Driver assistance system for displaying surroundings of a vehicle

• US 9,013,286 B2
• Filed: 09/23/2013
• Issued: 04/21/2015
• Est. Priority Date: 09/23/2013
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG), Volkswagen AG
• Original Assignee: Audi AG (Volkswagen AG), Volkswagen AG
• Inventors: Chen, Henry, Vu, Anh
• Primary Examiner(s): Bugg, George
• Assistant Examiner(s): Labbees, Edny
• Application Number:
  US14/033,586
• Publication Number:
  US 20150084755A1
• Time in Patent Office: 575 Days
• Field of Search: 340435-437, 340/425.5, 340/995.1, 340/995.12, 340/995.13, 340/995.15, 340/996.175, 34099523-99527, 348/148, 382/276, 382/282, 701/1, 701/300, 701/301
• US Class Current: 340/435
• 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 2300/60 characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

A driver assistance system is configured to display on a vehicle display an image of corresponding surroundings of a vehicle, having at least one image capturing camera; a viewpoint converter to generate a viewpoint converted image having a point of view looking downwardly from above the vehicle; at least one sensor configured to detect a distance or a partial shape of at least one object in surroundings of the vehicle; an image processor configured to modify the viewpoint converted image based on the detected distance or the partial shape of the at least one object looking from the vehicle to the at least one object, wherein the modification of the viewpoint converted image includes enhancing the three dimensional appearance of the at least one object in the viewpoint converted image.

Claims

1. A driver assistance system configured to display on a vehicle display an image of corresponding surroundings of a vehicle, the driver assistance system comprising:

at least one image capturing camera configured to capture images of surroundings of a vehicle;

a viewpoint converter configured to perform viewpoint conversion on the images to generate a viewpoint converted image having a point of view looking downwardly from above the vehicle;

at least one sensor configured to detect a distance or a partial shape of at least one object in surroundings of the vehicle; and

an image processor configured to modify the viewpoint converted image based on the detected distance or the partial shape of the at least one object looking from the vehicle to the at least one object, wherein the modification of the viewpoint converted image includes enhancing a three dimensional appearance of the at least one object in the viewpoint converted image,

wherein the system is configured to enhance the three dimensional appearance of the viewpoint converted image by;

generating a three dimensional landscape of at least a section of the vehicle surroundings based on the received sensor data; and

mapping the viewpoint converted image on the generated three dimensional landscape,

wherein the generating of the three dimensional landscape creates a mesh of detected objects in the vehicle surroundings, wherein the shape of the landscape is approximated by mesh areas, each mesh area having a space orientation that is taken into consideration when mapping images of the surrounding of the vehicle into the mesh areas.

2. The driver assistance system of claim 1, wherein the system is configured to highlight the at least one object if the detected distance is below a predefined threshold distance value.

3. The driver assistance system of claim 1, wherein the system is configured to highlight curbs, ditches or poles.

4. The driver assistance system of claim 1, wherein the system is configured to highlight moving objects.

5. The driver assistance system of claim 4, where the system is configured to highlight moving objects below a predetermined threshold distance value.

6. The driver assistance system of claim 1, wherein the at least one sensor includes one of a laser scanner, a radar sensor, an ultrasonic sensor.

7. The driver assistance system of claim 1, wherein the system is configured to identify a vehicle in a captured image and to identify the corresponding vehicle brand or type.

8. The driver assistance system of claim 7, wherein the system is configured to have access to an on- or off board image database of vehicles and to display an image of the identified vehicle in the viewpoint corrected image.

9. The driver assistance system of claim 1, wherein the viewpoint converter is configured to change the viewpoint based on the driving situation or the detected object data.

10. The driver assistance system of claim 1, wherein the driver assistance system comprises at least one user input device and the viewpoint converter is configured to change the viewpoint, pan, tilt or zoom, based on user inputs from the user input device.

12. The driver assistance system of claim 1, wherein the enhancement of the three dimensional appearance first creates a virtual map reflecting the measured distances of objects surrounding the vehicle and, then, creates a mesh on the surface of this virtual map comprising smaller mesh areas.

13. The driver assistance system of claim 12, wherein the size of the mesh areas depends on a curvature of the surface.

14. The driver assistance system of claim 12, wherein the size of the mesh areas are equal.

15. The driver assistance system of claim 12, wherein the size of the mesh areas is adjustable dynamically dependent on the curvature of the corresponding surface areas to be covered by the mesh.

16. The driver assistance system of claim 12, wherein after the mesh is created, all image portions are mapped into the mesh areas taking into consideration their corresponding space orientation.

17. The driver assistance system of claim 16, wherein the mapping of image portions into the mesh areas includes adjusting the viewpoint of the corresponding image portions to be mapped.

11. A method of assisting a driver to display on a vehicle display an image of corresponding surroundings of the vehicle;

capture at least one image of surroundings of the vehicle;

convert the at least one image to another viewpoint having a view looking downwardly from above the vehicle;

detect a distance of at least one object in surroundings of the vehicle with at least one sensor to determine the distance of an object; and

modify the viewpoint converted image to enhance a three dimensional appearance of the at least one object in the viewpoint converted image,

enhancing the three dimensional appearance of the viewpoint converted image by;

generating a three dimensional landscape of at least a section of the vehicle surroundings based on the received sensor data; and

mapping the viewpoint converted image on the generated three dimensional landscape,

wherein the generating of the three dimensional landscape creates a mesh of detected objects in the vehicle surroundings, wherein the shape of the landscape is approximated by mesh areas, each mesh area having a space orientation that is taken into consideration when mapping images of the surrounding of the vehicle into the mesh areas.