Method and apparatus for displaying the surroundings of a vehicle, and driver assistance system

Patent metadata

Field	Value
Publication number	US-2016221503-A1
Application number	US-201415021529-A
Country	US
Kind code	A1
Filing date	Sep 26, 2014
Priority date	Oct 2, 2013
Publication date	Aug 4, 2016
Grant date	—

Abstract

A method and an apparatus for displaying the surroundings of a vehicle and to a driver assistance system having such an apparatus having at least one sensor for producing sensor data for the surroundings of a vehicle. In this case, the sensor data are conditioned to produce raw image data, if need be using a grid model of the surroundings of the vehicle, if need be the raw image data are processed to produce object information using a grid model of the surroundings of the vehicle, and the object information obtained is used to condition raw image data to produce image object data, and finally the image object data are displayed.

First claim

1 . A method for displaying the surroundings of a vehicle the method comprising:
detecting of the surroundings of the vehicle with at least one sensor and producing of-sensor data for the surroundings of the vehicle, conditioning el-the sensor data to produce raw image data, processing the raw image data to produce object information using a grid model of the surroundings of the vehicle, conditioning the raw image data to produce image object data based on the object information obtained and/or of a grid model, displaying of-the image object data.

2 . The method according to claim 1 , wherein
the conditioning of the sensor data to produce raw image data is performed by an image conditioning device and the processing of the raw image data to produce object information is performed by an image processing device, wherein the image processing device receives the raw image data from the image conditioning device via a first data link, and the conditioning of the raw image data to produce image object data based on the object information, is performed by the image conditioning device, wherein the image conditioning device receives the object information from the image processing device via a second data link.

3 . A method for displaying the surroundings of a vehicle the method comprising:
detecting the surroundings of a vehicle with at least one sensor and producing sensor data for the surroundings of the vehicle, conditioning of the sensor data to produce raw image data in a first conditioning step, conditioning the raw image data to produce corrected image data using a grid model in a second conditioning step, conditioning the corrected image data to produce image object data based on object information obtained on the basis of the at least one sensor, displaying the image object data.

4 . The method according to claim 3 , wherein the object information is verified and/or stabilized by comparison with data from additional sensors.

5 . The method according to claim 1 , wherein, within the framework of the processing of the raw image data, historical and/or predicted object information is additionally used.

6 . The method according to claim 1 , wherein the grid model of the surroundings comprises cells, wherein partial object information is assigned to these cells and object information is produced from partial object information in an object identification step.

7 . The method according to claim 1 , wherein the cells of the grid model comprise at least one of a size, form and an orientation dependent on the position of the cell in the grid.

8 . The method according to claim 1 , wherein a 3D grid model is used as a grid model and raw image data is projected onto the 3D grid model using a projection algorithm.

9 . The method according to claim 8 , wherein the grid model of the surroundings of the vehicle constitutes a model of a curved surface, wherein the radius of curvature increases as the distance increases from the vehicle.

10 . The method according to claim 1 , wherein cell-related partial object information is assigned to the cells of the grid model and object information regarding identified objects is transmitted together with object information regarding object heights to the image conditioning device.

11 . An apparatus for displaying the surroundings of a vehicle, comprising:
at least one sensor for detecting the surroundings of the vehicle and for producing sensor data for the surroundings of the vehicle, an image conditioning device having image data conditioning areas which are set up to condition the sensor data to produce raw image data and to condition the raw image data using object information and/or a grid model to produce image object data, an image processing device which comprises a data link to the image conditioning device and which is set up to process raw image data to produce object information using a grid model, and a display apparatus for displaying the image object data.

12 . The apparatus according to claim 11 , wherein
the image conditioning device is connected via a first data link to the image processing device, wherein the image processing device receives the conditioned raw image data from the image conditioning device via the first data link, and the image processing device is connected via an additional data link to the image conditioning device, wherein the image conditioning device receives the object information obtained by the image processing device from the raw image data via the additional data link.

13 . The apparatus according to claim 12 , wherein the image conditioning device is connected to the display apparatus for displaying image object data obtained from the raw image data and the object data.

14 . The apparatus according to claim 11 , further comprising additional sensors which have a data link to the image processing device, wherein the image processing device is set up to verify and/or stabilize the object information by means of comparison with data from the additional sensors.

15 . The apparatus according to claim 11 , further comprising a data storage device for storing historical and/or predicted object information, wherein the image processing device is set up to use historical and/or predicted object information within the framework of processing the raw image data.

16 . The apparatus according to claim 11 , further comprising a data storage device for storing a grid model of the surroundings of the vehicle, wherein the image processing device is set up to identify objects on the basis of partial object information, which is assigned to cells of the grid model and/or the image conditioning device is set up to condition raw image data on the basis of the grid model.

17 . A driver assistance system having an apparatus according to claim 11 .

18 . The method according to claims 1 , wherein the object information is verified and/or stabilized by comparison with data from additional sensors.

Assignees

• Conti Temic Microelectronic Gmbh
• Continental Automotive Gmbh
• Continental Teves Ag & Co Ohg

Inventors

• Krökel Dieter
• Exner Christian
• Meier Herbert
• Lüke Stefan
• Houben Sebastian
• Salmen Jan

Classifications

• H04N23/63

  by using electronic viewfinders · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• B60R1/00 Primary

  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 · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• G06T5/006

  Physics · mapped topic