Method and device for visualizing the surroundings of a vehicle

Patent metadata

Field	Value
Publication number	US-9862316-B2
Application number	US-201214371827-A
Country	US
Kind code	B2
Filing date	Nov 28, 2012
Priority date	Jan 19, 2012
Publication date	Jan 9, 2018
Grant date	Jan 9, 2018

Abstract

A method for visualizing the surroundings of a vehicle, including the following steps: determining and storing an instantaneous distance between the vehicle and present obstacles in the surroundings of the vehicle with the aid of at least one sensor; determining and storing a present position of the vehicle; calculating an at least two-dimensional model of the surroundings from the stored data; calculating a virtual view of the model of the surroundings from a selected virtual observer position; recording a video depiction of at least a portion of the surroundings with the aid of at least one video camera and integrating the video depiction into the virtual view; and outputting the virtual view together with the integrated video depiction to a driver of the vehicle.

First claim

What is claimed is:

1. A method for visualizing surroundings of a vehicle, comprising:
determining and storing an instantaneous distance between the vehicle and present obstacles in the surroundings of the vehicle with the aid of at least one sensor;
determining and storing a present position of the vehicle;
calculating an at least two-dimensional model of the surroundings from the stored distance and position;
calculating a virtual view of the model of the surroundings from a selected virtual observer position;
recording a video depiction of at least a portion of the surroundings with the aid of at least one video camera and integrating the video depiction into the virtual view; and
outputting the virtual view together with the integrated video depiction to a driver of the vehicle, wherein the virtual view includes a split depiction in which an artificial horizon, which is placed in particular at a level of a transition between an engine compartment and a passenger compartment of the vehicle, allows a breakdown into different views,
wherein the output includes a continuous transition from a top view perspective into a driver's perspective,
wherein a field of view of the integrated video depiction is expanded to include contours of the obstacles in the integrated video depiction by additional information that are obtained from the model of the surroundings.

2. The method as recited in claim 1 , wherein the distance between the vehicle and the present obstacles is determined with the aid of at least one of a passive optical sensor and an active sensor system.

3. The method as recited in claim 1 , wherein the distance between the vehicle and the present obstacles is determined by calculation from data of the video camera.

4. The method as recited in claim 1 , wherein the present position of the vehicle is one of an absolute position and a position relative to a previously stored position.

5. The method as recited in claim 1 , wherein the virtual observer position is established one of by the driver of the vehicle and automatically by an arithmetic unit.

6. The method as recited in claim 1 , wherein instantaneous driving parameters are integrated into the virtual view.

7. A device for visualizing surroundings of a vehicle, comprising:
at least once sensor producing a sensor signal for determining a distance between the vehicle and obstacles in the surroundings of the vehicle;
at least one sensor producing a sensor signal for determining a present position of the vehicle;
a memory device for storing the sensor signals;
a video camera recording at least a portion of the surroundings; and
a processing device communicatively coupled to the memory device, wherein the processing device is configured:
to calculate an at least two-dimensional model of the surroundings from the sensor signals of the memory device,
to calculate a virtual view of the model of the surroundings from a selected virtual observer position, and
to integrate a video depiction of the surroundings recorded by the video camera into the virtual view; and

an output device for visualizing the virtual view with the integrated video depiction, wherein the virtual view includes a split depiction in which an artificial horizon, which is placed in particular at a level of a transition between an engine compartment and a passenger compartment of the vehicle, allows a breakdown into different views,
wherein the output includes a continuous transition from a top view perspective into a driver's perspective,
wherein a field of view of the integrated video depiction is expanded to include contours of the obstacles in the integrated video depiction by additional information that are obtained from the model of the surroundings.

8. The device as recited in claim 7 , wherein the at least one sensor for determining the distance between the vehicle and the present obstacles includes at least one of a passive optical sensor and an active sensor system.

9. The device as recited in claim 7 , wherein the at least one sensor for determining the distance between the vehicle and the present obstacles includes the video camera.

10. A vehicle, comprising:
a device for visualizing the surroundings of a vehicle, comprising:
at least once sensor producing a sensor signal for determining a distance between the vehicle and obstacles in the surroundings of the vehicle;
at least one sensor producing a sensor signal for determining a present position of the vehicle;
a memory device for storing the sensor signals;
a video camera recording at least a portion of the surroundings; and
a processing device communicatively coupled to the memory device, wherein the processing device is configured:
to calculate an at least two-dimensional model of the surroundings from the sensor signals of the memory device,
to calculate a virtual view of the model of the surroundings from a selected virtual observer position, and
to integrate a video depiction of the surroundings recorded by the video camera into the virtual view; and

an output device for visualizing the virtual view with the integrated video depiction, wherein the virtual view includes a split depiction in which an artificial horizon, which is placed in particular at a level of a transition between an engine compartment and a passenger compartment of the vehicle, allows a breakdown into different views,
wherein the output includes a continuous transition from a top view perspective into a driver's perspective,
wherein a field of view of the integrated video depiction is expanded to include contours of the obstacles in the integrated video depiction by additional information that are obtained from the model of the surroundings.

Assignees

• Heckel Joerg
• Marberger Claus
• Mielenz Holger
• Bosch Gmbh Robert

Inventors

• Heckel Joerg
• Marberger Claus
• Mielenz Holger

Classifications

• G01S17/931 Primary

  of land vehicles · CPC title

• B60R2300/806

  for aiding parking · CPC title

• B60R2300/207

  using multi-purpose displays, e.g. camera image and navigation or video on same display · CPC title

• G01S11/12

  using electromagnetic waves other than radio waves · CPC title

• B60R2300/304

  using merged images, e.g. merging camera image with stored images · CPC title