Method of producing a total image of the environment surrounding a motor vehicle

• US 8,908,035 B2
• Filed: 05/07/2009
• Issued: 12/09/2014
• Est. Priority Date: 11/09/2006
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Russ, Artur, Debon, Renaud, Bembenek, Sascha
• Primary Examiner(s): Woolcock, Madhu
• Application Number:
  US12/437,140
• Publication Number:
  US 20090273674A1
• Time in Patent Office: 2,042 Days
• Field of Search: 348/148, 348/113, 340/435, 340/522, 340/148
• US Class Current: 348/148
• CPC Class Codes: B60R 1/00 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
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A method of producing a total image of the surrounding environment of a motor vehicle uses an image sensor device connected with the motor vehicle, which supplies image data in a first acquisition range of the vehicle environment. At least a first image part of the total image is based on image data of the image sensor device from the first acquisition range. In addition to the image sensor device, a distance sensor device connected with the motor vehicle is used which supplies distance data in a second acquisition range of the vehicle environment, the second acquisition range covering an additional range of the vehicle environment which is not covered by the first acquisition range. At least a second image part of the total image, which is at least partially situated outside the first image part, is based on the distance data of the distance sensor device from the additional range.

Claims

1. A method of displaying a birds-eye view of a surrounding environment of a motor vehicle, the method comprising:

basing, by a processor-based environment monitoring system of the motor vehicle, at least a first image part of the birds-eye view on image data captured by an image sensor device arranged in the motor vehicle, the image sensor device capturing image data in a first acquisition range of the surrounding environment;

basing, by the processor-based environment monitoring system, at least a second image part of the birds-eye view on distance data provided by a distance sensor device arranged in the motor vehicle, the distance sensor device providing distance data in a second acquisition range of the surrounding environment, wherein the second acquisition range and the first acquisition range correspond to different sides of the motor vehicle, and wherein the second image part is a virtual image generated from the distance data of the surrounding environment corresponding to the second acquisition range;

generating, by the processor-based environment monitoring system, the birds-eye view from a plurality of image parts, including the first image part and the second image part, wherein each of the plurality of image parts incorporate only one of image data or distance data; and

displaying, by the processor-based environment monitoring system on a monitor in the motor vehicle, the birds-eye view of the surrounding environment of the motor vehicle, wherein the first image part of the birds-eye view comprises only the image data captured by the image sensor device for the first acquisition range, and wherein the second image part of the birds-eye view comprises only the distance data provided by the distance sensor device for the second acquisition range, and wherein the first image part and the second image part are displayed as different regions of the birds-eye view with no more than an edge of the first image part overlapping with an adjacent edge of the second image part such that said edges of the first image part and the second image part form a partial overlapping region occurring between the first image part and the second image part.

2. The method according to claim 1, further comprising providing a soft visual transition between the first image part and the second image part in the birds-eye view of the surrounding environment of the motor vehicle.

3. The method according to claim 2, wherein the first acquisition range and the second acquisition range partially overlap, the method further comprising superimposing a virtual image that visualizes distance information provided by the distance sensor device in the partially overlapping region occurring between the first image part and the second image part on an image generated based upon the image data captured by the image sensor device.

4. The method according to claim 1, wherein the first acquisition range and the second acquisition range partially overlap, the method further comprising superimposing a virtual image that visualizes distance information provided by the distance sensor device in the partially overlapping region occurring between the first image part and the second image part on an image generated based upon the image data captured by the image sensor device.

5. The method of claim 1, wherein the surrounding environment comprises an area completely surrounding the motor vehicle.

6. The method of claim 1, wherein the second acquisition range corresponds to only the front and rear sides of the motor vehicle.

7. The method of claim 6, wherein the first acquisition range corresponds to only a driver side and passenger side of the motor vehicle.

8. In a motor vehicle having an image sensor device and a parking assistance system, a method for displaying a birds-eye view of a vehicle environment surrounding the motor vehicle, the method comprising:

acquiring, by the image sensor device, at least a first image part of the birds-eye view based upon image data in a first acquisition range of the vehicle environment;

acquiring, by a distance sensor device of the parking assistance system, at least a second image part of the birds-eye view based upon distance data in a second acquisition range of the vehicle environment, wherein the second acquisition range and the first acquisition range correspond to different sides of the motor vehicle, and wherein the second image part is a virtual image generated from the distance data of the vehicle environment corresponding to the second acquisition range;

producing, by a processor-based environment monitoring system of the motor vehicle, the birds-eye view from a plurality of image parts, including the first image part and the second image part, wherein each of the plurality of image parts incorporate only one of image data or distance data; and

displaying, by the processor-based environment monitoring system on a monitor in an interior of the motor vehicle, the birds-eye view of the vehicle environment, wherein the first image part of the birds-eye view comprises only the image data acquired by the image sensor device for the first acquisition range, and wherein the second image part of the birds-eye view comprises only the distance data acquired by the distance sensor device for the second acquisition range, and wherein the first image part and the second image part are displayed as different regions of the birds-eye view with no more than an edge of the first image part overlapping with an adjacent edge of the second image part such that said edges of the first image part and the second image part form a partial overlapping region occurring between the first image part and the second image part.

9. The method according to claim 8, wherein the distance sensor device supplies distance data using an ultrasound-based parking assistance system.

10. The method of claim 8, wherein the vehicle environment comprises an area completely surrounding the motor vehicle.

11. The method of claim 8, wherein the second acquisition range corresponds to only the front and rear sides of the motor vehicle.

12. The method of claim 11, wherein the first acquisition range corresponds to only a driver side and passenger side of the motor vehicle.