can be indicated by an auxiliary line with shadow.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

The intuitive representation of auxiliary lines (3) by a camera-based driver assistance system is to be improved. For this purpose, a method for representing auxiliary lines (3) which assist a driver when driving a vehicle is provided. An image (1) of the surroundings of the vehicle including the ground (5) on which the vehicle is moving is represented on a screen. The image (1) of the surroundings has an auxiliary line (3, 4) superimposed thereon. Furthermore, a shadow (6, 7) of the auxiliary line (3, 4) is represented on the ground (5). As a result, the auxiliary line acts in a more plastic way as part of the surroundings.

Description

Verfahren zum Darstellen von Hilfslinien in einem kamerabasierten  Method of presenting guidelines in a camera-based
Fahrerassistenzsystem  Driver assistance system
Die vorliegende Erfindung betrifft ein Verfahren zum Darstellen von einen Fahrer beim Führen eines Fahrzeugs unterstützenden Hilfslinien in einem Fahrerassistenzsystem für das Fahrzeug gemäß dem Oberbegriff des Anspruchs 1 und ein Fahrerassistenzsystem für ein Fahrzeug gemäß dem Oberbegriff des Anspruchs 1. The present invention relates to a method for representing auxiliary lines assisting a driver in guiding a vehicle in a driver assistance system for the vehicle according to the preamble of claim 1 and a driver assistance system for a vehicle according to the preamble of claim 1.
Fahrer von Fahrzeugen werden häufig beim Führen des Fahrzeugs durch eines oder mehrere Fahrerassistenzsysteme unterstützt. Zum Beispiel werden Fahrer durch kamerabasierte Fahrerassistenzsysteme unterstützt, mit denen Bilder aus der Umgebung des Fahrzeugs auf einem Bildschirm dargestellt werden. Dies ist für den Fahrer insbesondere beim Rückwärtsfahren hilfreich. Drivers of vehicles are often assisted in driving the vehicle by one or more driver assistance systems. For example, drivers are supported by camera-based driver assistance systems, which display images of the surroundings of the vehicle on a screen. This is helpful for the driver, especially when reversing.
Um den Fahrer, der ein kamerabasiertes Fahrerassistenzsystem verwendet, weiter zu unterstützen, werden Hilfslinien in das Umgebungsbild eingeblendet, die dem Fahrer zum Beispiel eine Fahrbahn andeuten, entlang der sich das Fahrzeug bei der Weiterfahrt bewegt. Zum Beispiel wird in einem Rückwärtseinparkmodus (Back-in-Modus) des Fahrzeugs eine Hilfslinie eingeblendet oder wird in einem Anhänger-Ankoppel-Modus des Fahrzeugs eine andere Hilfslinie eingeblendet. In order to further assist the driver using a camera-based driver assistance system, guides are displayed in the surrounding image that, for example, indicate to the driver a roadway along which the vehicle moves as it proceeds. For example, in a reverse park mode (back-in mode) of the vehicle, an auxiliary line is superimposed, or in a trailer docking mode of the vehicle, another guide line is displayed.
Die Umgebungsbilder des Fahrzeugs werden typischerweise von einem Surround-View- System oder einer Rückfahrkamera gewonnen. Diese Umgebungsbilder sind The surrounding images of the vehicle are typically obtained from a surround view system or a rearview camera. These environmental images are
zweidimensional, weisen jedoch einen dreidimensionalen oder perspektivischen Eindruck auf. Auf diese Umgebungsbilder wird eine zweidimensionale Hilfslinie eingeblendet. Daher wirkt die eingeblendete Hilfslinie aufgesetzt und unnatürlich. two-dimensional, but have a three-dimensional or perspective impression. A two-dimensional guide is displayed on these environmental images. Therefore, the displayed auxiliary line is superimposed and unnatural.
Aus der Druckschrift DE 10 2009 025 205 A1 ist eine Anzeigeoberfläche für eine From the document DE 10 2009 025 205 A1 is a display surface for a
Umgebungsdarstellung eines Surround-View-Systems auf einem Bildschirm in einem Kraftfahrzeug bekannt. Das Surround-View-System umfasst mehrere Kameras, die jeweils an einer rechten, linken, vorderen und hinteren Seite des Fahrzeugs angeordnet sind, und die über zumindest eine elektronische Steuereinheit mit einer Environmental representation of a surround view system on a screen in a motor vehicle known. The surround view system includes several cameras, the are each arranged on a right, left, front and rear side of the vehicle, and the at least one electronic control unit with a
Fahrzeugrechnereinheit operativ gekoppelt sind, die mit dem Bildschirm und einer Bedieneinheit verbunden ist. Bildinformationen der Umgebung werden durch jede der mehreren Kameras aufgenommen und durch die elektronische Steuereinheit zu Bilddaten gewandelt, die durch die Fahrzeugrechnereinheit verarbeitet werden. Die Vehicle computing unit are operatively coupled, which is connected to the screen and a control unit. Environmental image information is captured by each of the plurality of cameras and converted by the electronic control unit into image data processed by the vehicle computing unit. The
Anzeigeoberfläche umfasst drei Felder, wobei ein erstes Feld zumindest die Display interface comprises three fields, with a first field at least the
Bildinformation von einer der mehreren Kameras zeigt, ein zweites Feld eine Mehrzahl von Bedienoptionen zeigt, die mit der Bedieneinheit anwählbar sind, und ein drittes Feld zumindest eine Draufsicht auf das Fahrzeug und die Umgebung zeigt. Die Draufsicht ist aus von der Fahrzeugrechnereinheit berechneten Bilddaten der mehreren Kameras bereitgestellt und zumindest eines der drei Felder zeigt einen Blickwinkelindikator zur Anzeige eines Umgebungsbereichs an, der in dem ersten Feld dargestellt ist. Shows image information from one of the plurality of cameras, a second field shows a plurality of operating options that can be selected with the operating unit, and a third field shows at least a top view of the vehicle and the surroundings. The plan view is provided from image data of the plurality of cameras calculated by the vehicle computing unit, and at least one of the three fields displays a viewing angle indicator for displaying a surrounding area shown in the first field.
Die Aufgabe der vorliegenden Erfindung besteht darin, Verfahren und ein The object of the present invention is to provide methods and a
Fahrerassistenzsystem zu schaffen, die ein intuitives Bedienen des Fahrzeugs durch den Fahrer zulassen. To provide driver assistance system that allow an intuitive operation of the vehicle by the driver.
Hinsichtlich des Verfahrens wird diese Aufgabe durch die in Anspruch 1 und hinsichtlich des Fahrerassistenzsystems durch die in Anspruch 8 angegebeben Maßnahmen gelöst. With regard to the method, this object is achieved by the measures indicated in claim 1 and in terms of the driver assistance system by the measures indicated in claim 8.
Weitere vorteilhafte Ausgestaltungen der vorliegenden Erfindung sind Gegenstand der abhängigen Ansprüche. Further advantageous embodiments of the present invention are the subject of the dependent claims.
Genauer gesagt weist ein Verfahren zum Darstellen von einen Fahrer beim Führen eines Fahrzeugs unterstützenden Hilfslinien in einem Fahrerassistenzsystem für das Fahrzeug ein Darstellen eines Umgebungsbilds des Fahrzeugs einschließlich des Bodens, auf dem sich das Fahrzeug bewegt, ein Überlagern einer Hilfslinie auf das Umgebungsbild und ein Darstellen eines Schattens der Hilfslinie auf dem Boden auf. More specifically, a method for displaying assist lines assisting a driver in guiding a vehicle in a driver assistance system for the vehicle includes displaying an environmental image of the vehicle including the ground on which the vehicle is moving, superimposing an auxiliary line on the surrounding image, and displaying a map Shadow of the guide on the ground.
Durch das Darstellen von Hilfslinien mit einem Schatten wirken die Hilfslinien für den Fahrer intuitiv räumlich dargestellt und sind demgemäß für den Fahrer verschiedene Projektionsebenen von verschiedenen Hilfslinien einfacher zuordenbar. Gemäß einer Ausgestaltung wird eine Umgebung des Fahrzeugs mittels mindestens einer Kamera erfasst. By displaying guides with a shadow, the guides are intuitively spatially represented to the driver, and thus are easier for the driver to assign different projection planes from different guides. According to one embodiment, an environment of the vehicle is detected by means of at least one camera.
Gemäß einer weiteren Ausgestaltung werden eine erfasste Umgebung des Fahrzeugs darstellende Signale zum Erzielen des Umgebungsbilds des Fahrzeugs einschließlich des Bodens, auf dem sich das Fahrzeug bewegt, verarbeitet. According to another embodiment, signals representing a detected environment of the vehicle are processed to obtain the surrounding image of the vehicle including the ground on which the vehicle is moving.
Gemäß einer weiteren Ausgestaltung wird eine erste Hilfslinie in einer ersten According to a further embodiment, a first auxiliary line in a first
vorbestimmten Höhe über dem Boden dargestellt, wobei die erste vorbestimmte Höhe einem Abstand einer Anhängerkupplung des Fahrzeugs zu dem Boden entspricht. predetermined height above the ground, wherein the first predetermined height corresponds to a distance of a trailer hitch of the vehicle to the ground.
Gemäß einer weiteren Ausgestaltung wird eine zweite Hilfslinie in einer zweiten vorbestimmten Höhe über dem Boden dargestellt, wobei die zweite vorbestimmte Höhe nahe oder gleich null ist. According to a further embodiment, a second auxiliary line is shown at a second predetermined height above the ground, wherein the second predetermined height is close to or equal to zero.
Gemäß einer weiteren Ausgestaltung wird eine Höhe von Hilfslinien über dem Boden automatisch in Abhängigkeit von einem Fahrmodus des Fahrzeugs geändert. According to a further embodiment, a height of auxiliary lines above the ground is changed automatically in dependence on a driving mode of the vehicle.
Gemäß einer weiteren Ausgestaltung wird eine reale Beleuchtungssituation aus dem Umgebungsbild ermittelt, wobei der Schatten in Abhängigkeit von der realen According to a further embodiment, a real lighting situation is determined from the environmental image, the shadow being dependent on the real one
Beleuchtungssituation dargestellt wird. Illumination situation is shown.
Weiterhin wird ein Fahrerassistenzsystem für ein Fahrzeug geschaffen, das Furthermore, a driver assistance system for a vehicle is provided which
Einrichtungen aufweist, die dazu ausgelegt sind, da zuvor genannte Verfahren oder seiner Ausgestaltungen auszuführen. Having facilities that are designed to perform the aforementioned method or its embodiments.
Das Fahrerassistenzsystem erzielt die gleichen Vorteile, wie sie zuvor bezüglich des Verfahrens oder seiner Ausgestaltungen beschrieben worden sind. The driver assistance system achieves the same advantages as previously described with respect to the method or its embodiments.
Die vorliegende Erfindung wird nachstehend anhand von Ausführungsbeispielen unter Bezugnahme auf die beiliegende Zeichnung näher erläutert. The present invention will be explained below with reference to embodiments with reference to the accompanying drawings.
Es zeigt: It shows:
Fig. 1 ein Umgebungsbild eines Einparkassistenten mit Hilfslinie ohne Schatten; Fig. 2 das Umgebungsbild von Fig. 1 mit Hilfslinie und Schatten gemäß einem ersten Ausführungsbeispiel der vorliegenden Erfindung; Figure 1 is an environmental image of a parking assistant with auxiliary line without shadow. FIG. 2 shows the surround image of FIG. 1 with auxiliary line and shadow according to a first exemplary embodiment of the present invention; FIG.
Fig. 3 ein Umgebungsbild eines Anhänger-Ankoppel-Assistenten mit eingeblendeter Hilfslinie und Fig. 3 is an environmental image of a trailer docking assistant with superimposed auxiliary line and
Fig. 4 das Umgebungsbild von Fig. 3 mit Hilfslinie und Schatten gemäß einem zweiten Ausführungsbeispiel der vorliegenden Erfindung. FIG. 4 shows the outline image of FIG. 3 with auxiliary line and shadow according to a second exemplary embodiment of the present invention.
Es folgt die Beschreibung eines ersten Ausführungsbeispiels der vorliegenden Erfindung. The following is a description of a first embodiment of the present invention.
Ein Fahrzeug weist eine Rückfahrkamera auf, mit der ein Umgebungsbild 1 gemäß einem Rückwärtsblick von einem Fahrzeug aus aufgenommen wird. Das Fahrzeug befindet sich in einem Rückwärts-Einpark-Modus. Dies ist auf dem Bildschirm durch eine Parkmodus- Anzeige 2 dargestellt. In dem Umgebungsbild 1 ist hier eine erste Hilfslinie 3, d.h. ein Linienkomplex aus mehreren Einzellinien, dargestellt, die die Fahrbahn des Fahrzeugs bei gerader Rückwärtsfahrt andeutet. Außerdem ist gestrichelt eine zweite Hilfslinie 4 dargestellt, die die Fahrbahn des Fahrzeugs bei vollem Lenkeinschlag darstellt. Das Umgebungsbild 1 selbst wirkt dreidimensional bzw. perspektivisch, während die Hilfslinien 3, 4 zweidimensionale Objekte sind und somit in dem Umgebungsbild fremd wirken. A vehicle has a rear view camera with which an environment image 1 is taken in accordance with a rearward view from a vehicle. The vehicle is in a reverse parking mode. This is shown on the screen by a parking mode display 2. In the environment image 1 here is a first auxiliary line 3, i. a line complex of several individual lines, shown, which indicates the roadway of the vehicle in straight backward driving. In addition, a second auxiliary line 4 is shown in dashed lines, which represents the roadway of the vehicle at full steering angle. The environment image 1 itself acts in three dimensions or perspectives, while the auxiliary lines 3, 4 are two-dimensional objects and thus appear alien to the surrounding image.
In Fig. 2 ist ebenfalls das Umgebungsbild 1 von Fig. 1 dargestellt. Das Fahrzeug befindet sich unverändert in dem Parkmodus, was die Parkmodusanzeige 2 bekräftigt. Ebenso sind die beiden Hilfslinien 3 und 4 dargestellt. Zusätzlich ist in dem Bild von Fig. 2 jedoch zu jeder der Hilfslinien 3, 4 jeweils ein Schatten 6, 7 dargestellt. Die Hilfslinien 3, 4 wirken daher so, als wären sie etwas von dem Boden 5 abgehoben. Sie bekommen dadurch einen dreidimensionalen Charakter. Folglich werden sie von dem Fahrer eher als In Fig. 2, the environmental image 1 of Fig. 1 is also shown. The vehicle is unchanged in the park mode, affirming the parking mode display 2. Likewise, the two auxiliary lines 3 and 4 are shown. In addition, however, a shadow 6, 7 is shown in each case in the image of FIG. 2 for each of the auxiliary lines 3, 4. The auxiliary lines 3, 4 therefore act as if they were lifted off the ground 5 slightly. This gives you a three-dimensional character. As a result, they are considered by the driver rather than
Bestandteil des dreidimensionalen Umgebungsbilds 1 wahrgenommen. Part of the three-dimensional environmental image 1 perceived.
Es folgt die Beschreibung eines zweiten Ausführungsbeispiels der vorliegenden The following is the description of a second embodiment of the present invention
Erfindung. Invention.
Im Zusammenhang mit Fig. 3 und Fig. 4 wird nun das zweite Ausführungsbeispiel der vorliegenden Erfindung beschrieben. Auf dem Bildschirm ist ein Umgebungsbild 10 dargestellt, das von einer Rückfahrkamera des Fahrzeugs aufgenommen ist. Das Umgebungsbild 10 zeigt auch den Boden 15, auf dem sich das Fahrzeug bewegt. Darüber hinaus ist wie in Fig. 1 auch eine Hilfslinie 13 in das Bild eingeblendet. Die Hilfslinie 13 dient zur Unterstützung des Fahrers bei einem Ankoppelvorgang eines Anhängers. Diese Hilfslinie 13 erscheint automatisch, wenn der Fahrer das Fahrzeug in den Anhänger-Ankoppel-Modus versetzt. Auf dem Bildschirm leuchtet ein In conjunction with FIG. 3 and FIG. 4, the second embodiment of the present invention will now be described. On the screen, an environmental image 10 is shown, which is taken by a rear view camera of the vehicle. The environmental image 10 also shows the ground 15 on which the vehicle is moving. In addition, as shown in Fig. 1, an auxiliary line 13 is superimposed in the image. The auxiliary line 13 serves to assist the driver in a coupling process of a trailer. This guideline 13 appears automatically when the driver places the vehicle in the trailer docking mode. On the screen comes on
entsprechendes Ankoppelsymbol 12 auf. corresponding Ankoppelsymbol 12.
Die Hilfslinie 13 ist als zweidimensionales Objekt in das dreidimensionale Umgebungsbild 10 eingeblendet. Sie wirkt damit in dem Bild fremd und nicht als Teil der Umgebung. Erfindungsgemäß wird daher, wie dies in Fig. 4 dargestellt ist, zusätzlich zu der Hilfslinie 13 deren Schatten 16 in das Umgebungsbild 10 eingeblendet. Damit wirkt die Hilfslinie 13 dreidimensional, und der Fahrer nimmt die Hilfslinie 13 dann als Bestandteil der realen dreidimensionalen Umgebung wahr. The auxiliary line 13 is displayed as a two-dimensional object in the three-dimensional environmental image 10. It is thus alien to the image and not as part of the environment. Therefore, according to the invention, as shown in FIG. 4, in addition to the auxiliary line 13, its shadow 16 is faded into the surrounding image 10. Thus, the auxiliary line 13 acts three-dimensionally, and the driver perceives the auxiliary line 13 as part of the real three-dimensional environment.
Es folgt die Beschreibung von Ausgestaltungen der ersten und zweiten The following is the description of embodiments of the first and second
Ausführungsbeispiele der vorliegenden Erfindung. Embodiments of the present invention.
Die Darstellung der Hilfslinien 3, 4, 13 kann in einer vorbestimmten virtuellen Höhe mit dem jeweiligen Schatten 6, 7, 16 auf Bodenhöhe erfolgen. Im Anhänger-Ankoppel-Modus sollte die vorbestimmte Höhe einem Abstand vom Boden zu einer Anhängerkupplung entsprechen. Dagegen können die Hilfslinien 3, 4 beim Rückwärts-Einpark-Modus sehr nahe am Boden dargestellt werden. Gegebenenfalls werden die Hilfslinien dann so nahe am Boden 5 dargestellt, dass der Schattenwurf nicht mehr oder nur gering sichtbar ist. Die virtuelle Höhe der Hilfslinie ändert sich vorzugsweise mit der Wahl des Fahrmodus automatisch. The representation of the auxiliary lines 3, 4, 13 can be done in a predetermined virtual height with the respective shadow 6, 7, 16 at ground level. In trailer docking mode, the predetermined altitude should correspond to a distance from the ground to a trailer hitch. In contrast, the auxiliary lines 3, 4 in the reverse parking mode can be displayed very close to the ground. If necessary, the guides are then shown so close to the bottom 5, that the shadow is no longer or only slightly visible. The virtual height of the auxiliary line preferably changes automatically with the choice of the driving mode.
Optional kann ein Anpassen der Schatten der Hilfslinien an eine tatsächliche Optionally, adjusting the shadows of the guides to an actual
Beleuchtungssituation erfolgen. Dies kann zum Beispiel durch Auswerten einer Lighting situation done. This can be done, for example, by evaluating a
Belichtungssteuerung bei einem Mehrkamerasystem oder durch Analysieren eines Bilds bei einem Einkamerasystem realisiert werden. Es wird dann also der Schatten der Hilfslinien an den realen Schatten eines Gegenstands in der Umgebung angepasst. Gegebenenfalls kann der Schatten auch seine Position ändern, wenn sich das Fahrzeug dreht und sich dadurch die tatsächliche Beleuchtungssituation ändert. Exposure control can be realized in a multi-camera system or by analyzing an image in a single-camera system. It is then adapted to the shadow of the guides to the real shadow of an object in the area. Optionally, the shadow may also change position as the vehicle rotates, thereby changing the actual lighting situation.
Aufgrund des räumlichen Darstellens der Hilfslinien werden die Hilfslinien für den Fahrer intuitiv den verschiedenen Projektionsebenen der Hilfslinien in dem dreidimensionalen Umgebungsbild zuordenbar. Die Hilfslinien wirken daher nicht auf das dreidimensionale Umgebungsbild aufgesetzt, sondern vielmehr als darin integrierte Elemente. Dadurch wird der Fahrer bei einem Durchführen eines Fahrvorgangs unter Verwendung eines Due to the spatial representation of the auxiliary lines, the guide lines for the driver intuitively become the different projection levels of the guide lines in the three-dimensional Environment image can be assigned. The auxiliary lines therefore do not act on the three-dimensional environment image, but rather as elements integrated therein. Thereby, when performing a driving operation using a
Surround-View-Systems oder eines anderen kamerabasierten Fahrerassistenzsystems unterstützt. Surround view system or another camera-based driver assistance system.
Das räumliche Darstellen der Hilfslinien mit Schatten ist nicht auf zuvor beschriebenen spezifischen Anwendungen der Hilfslinien in dem Rückwärts-Einpark-Modus und dem Anhänger-Ankoppel-Modus beschränkt. Vielmehr können die räumlich dargestellten Hilfslinien z.B. im Surround-View-System auch für andere Zwecke verwendet werden. So kann zum Beispiel der maximal mögliche Lenkeinschlagwinkel durch eine Hilfslinie mit Schattenwurf angezeigt werden. Spatial representation of shaded guides is not limited to previously described specific uses of the guides in the reverse park mode and trailer dock mode. Rather, the spatially illustrated auxiliary lines may be e.g. in the surround view system can also be used for other purposes. For example, the maximum possible steering angle can be indicated by an auxiliary line with shadow.

Claims

Patentansprüche claims
1. Verfahren zum Darstellen von einen Fahrer beim Führen eines Fahrzeugs A method of presenting a driver while driving a vehicle
unterstützenden Hilfslinien (3, 4, 13) in einem Fahrerassistenzsystem für das  supporting auxiliary lines (3, 4, 13) in a driver assistance system for the
Fahrzeug, wobei das Verfahren aufweist:  A vehicle, the method comprising:
Darstellen eines Umgebungsbilds (1 , 10) des Fahrzeugs einschließlich des Bodens (5, 15), auf dem sich das Fahrzeug bewegt, und  Representing an environmental image (1, 10) of the vehicle including the floor (5, 15) on which the vehicle is moving, and
Überlagern einer Hilfslinie (3, 4 ,13) auf das Umgebungsbild (1 , 10),  Superposing an auxiliary line (3, 4, 13) on the surrounding image (1, 10),
gekennzeichnet durch  marked by
Darstellen eines Schattens (6, 7, 16) der Hilfslinie (3, 4, 13) auf dem Boden (5, 15).  Representing a shadow (6, 7, 16) of the auxiliary line (3, 4, 13) on the floor (5, 15).
2. Verfahren nach Anspruch 1 , gekennzeichnet durch Erfassen einer Umgebung des Fahrzeugs mittels mindestens einer Kamera. 2. The method according to claim 1, characterized by detecting an environment of the vehicle by means of at least one camera.
3. Verfahren nach Anspruch 2, gekennzeichnet durch Verarbeiten von eine erfasste Umgebung des Fahrzeugs darstellenden Signalen zum Erzielen des Umgebungsbilds des Fahrzeugs einschließlich des Bodens, auf dem sich das Fahrzeug bewegt. A method according to claim 2, characterized by processing signals representing a detected environment of the vehicle to obtain the environmental image of the vehicle including the ground on which the vehicle is traveling.
4. Verfahren nach einem der Ansprüche 1 bis 3, gekennzeichnet durch Darstellen einer ersten Hilfslinie (13) in einer ersten vorbestimmten Höhe über dem Boden (15), wobei die erste vorbestimmte Höhe einem Abstand einer Anhängerkupplung des Fahrzeugs zu dem Boden (15) entspricht. 4. The method according to any one of claims 1 to 3, characterized by representing a first auxiliary line (13) at a first predetermined height above the ground (15), wherein the first predetermined height corresponds to a distance of a trailer hitch of the vehicle to the ground (15) ,
5. Verfahren nach einem der Ansprüche 1 bis 4, gekennzeichnet durch Darstellen einer zweiten Hilfslinie (3) in einer zweiten vorbestimmten Höhe über dem Boden (5), wobei die zweite vorbestimmte Höhe nahe oder gleich null ist. 5. The method according to any one of claims 1 to 4, characterized by representing a second auxiliary line (3) at a second predetermined height above the ground (5), wherein the second predetermined height is close to or equal to zero.
6. Verfahren nach einem der vorhergehenden Ansprüche, gekennzeichnet durch Ändern einer Höhe von Hilfslinien (3, 4, 13) über dem Boden (5, 15) automatisch in 6. The method according to any one of the preceding claims, characterized by changing a height of auxiliary lines (3, 4, 13) above the bottom (5, 15) automatically in
Abhängigkeit von einem Fahrmodus des Fahrzeugs. Dependence on a driving mode of the vehicle.
7. Verfahren nach einem der vorhergehenden Ansprüche, gekennzeichnet durch Ermitteln einer realen Beleuchtungssituation aus dem Umgebungsbild (5, 15), wobei der Schatten (6, 7, 16) in Abhängigkeit von der realen Beleuchtungssituation dargestellt wird. 7. The method according to any one of the preceding claims, characterized by determining a real lighting situation from the environmental image (5, 15), wherein the shadow (6, 7, 16) is displayed in dependence on the real lighting situation.
8. Fahrerassistenzsystem für ein Fahrzeug gekennzeichnet durch Einrichtungen, die dazu ausgelegt sind, ein Verfahren nach einem der vorhergehenden Ansprüche auszuführen. A driver assistance system for a vehicle characterized by means adapted to carry out a method according to any one of the preceding claims.
PCT/EP2011/003704 2010-09-02 2011-07-23 Method for representing auxiliary lines in a camera-based driver assistance system WO2012028230A1 (en)

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