Viewing system and method for displaying an environment of a vehicle

• US 9,865,169 B2
• Filed: 01/30/2013
• Issued: 01/09/2018
• Est. Priority Date: 01/30/2012
• Status: Active Grant

• Current Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Inventors: Gassmann, Bernd, Scholl, Kay-Ulrich, Quast, Johannes
• Primary Examiner(s): Tung, Kee M
• Assistant Examiner(s): Sheng, Xin
• Application Number:
  US13/754,379
• Publication Number:
  US 20130194256A1
• Time in Patent Office: 1,805 Days
• Field of Search: None
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 2210/32 Image data format
• CPC Class Codes: G08G 1/163 involving continuous checking

Abstract

Displaying an environment of a vehicle comprising recording an image of an adjacent exterior environment of the vehicle in the form of image data with the aid of a plurality of image capture units and displaying an output image with the aid of a display device. A virtual, three-dimensional space and a surface are determined with the aid of an arithmetic unit the virtual, three-dimensional space being at least partially delimited by the surface. A projection of the image data onto the surface is calculated with the aid of the arithmetic unit. A virtual vehicle object from predetermined data is calculated as a computer-generated graphic in the virtual, three-dimensional space with the aid of the arithmetic unit. The output image is generated with the aid of the arithmetic unit by rendering a viewing volume which includes the virtual vehicle object, the viewing volume being delimited by the surface, and the viewing volume being based on a viewing position and a viewing angle and a zoom factor in the virtual, three-dimensional space.

Claims

1. A viewing system of a vehicle, comprising:

a plurality of cameras that each records an image of an exterior environment of the vehicle and provides captured image data indicative thereof;

a display that displays an output image; and

a processor that receives the captured image data, wherein the processor is configured to;

determine a virtual, three-dimensional space and a surface that at least partially delimits the virtual, three-dimensional space;

calculate a single projection of the captured image data directly onto the surface;

calculate a virtual vehicle object as a computer-generated graphic from predetermined data in the virtual, three-dimensional space; and

generate the output image by rendering a first viewing volume which includes the virtual vehicle object, the first viewing volume being delimited by the surface, the first viewing volume being based on a first viewing position and a first viewing angle and a first zoom factor in the virtual, three-dimensional space and by rendering a second viewing volume different from the first viewing volume which includes a frontmost part of the virtual vehicle object and a horizontal region of the surface in front of the virtual vehicle object, the second viewing volume being based on a second viewing position different from the first viewing position and a second viewing angle different from the first viewing angle and a second zoom factor different from the first zoom factor in the virtual, three-dimensional space,

wherein the processor is configured to adapt a shape of the surface as a function of a measured variable.

2. The viewing system of claim 1, wherein, to transition between the first viewing volume and the second viewing volume, the processor is configured to at least one of:

change the first viewing position from a first coordinate in the virtual, three-dimensional space to a second coordinate in the virtual, three-dimensional space;

change the first viewing angle from a first direction in the virtual, three-dimensional space to a second direction in the virtual, three-dimensional space; and

change the first zoom factor from a first zoom value to a second zoom value.

3. The viewing system of claim 2, wherein at least one predetermined viewing volume is associated with each region of the vehicle, the predetermined viewing volume having a part of the vehicle object associated with the region of the vehicle and a surface region of the surface adjacent to the associated part,

wherein the processor is configured to control the predetermined viewing volume associated with the region based on an exceeding of a threshold by a collision probability (CP) in order to render the part of the vehicle object associated with the region and the surface region of the surface adjacent to the associated part.

4. The viewing system of claim 1, wherein the processor is configured to determine a collision probability (CP) of a collision between a region of the vehicle and an object in the environment based on at least one measured distance to the object in the environment.

5. The viewing system of claim 4, wherein the processor is configured to determine the collision probability (CP) of the collision between the region of the vehicle and the object in the environment based on at least one signal which is associated with a movement of the vehicle in the environment.

6. The viewing system of claim 5, wherein the at least one signal is associated with at least one of:

a gear selection, a speed of the vehicle, an acceleration of the vehicle, a change in position, a sensed brake pedal position, a sensed accelerator pedal position, and a set turn indicator.

7. The viewing system of claim 5, wherein the at least one signal is associated with at least two of:

a gear selection, a speed of the vehicle, an acceleration of the vehicle, a change in position, a sensed brake pedal position, a sensed accelerator pedal position, and a set turn indicator.

8. The viewing system of claim 5, wherein the at least one signal is associated with a gear selection, a speed of the vehicle, an acceleration of the vehicle, a change in position, a sensed brake pedal position, a sensed accelerator pedal position, and a set turn indicator.

9. The viewing system of claim 1, wherein the measured variable is a speed of the vehicle.

10. A method for displaying an environment of a vehicle, comprising:

recording an image of an environment adjacent to the vehicle in the form of captured image data with the aid of a plurality of cameras;

displaying an output image on a display device;

determining a virtual, three-dimensional space and a surface with the aid of a processor, the virtual, three-dimensional space being at least partially delimited by the surface;

calculating a single projection of the captured image data directly onto the surface with the aid of the processor;

calculating a virtual vehicle object from predetermined data as a computer-generated graphic in the virtual, three-dimensional space with the aid of the processor;

generating the output image with the aid of the processor by rendering a first viewing volume which includes the virtual vehicle object, the first viewing volume being delimited by the surface, and the first viewing volume being based on a first viewing position and a first viewing angle and a first zoom factor in the virtual, three-dimensional space and by rendering a second viewing volume which includes a frontmost part of the virtual vehicle object and a horizontal region of the surface in front of the virtual vehicle object, the second viewing volume being different from the first viewing volume and based on a second viewing position, different from the first viewing position, and a second viewing angle, different from the first viewing angle, and a second zoom factor, different from the first zoom factor, in the virtual, three-dimensional space; and

adapting a shape of the surface as a function of a measured variable.

11. The method of claim 10, wherein the measured variable is a speed of the vehicle.

12. A viewing system of a vehicle, comprising:

a plurality of cameras that each records an image of an exterior environment of the vehicle and provides captured image data indicative thereof;

a display that displays an output image; and

a processor that receives the captured image data, wherein the processor is configured to;

determine a virtual, three-dimensional space and a surface that at least partially delimits the virtual, three-dimensional space;

calculate a single projection of the captured image data directly onto the surface;

calculate a virtual vehicle object as a computer-generated graphic from predetermined data in the virtual, three-dimensional space; and

generate the output image by rendering a first viewing volume which includes the virtual vehicle object, the first viewing volume being delimited by the surface, the first viewing volume being based on a first viewing position and a first viewing angle and a first zoom factor in the virtual, three-dimensional space and by rendering a second viewing volume which includes a frontmost part of the virtual vehicle object and a horizontal region of the surface in front of the virtual vehicle object, the second viewing volume being based on a second viewing position and a second viewing angle and a second zoom factor in the virtual, three-dimensional space,

wherein the processor is further configured to adapt a shape of the surface as a function of a user input.

13. The viewing system of claim 12, wherein the surface is in the shape of a bowl that has a base and a wall, the base of the bowl shape being designed to be planar, the wall of the bowl shape being designed to be curved.

14. A method for displaying an environment of a vehicle, comprising:

recording an image of an environment adjacent to the vehicle in the form of captured image data with the aid of a plurality of cameras;

displaying an output image on a display device;

determining a virtual, three-dimensional space and a surface with the aid of a processor, the virtual, three-dimensional space being at least partially delimited by the surface;

calculating a single projection of the captured image data directly onto the surface with the aid of the processor;

calculating a virtual vehicle object from predetermined data as a computer-generated graphic in the virtual, three-dimensional space with the aid of the processor;

generating the output image with the aid of the processor by rendering a first viewing volume which includes the virtual vehicle object, the first viewing volume being delimited by the surface, and the first viewing volume being based on a first viewing position and a first viewing angle and a first zoom factor in the virtual, three-dimensional space and by rendering a second viewing volume which includes a frontmost part of the virtual vehicle object and a horizontal region of the surface in front of the virtual vehicle object, the second viewing volume being based on a second viewing position and a second viewing angle and a second zoom factor in the virtual, three-dimensional space; and

adapting a shape of the surface as a function of a user input.

15. The method of claim 14, wherein the surface is in the shape of a bowl that has a base and a wall, the base of the bowl shape being designed to be planar, the wall of the bowl shape being designed to be curved.