Method and device for determining processed image data about a surround field of a vehicle

• US 8,712,103 B2
• Filed: 10/03/2011
• Issued: 04/29/2014
• Est. Priority Date: 10/06/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Focke, Thomas, Von Zitzewitz, Henning, Engelberg, Thomas
• Primary Examiner(s): AZARIAN, SEYED H
• Application Number:
  US13/251,367
• Publication Number:
  US 20120087546A1
• Time in Patent Office: 939 Days
• Field of Search: 382/100, 382103-107, 382/155, 382/162, 382/168, 382/173, 382/181, 382/232, 382/254, 382/274, 382/276, 382/291, 382/305, 382/312, 348/148, 340/435, 340/461, 340/932.2, 701/523, 701/32.9
• US Class Current: 382/104
• 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 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image

Abstract

A method for determining processed image data about a surround field of a vehicle includes a step of combining a map information item with a position and an orientation of the vehicle and with an image of the surround field acquired by a surround-field monitoring device of the vehicle, in order to obtain a position-specific image of the surround field. In addition, the method includes a step of processing the position-specific image so as to include at least one symbol that is assigned to a classified object in the position-specific image, in order to determine the processed image data.

Claims

1. A method for determining processed image data of a surround field of a host vehicle, comprising:

combining a map information item with a position of the vehicle, an orientation of the vehicle, and an image of the surround field acquired by a surround-field monitoring device of the vehicle, in order to obtain a position-specific image of the surround field; and

processing the position-specific image so as to (i) include at least one symbol which is assigned to a classified object external to the host vehicle in the position-specific image, wherein the classified object is one of a physical obstacle or a road sign, and (ii) adapt an orientation and scaling of the symbol assigned to the classified object in the position-specific image to correspond to a true-to-scale image, in order to determine the processed image data for display.

2. The method as recited in claim 1, wherein in the processing step, the position-specific image is processed so as to include a numerical portrayal of distance, wherein the portrayal is formed in order to represent in the processed image data at least one of (i) a distance between a classified object and the host vehicle and (ii) distance lines in an open space navigable for the host vehicle.

3. The method as recited in claim 1, wherein in the processing step, the position-specific image is processed based on an anticipated path of motion of the host vehicle.

4. The method as recited in claim 1, wherein in the processing step, a classified object relevant to a current driving task of the vehicle is determined and highlighted in the processed image data, and wherein a degree of the highlighting is a function of a distance of the relevant classified object to the host vehicle.

5. The method as recited in claim 1, wherein:

the map information item includes information about a parking space, the map information item being combined in the combining step with the position and the orientation of the vehicle; and

in the processing step, the position-specific image is processed so as to include a symbol associated with the parking space.

6. The method as recited in claim 5, wherein:

the map information item is received by at least one service remote from the vehicle;

the map information item includes information about a fee to be paid for the vehicle; and

data are transmitted to the service remote from the vehicle, in order to pay the fee.

7. The method as recited in claim 5, wherein in the processing step, the position-specific image is supplemented with a digital map from the map information item.

8. The method as recited in claim 1, wherein a viewing perspective of the processed image data for display is varied as a function of at least one of a steering angle and a driving speed of the host vehicle.

9. The method as recited in claim 1, wherein the processing step further includes adjusting the processed image data to vary a size of a displayed area of the surround field as a function of a driving speed of the host vehicle.

10. An information system for determining processed image data about a surround field of a host vehicle, comprising:

a device for combining a map information item with a position of the vehicle, an orientation of the vehicle, and an image of the surround field acquired by a surround-field monitoring device of the vehicle, in order to obtain a position-specific image of the surround field; and

a device for processing the position-specific image so as to (i) include at least one symbol which is assigned to a classified object external to the host vehicle in the position-specific image, wherein the classified object is one of a physical obstacle or a road sign, and (ii) adapt an orientation and scaling of the symbol assigned to the classified object in the position-specific image to correspond to a true-to-scale image, in order to determine the processed image data for display.

11. A non-transitory computer-readable data storage medium storing a computer program having program codes which, when executed on a computer, perform a method for determining processed image data of a surround field of a host vehicle, the method comprising:

combining a map information item with a position of the vehicle, an orientation of the vehicle, and an image of the surround field acquired by a surround-field monitoring device of the vehicle, in order to obtain a position-specific image of the surround field; and

processing the position-specific image so as to (i) include at least one symbol which is assigned to a classified object external to the host vehicle in the position-specific image, wherein the classified object is one of a physical obstacle or a road sign, and (ii) adapt an orientation and scaling of the symbol assigned to the classified object in the position-specific image to correspond to a true-to-scale image, in order to determine the processed image data for display.