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Method and Vehicle Control System for Producing Images of a Surroundings Model, and Corresponding Vehicle

  • US 20190325650A1
  • Filed: 06/20/2017
  • Published: 10/24/2019
  • Est. Priority Date: 06/27/2016
  • Status: Active Grant
First Claim
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1. A method for generating continuous images of a stored three-dimensional surroundings model (31) of a vehicle (21), having the steps:

  • generation (S1) of at least one camera image by a camera device (22) of the vehicle (21);

    projection (S2) of the generated camera image onto a projection surface (32a) in the stored three-dimensional surroundings model (31) of the vehicle (21);

    generation (S3) of continuous images of the projection surface (32a) by means of a mobile virtual camera (33); and

    output (S4) of the generated continuous images;

    wherein the virtual camera (33) has a set of camera parameters, the elements of which comprise a camera position (P1, P2, P3) of the virtual camera (33) and an optical axis (A1, A2, A3) of the virtual camera (33);

    wherein, along a first motion path (W1) in the surroundings model (31), the set of camera parameters is interpolated between a predetermined first set of camera parameters and a second set of camera parameters and, along a second motion path (W2) in the surroundings model (31), is interpolated continuously between the second set of camera parameters and a predetermined third set of camera parameters; and

    wherein the optical axis (A2) of the virtual camera (33) which is an element of the second set of camera parameters runs through a predetermined axis point (y2) which lies on a connecting line (S) between a first reference point (y1) and a second reference point (y3), wherein the first reference point (y1) is a predetermined point on that optical axis (A1) of the virtual camera (33) which is an element of the first set of camera parameters and the second reference point (y3) is a predetermined point on that optical axis (A3) of the virtual camera (33) which is an element of the third set of camera parameters.

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