Method for graphically representing the surroundings of a motor vehicle

• US 8,797,351 B2
• Filed: 10/29/2007
• Issued: 08/05/2014
• Est. Priority Date: 04/28/2005
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Augst, Alexander
• Primary Examiner(s): Caschera, Antonio A
• Application Number:
  US11/926,572
• Publication Number:
  US 20080100614A1
• Time in Patent Office: 2,472 Days
• Field of Search: 345/637
• US Class Current: 345/632
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: G06T 2210/62 Semi-transparency

Abstract

In a method for graphically representing the surroundings of a motor vehicle, whereby graphical elements, which serve to assist the driver in interpreting the spatial information, contained in the scene image, are superimposed on a scene image, which represents a three dimensional surrounding scene of the surroundings of the motor vehicle and which is out two dimensionally or three dimensionally to the driver of the motor vehicle, the graphical elements are at least partially configured and arranged in the scene image such that they embody in the surrounding scene at least one virtual boundary object, which has a three dimensional spatial shape and which exhibits at least one reference surface that delimits a free space, which can be attained by the motor vehicle without the risk of a collision, from an obstacle space, which can be attained only with the risk of a collision.

Claims

1. A method for graphically representing surroundings of a motor vehicle using a scene image, which represents a three-dimensional surrounding scene of the surroundings of the motor vehicle and which is output two dimensionally or three dimensionally to a display device for viewing by a user of the motor vehicle, the method comprising the acts:

superimposing, by a graphical rendering unit disposed in the motor vehicle, graphical elements on the scene image, the graphical elements serving to assist the user in interpreting spatial information contained in the scene image, wherein the graphical elements and the scene image are displayed on the display device; and

at least partially configuring and arranging, by the graphical rendering unit, the graphical elements in the scene image such that the graphical elements embody in the surrounding scene at least one virtual boundary object, which has a three dimensional spatial shape and which exhibits at least one reference surface delimiting a free space attainable by the motor vehicle without risk of a collision from an obstacle space attainable by the motor vehicle only with the risk of a collision,

wherein a height profile of the at least one virtual boundary object and a course of a slope of the at least one reference surface of the at least one boundary object are determined as a function of properties of an obstacle in the surroundings of the motor vehicle,

wherein the at least one virtual boundary object has a spatial expansion in a direction orthogonal to the at least one reference surface.

2. The method as claimed in claim 1, wherein the graphical elements are configured and arranged in the scene image such that the delimitation by way of the at least one reference surface is substantially continuous in a horizontal direction.

3. The method as claimed in claim 2, wherein the graphical elements embodying the at least one virtual boundary object are at least partially configured to be semi-transparent.

4. The method as claimed in claim 2, wherein the at least one virtual boundary object is depicted proportionally or overproportionally by at least one of scaled and distorted perspectives.

5. The method as claimed in claim 2, wherein the graphical elements in the scene image comprise at least one of:

a configuration and arrangement such that the at least one virtual boundary object exhibits a surface, which faces the free space and is arranged essentially vertically in the surrounding scene; and

a configuration and arrangement such that the at least one virtual boundary object exhibits a slight spatial expansion in a direction orthogonal to the reference surface.

6. The method as claimed in claim 2, wherein the at least one reference surface of the at least one boundary object is calculated on the basis of an obstruction map and/or a geometric model of recognized obstacles.

7. The method as claimed in claim 1, wherein the graphical elements embodying the at least one virtual boundary object are at least partially configured to be semi-transparent.

8. The method as claimed in claim 7, wherein the at least one virtual boundary object is depicted proportionally or overproportionally by at least one of scaled and distorted perspectives.

9. The method as claimed in claim 7, wherein the graphical elements in the scene image comprise at least one of:

a configuration and arrangement such that the at least one virtual boundary object exhibits a surface, which faces the free space and is arranged essentially vertically in the surrounding scene; and

a configuration and arrangement such that the at least one virtual boundary object exhibits a slight spatial expansion in a direction orthogonal to the reference surface.

10. The method as claimed in claim 1, wherein the at least one virtual boundary object is depicted under-proportionally when the motor vehicle is moving away from the at least one virtual boundary object and overproportionally when the motor vehicle is approaching the at least one virtual boundary object.

11. The method as claimed in claim 10, wherein the graphical elements in the scene image comprise at least one of:

a configuration and arrangement such that the at least one virtual boundary object exhibits a surface, which faces the free space and is arranged essentially vertically in the surrounding scene; and

a configuration and arrangement such that the at least one virtual boundary object exhibits a slight spatial expansion in a direction orthogonal to the reference surface.

12. The method as claimed in claim 1, wherein the graphical elements in the scene image comprise at least one of:

a configuration and arrangement such that the at least one virtual boundary object exhibits a surface, which faces the free space and is arranged essentially vertically in the surrounding scene; and

a configuration and arrangement such that the at least one virtual boundary object exhibits a slight spatial expansion in a direction orthogonal to the reference surface.

13. The method as claimed in claim 1, wherein the reference surface of the at least one boundary object is chosen essentially adjacent to a plane of travel of the motor vehicle.

14. The method as claimed in claim 1, wherein at least one of a color and color distribution of the graphical elements, embodying the at least one virtual boundary object, is chosen as a function of a distance between a section of the at least one virtual boundary object that embodies the respective graphical element or a portion thereof and a reference point, a reference line or a reference surface of the motor vehicle.

15. The method as claimed in claim 14, wherein the at least one reference surface of the at least one virtual boundary object is defined at least partly as a linear, piece-by-piece linear, or non-linear interpolation between a limited quantity of support points or support lines at a known distance from a reference point, a reference line or a reference surface of the motor vehicle.

16. The method as claimed in claim 1, wherein the at least one reference surface of the at least one virtual boundary object is defined at least partly as a linear, piece-by-piece linear, or non-linear interpolation between a limited quantity of support points or support lines at a known distance from a reference point, a reference line or a reference surface of the motor vehicle.

17. The method as claimed in claim 16, wherein at least one of the following is provided:

when the interpolation is between the support lines, the support lines are in essence vertical in the surrounding scene; and

the interpolation is based on characteristics of a sensor system that is used for determining the distance.

18. The method as claimed in claim 1, wherein the at least one reference surface of the at least one boundary object is calculated on the basis of an obstruction map and/or a geometric model of recognized obstacles.

19. The method as claimed in claim 1, wherein the at least one virtual boundary object is fence-shaped.

20. The method as claimed in claim 19, wherein the at least one virtual boundary object has a height of about 25 cm.