DE102016107421A1 - Method for displaying surrounding areas, which can not be detected by a detection device, in the surroundings of a motor vehicle, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for displaying images on a display device (6) of a driver assistance system (2) in a motor vehicle (1), comprising capturing image data representing an environment (7) of the motor vehicle (1) by at least one optical Detection device (3) of the driver assistance system (2), with a processing of currently acquired image data and additionally from previously acquired image data to an image (17), which from above the motor vehicle (1) is a plan view of at least a portion of the motor vehicle (1) and to a surrounding area of the motor vehicle (1) and with the image (17) being displayed on the display device (6), the image (17) showing a vicinity (8) of the surroundings (7) which is in a current position of the motor vehicle (1) under the motor vehicle (1) to give the driver of a motor vehicle an improved overview of the environment of the motor vehicle. The invention also relates to a corresponding driver assistance system (2).

Description

The invention relates to a method for displaying images on a display device of a driver assistance system in a motor vehicle, and to a driver assistance system for a motor vehicle having an optical detection device for capturing image data representing an environment of the motor vehicle, with a control device for processing respectively currently acquired image data and additionally from previously acquired image data to an image showing from above the motor vehicle a plan view of at least a region of the motor vehicle and to a surrounding region of the motor vehicle, and with a display device for displaying the image.

Known automatic parking systems of motor vehicles, which are typically based on distance sensors, such as ultrasonic sensors, display parking spaces identified by the driver on a small display as a display device. If such a system detects several parking spaces, these are often all displayed. Especially in the case of parking space detection with the additional recognition of road markings, many parking spaces can be displayed on a display. Without a real image, which, however, can not be obtained from the data of the distance sensors, a correct assignment of a respective parking space on the display to a parking space in the real world for the driver is often difficult.

Alternatively, there are so-called top-view systems in which a detection range of a camera or another optical image acquisition system is displayed on the display device. In this case, the camera data for a representation in a bird's eye view are converted, that is, the driver can view the vehicle controlled by him on the display as a symbol representation in the real environment from a bird's eye view. It is problematic that the representation of the current field of view of the camera depends and possible parking spaces at a greater distance, so outside a vicinity of the motor vehicle, such as parking spaces where the motor vehicle has already passed, can not be displayed.

In this context, the DE 10 2010 034 127 A1 a method for displaying images on a display device of a driver assistance system in a motor vehicle, in which a plan view of at least one area of the motor vehicle and a surrounding area next to the motor vehicle is respectively generated from currently acquired image data of an optical detection device and additionally from previously acquired image data. Thus, for example, parking spaces at which the motor vehicle has already passed, can be displayed.

The DE 10 2005 013 706 A1 discloses an apparatus for assisting the parking of a vehicle, comprising means for acquiring an image of a surrounding area of the vehicle in the form of image data and means for displaying the image data. By means of an image superimposition device, further image information obtained from distance information of a distance measuring device is superimposed on the reproduction of the image data in the image.

It is the object of the invention to provide a method, a driver assistance system and a motor vehicle, in which the driver of a motor vehicle is provided with an improved overview of the surroundings of the motor vehicle.

This object is solved by the independent claims. Advantageous embodiments will become apparent from the dependent claims, the description and the figures.

A method according to the invention for displaying images on a display device of a driver assistance system in a motor vehicle comprises a series of steps. One step is to acquire image data representing an environment of the motor vehicle by at least one optical detection device of the driver assistance system. A further step is the processing of currently acquired image data and additionally of previously acquired image data for an image, which shows a top view of at least one region of the motor vehicle and an environmental region of the motor vehicle from above the motor vehicle. The top view can therefore represent the at least one area of the motor vehicle or the motor vehicle and the surrounding area of the motor vehicle from a bird's eye view. Capturing and / or processing can also take place here in an iterative process, similar to the panoramas of individual images. For example, as part of the processing constantly new image data can be captured and new images are generated. Another step is to display the image on the display device.

In this case, the displayed image can show the top view from a viewing direction, which coincides with a vehicle vertical axis. Alternatively, the plan view may be shown from a viewing direction that is slightly inclined to the vehicle vertical axis. Light weight can be less than 15, less than 10, less than 5, or less than 3 degrees.

The image shows a near area of the environment, which is in the current position of the Motor vehicle is under the motor vehicle. The near zone may be shown in addition to one or more other areas of the environment. The surroundings under the motor vehicle can therefore be located behind the motor vehicle in plan view and represent, for example, a road or another floor under the motor vehicle. In the image, the represented environment is represented by the additionally previously acquired image data and not by current image data, that is to say in the current position of the motor vehicle. The vicinity under the motor vehicle may here comprise a first surrounding area which lies geometrically under the motor vehicle in the direction of the vertical axis of the vehicle and / or a second surrounding area which adjoins the first surrounding area and lies geometrically next to the motor vehicle in the direction of the vehicle vertical axis, but outside the vehicle current detection range of the at least one optical detection device is located. The first surrounding area thus corresponds to a projection parallel to the vehicle vertical axis on a substrate, and the second surrounding area corresponds to an edge adjoining the first surrounding area. The shown short range can also be adapted dynamically to respective predetermined conditions, so that different parts of the first and / or second surrounding area are shown in different conditions.

This has the advantage that the driver can perceive floor markings or obstacles that can be driven over, such as curbs, and thus obtain an improved overview of the surroundings of the motor vehicle. As a result, he can for example better estimate a behavior of the vehicle when he drives over a curb, or notice a danger point in the exit area, such as a gully, next to or under a door area of the motor vehicle easier. Especially at confusing places, where it is usually tight and in which just the vicinity of the motor vehicle, which is often enough outside a direct field of view of the driver, is of particular interest to avoid collisions and the like, the described method is advantageous , The driver can thus check exactly how far he can drive in special cases, when the corresponding area of the environment, the vicinity, is no longer in the detection range of the vehicle or in the field of vision of the driver.

In an advantageous embodiment, it is provided that the near region of the environment lying in the current position of the motor vehicle below the motor vehicle lies outside a current detection range of the at least one optical detection device. The optical detection device may comprise one or more cameras, for example a 360-degree camera. Since the surroundings outside of a current detection range of the conventional optical detectors are just surrounding areas which are very close to the automobile, an optical indication of this environment is advantageous. In the prior art, this near range is typically detected exclusively by distance sensors, such as ultrasonic sensors, in which naturally many information of interest to the driver can not be detected and correspondingly can not be reproduced. These disadvantages are avoided by the described embodiment.

The optical detection device may be a detection device which is sensitive in a predetermined spectral range, in particular in the spectral range visible to humans. Alternatively or additionally, however, a sensitivity may be present in a further spectral range, for example in the range of radar waves. This has the advantage that the image provides a particularly accurate representation of the environment of the motor vehicle and the driver further dimensions or non-visible aspects of the environment, which are openable with or only with the other detection device open.

In a further embodiment, it is provided that the motor vehicle or the at least one region of the motor vehicle in the image at least partially, that is partially or partially or completely, at least semi-transparent, ie semi-transparent or transparent, is shown. Semi-transparent is to be understood here as meaning that the one indicated below is recognizable through the illustrated motor vehicle or the illustrated area of the motor vehicle. In this case, at least the region of the motor vehicle is shown at least semi-transparent by predetermined objects, such as markers or recessed objects such as manhole cover or overflow obstacles such as curbs are arranged and / or were recognized. In particular, however, a contour of the motor vehicle is shown non-transparent. A contour can be an outline here. Non-transparency can be understood here as opaque. This has the advantage that the environment under the motor vehicle can be set by the driver in a particularly intuitive manner in relation to the real environment and the behavior of the motor vehicle. In addition, objects in the environment can thus be easily recognizable to the driver and, at the same time, the motor vehicle or the area of the motor vehicle can easily be recognized as such. Thus, this also improves the overview of the driver about the environment of the motor vehicle.

In a further advantageous embodiment, it is provided that at least one surrounding area with predetermined properties is optically highlighted in the image. In particular, a surrounding area can be highlighted, in which by the driver assistance system a parking space and / or a parking prohibition and / or a ground mark, for example a parking lot number or hatching or a prohibition signal, and / or a drive-over obstacle, for example a curb, and / or a non-drivable obstacle, for example another motor vehicle and / or a bollard, and / or a danger spot, for example a gully and / or an embankment, has been detected. The at least one surrounding area can also be marked here signaling. This has the advantage that the clarity is improved, especially on a display device with a limited size, since even small obstacles, danger spots or markings, which are otherwise easily overlooked on the display device, are particularly easy to detect for the driver or another user.

In a further advantageous embodiment it is provided that, depending on the image data acquired by the optical detection device, a first environment map is generated and the image comprises a representation of this environment map or at least a part of the environment map. In such an environment map, a plurality of objects with respective spatial references to each other and their respective dimensions can be deposited. In particular, a metric in the sense of a metric space can also be defined in the environment map. This has the advantage that the reproduction of the environment on the image is particularly accurate and the integration of further data with respect to the environment of the motor vehicle in a particularly simple manner is possible and provides accurate results. In addition, further transformations, for example scaling, can be carried out particularly simply and quickly with little computation effort.

In a further advantageous embodiment it can be provided that further information from the environment of the motor vehicle is detected by a further detection device, and in the processing of the image data to the image, the further information is taken into account. The further information may in particular include distance data. Alternatively, distance data can also be generated directly from the acquired image data, for example via image recognition routines. Such image recognition routines are preferable to use when the optical detection device comprises a stereo camera. In this last case, the further information can also be taken into account in the processing of the image data for the image without further detection device.

The further detection device is, in particular, a detection device functionally different from the optical detection device. This has the advantage that the visual impression which the driver receives from the image of the optical detection device can be additionally quantified or concretized, for example by an indication of distance data, which is displayed both in numerical form and in the established form of threshold values or threshold value bars can happen. Also, for example, a size of a parking space or a parking space can be displayed.

It can be provided that the further detection device comprises a distance measuring device and the further information includes distance data of the motor vehicle to one or more objects in the environment. The distance measuring device may be an ultrasonic distance measuring device. This has the advantage that the parking sensors which are usually already used in modern vehicles and which are often based on ultrasonic sensors can be used, and thus the accuracy of the image and the driver's overview of the surroundings can be improved without much additional effort. Moreover, by means of such distance measuring devices, regions which are close to the motor vehicle and often lie outside a detection range of an optical detection device can easily be detected. Thus, the proximity region of the motor vehicle, which is already outside the detection range of the optical detection device in a current position of the motor vehicle, can be detected and thus represented in the image based on current or at least more recent data than if only the image data were processed during the processing of the image data would be considered to the picture.

In a further embodiment it is provided that, depending on the further information, a second environment map is generated, the two environment maps are superimposed, and an image generated from the superimposed environment maps is displayed on the display device. This has the advantage that the picture shows an even more accurate representation of the environment. Moreover, further transformations, for example scaling or dynamic display of the environment, are thus independent of the concrete representation on the image and very easy to handle mathematically, so that the representation is suitable for the best possible overview of the surroundings of the motor vehicle, even with little computational effort in different situations can be selected by a controller or the driver.

In a further advantageous embodiment, it is provided that in the generated image, the first environment map is displayed non-transparent and the second environment map is generated at least partially semi-transparent or transparent and the second environment map of the first environment map is superimposed in the image. The generated image may thus comprise a non-transparent representation of the first environment map and an at least partially transparent and / or semi-transparent representation of the second environment map, which can be placed on the image on the representation of the first map of the area. This has the advantage that the assignment of objects detected in the second environment map, for example parking spaces to the real world, which is depicted in the first environment map, is particularly simple.

In a further embodiment, it may be provided here that an area identifiable with the further detection device is shown superimposed in the surroundings in the location in the representation of the surroundings in the first environment map. The identifiable region may also be referred to as an identifiable zone. The identifiable zone may in particular be identifiable only with the further detection device. The further detection device recognizes its or its type or type for the identifiable zone or the identifiable area. In this case, the further detection device can, for example, also access external services, such as for example an Internet, in order to detect properties about the environment and to identify a respective zone. Due to the location-specific overlay, a precise information previously stored only in the second environment map, for example with more accurate dimensions than the optical detection device, is assigned to the first environment map in an intuitively comprehensible manner for the driver. This provides the driver with a better overview of the surroundings of the motor vehicle, so that he can easily and quickly assign the features recognized in the second environment map by the driver assistance system to the real world.

In particular, a zone that is detected in the environment map of the optical detection device but can not be evaluated in its function and suitability by the optical detection device is thus also functionally identified. This is then made possible by the further detection device. In the image, the zone is then shown in particular redundant and by the local superposition is achieved by the representation of the zone in the second environment map also a functional signaling of this zone and the observer optically signaled or presented accordingly.

In a further embodiment it is provided that a non-linear scale, in particular a logarithmic scale, is used for displaying the image. In this case, objects in the representation of the motor vehicle closer image areas can be displayed larger than objects in the representation of the motor vehicle more distant image areas. Thus, a large, detailed representation of a close-up of the motor vehicle is combined with the overview provided by a representation of the long-range in the image. At the same time, the representation of the proximity area, which is of particular importance for the avoidance of collisions, does not suffer from the provision of an overview of a large surrounding area of the motor vehicle. Also, a close-up representation that is enlarged relative to the far-end area is advantageous, as it is precisely those features of the environment (e.g., gullies or curbs) of interest in the vicinity that are typically smaller than the far-range features (e.g., parking or other vehicles).

In a further advantageous embodiment, it is provided that the image is scaled as a function of a driving speed and / or a direction of travel of the motor vehicle. This has the advantage that, for example, at a slow driving speed, only the nearer surroundings of the motor vehicle are displayed, and at a higher driving speed, a larger surrounding area. Also, especially during a reverse drive, a smaller section of the environment can be displayed. Especially when reversing the display of an under the vehicle environment is helpful because the rear environment is often difficult for a driver to see, so that obstacles or objects on the ground and markers on the ground can be easily overlooked. Thus, a relevant area of the environment can always be displayed to the driver. It can also be on a non-linear scale are omitted, which could be used to a driver might need.

In another advantageous embodiment it is provided that the at least one region of the motor vehicle or the motor vehicle in the image depends on the driving speed and / or the direction of travel and / or a route guidance by the driver assistance system and / or a park guidance by the driver assistance system and / or a activated direction change display device of the motor vehicle is displayed centrally or decentralized in the image. Here as well, the region of the surroundings of the motor vehicle can be displayed, which is of particular relevance to the driver for all experience or foresight. Again, can be dispensed with a non-linear scale, which u.U. could get used to for a driver.

The invention also relates to a driver assistance system for a motor vehicle, having at least one optical detection device for acquiring image data representing an environment of the motor vehicle, with a control device for processing respectively currently acquired image data and additionally from previously acquired image data for an image which is from above of the motor vehicle shows a plan view of at least a portion of the motor vehicle and on a surrounding area of the motor vehicle, and with a display device for displaying the image. In this case, the control device is designed to also show in the image a proximity of the surroundings, which lies in the current position of the motor vehicle under the motor vehicle.

Advantages and advantageous embodiments of the driver assistance system here correspond to advantages and advantageous embodiments of the method for displaying images on a display device of the driver assistance system and vice versa.

In a further advantageous embodiment, it is provided here that the driver assistance system is designed for partially autonomous and / or autonomous parking. Under a semi-autonomous parking is also an assisted parking can be understood, in which, for example, a steering angle determined by the driver assistance system and a position of the accelerator pedal by a driver. Parking can include entry and / or parking. This has the advantage that surprises for the driver can be avoided by displaying the proximity area under the motor vehicle and the improved overview of the surroundings. For example, when driving over a curb, he will be able to more easily estimate how much gas he has to give or not to scare, if in an autonomous parking operation the vehicle suddenly suddenly and without a corresponding indication gas.

The invention also relates to a motor vehicle with such a driver assistance system.

The term "below" may here mean the position and orientation given when the vehicle is used as intended and disposed of as intended and when an observer is seated in front of the vehicle or seated in the motor vehicle.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respectively specified combination but also in other combinations without the scope of the invention leave. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. Moreover, embodiments and combinations of features, in particular by the embodiments set out above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out in the back references of the claims.

Embodiments of the invention are explained in more detail below with reference to schematic drawings. Showing:

1 a schematic plan view of a motor vehicle with a driver assistance system;

2 an embodiment of a display device, with an exemplary representation of a first area map in an exemplary traffic situation;

3 the display device off 2 in a traffic situation following the first traffic situation;

4 the display device off 2 in a further traffic situation following the first two traffic situations;

5 the display device off 2 in the local traffic situation with an exemplary representation of a second area map; and

6 an exemplary overlay of the two environment maps 2 and 5 ,

In the figures, identical or functionally identical elements are provided with the same reference numerals.

1 shows a schematic representation of a motor vehicle 1 with a driver assistance system 2 , The driver assistance system 2 here comprises an optical detection device 3 , which present several, shown four, cameras 3a . 3b . 3c and 3d having. The optical detection device 3 could, however, for example, more or have fewer cameras, eg a single 360 ° camera. In addition to the optical detection device 3 has the driver assistance system 2 here also another detection device 5 , present with the other sensors 5a . 5b . 5c . 5d . 5e . 5f . 5g . 5h on, which are designed here as ultrasonic sensors. The driver assistance system 2 further comprises a control device 3 , which with the optical detection device 3 as well as with a display device 6 is coupled.

The optical detection device 3 here serves to capture image data representing an environment 7 of the motor vehicle 1 represent. This image data is stored in the controller 4 processed into a picture. For this purpose, the controller uses 4 both currently captured image data and in addition to previously captured image data. The image generated from the image data shows a plan view, for example from a bird's eye view, of at least one area of the motor vehicle 1 and to a surrounding area of the motor vehicle 1 ,

In the present embodiment, by the control device 4 from the via the optical detection device 3 captured image data a first map of the area 9 ( 2 - 4 ) be generated. That in the display 6 The picture displayed is then a representation of this first map of the surroundings 9 ,

In addition, the controller processes 4 in this example also more information from the environment 7 of the motor vehicle 1 passing through the further detection device 5 be recorded. In the present case, the further detection device is concerned 5 an ultrasonic distance measuring device, which information in the form of distance data of the motor vehicle 1 to respective objects in the environment 7 to capture. The control device 4 processes in this example the further information about a second environment map 9 ' ( 5 ). The control device 4 is designed accordingly, the two environment maps 9 . 9 ' to be superimposed in the exact location and one from the superimposed environment maps 9 . 9 ' generated image 17 ( 6 ) on the display device 6 display.

A close range 8th the environment 7 of the motor vehicle 1 , which comprises the surroundings under the motor vehicle and an edge region adjoining the region of the surroundings which is geometrically located below the motor vehicle, is here outside the detection range of the optical detection system 3 , Present in the first map of the area 9 thus the information at close range 8th the environment 7 always generated only from previously acquired image data and not from the currently acquired image data. Here is the close range 8th However, it may also vary depending on the detection range of the optical detection system 3 and also the further detection range of the further detection system 5 take a different form.

2 shows an embodiment of a display device 6 , with an exemplary representation of the first map of the area 9 in an exemplary traffic situation. The environment map 9 corresponds here with a use of the optical detection device 3 without further detection device (s) 5 the picture shown 17 ( 6 ). However, the area map can 9 also generally include elements present or in the picture 17 as a section of a map are not shown.

Shown is an image 1' of the motor vehicle 1 and an image 7 ' the environment 7 of the motor vehicle 1 from a bird's eye view. For better understanding here is also a detection area 10 the optical detection device 3 as well as the close range 8th shown. The illustration shows the image 1' of the motor vehicle 1 on a roadway next to a number of parked across the direction of travel other vehicles 11a . 11b . 11c , Between the carriageway and the other motor vehicles 11a . 11b . 11c In the present case, a curb runs as a drive-over obstacle 14 , In the present case, the curb is also considered as an overridden obstacle 14 is detected and is therefore represented in the current image data. The appearance of itself within the coverage 10 Objects located here based on currently captured image data, the representation of objects outside the detection area 10 as well as within the vicinity 8th on previously acquired image data. For a better understanding of the reader are the other motor vehicles 11a . 11b . 11c fully illustrated, even if they are in the area map 9 in a real situation may be only partially captured.

The driver now wants in the example shown according to the dashed arrow shown here only for clarity 12 backwards in a parking possibility 13 turn in, he just passed by. Accordingly, the motor vehicle 11c or the empty parking space 13 previously by the optical detection device 3 captured and can on the display device 6 as shown.

3 and 4 now show a further course of the exemplary traffic situation 2 , In 3 the driver is now halfway back in the free parking 13 retracted. The environment 7 of the motor vehicle 1 is represented here by the current image data, so the environment map 9 within the coverage area 10 accordingly constantly updated. Outside the current coverage 10 based the presentation 7 ' the environment 7 on the previously captured image data. The current image data now also represent other features of the environment 7 namely a danger point 15 in the form of a gully and a marker 16 namely, the number of parking 13 , The representation of the part of the curb-mounted obstacle 14 , which is below the motor vehicle 1 is now based on the previously, for example in the in 2 illustrated situation, captured image data.

In the present case, therefore, is the image 1' of the motor vehicle 1 semi-transparent, so translucent about the presentation 7 ' the environment 7 of the motor vehicle 1 shown.

The driver thus knows exactly when, for example, the motor vehicle 1 with his wheels 18 drives over the curb and can dose the gas accordingly. This is just in a supported parking operation, in which, for example, the steering angle of the driver assistance system 2 is determined, helpful.

In 4 is the motor vehicle 1 now in the parking 13 , The curb as a traversable obstacle 14 is completely overrun and is back in the detection area 10 the optical detection device 3 , However, both the ground marking 16 as well as the danger spot 15 now outside the coverage area 10 namely in the vicinity 8th of the motor vehicle 1 or under the motor vehicle. Accordingly, these areas of the image are now processed or generated from the previously acquired image data. Such obstacles, danger positions or markings can also be visually highlighted or signalized by way of image processing. In the example shown, the driver, even if he has not paid attention to this, for example, can easily recognize that he is on the parking 13 with the number "Thirteen" and that he should get out with increased caution when disembarking to avoid a fall or a loss of an object in the gully.

It should also be noted that in the three 2 to 4 the section of the environment map 9 was scaled differently and also the position of the image 1' of the motor vehicle 1 adapted to the current situation, for optimal perception of the environment 7 or the image 7 ' the environment 7 to achieve. So is in 1 the area of the environment 7 represented in which the motor vehicle 1 moves, in 2 especially the area shown in which the motor vehicle 1 turns in and out 4 in the stationary vehicle, the environment of the motor vehicle 1 evenly displayed and the image 1' of the motor vehicle 1 centrally located. In 3 and 4 are the representations generated from previously acquired image data in the near field 8th dashed lines reproduced.

In 5 is the display off 2 in the local traffic situation with an exemplary representation of a second area map 9 ' shown. This illustration of the second environment map 9 ' So could from a sole use of the other detection device 5 be generated. However, it is only shown here for the operation of the second environment map 9 ' to clarify.

The traffic situation in the example chosen is identical to that in 2 shown traffic situation. However, because of the additional detection device 5 Distance information and no optical information are obtained, in the present case in the environment of the motor vehicle, only the drivable obstacle 14 in the form of the curb and the other motor vehicles 11 detected in the form of a non-traversable obstacle. Also the parking possibility 13 was from the other detection device 5 recognized as such. For example, this can be done by measuring respective distances and comparing them with in the control device 4 deposited minimum distances can be realized. Accordingly, the respective areas or zones are in the second environment map 9 ' as each non-drivable area 11 ' , overrun obstacle 14 ' and payable area 13 ' identified and marked.

These zones, which are also in the first map of the area 9 the optical detection device 3 are detected or represented, but here in their function and suitability by the optical detection device 3 could not be evaluated were accordingly present by the further detection device 5 functionally identified. In the from the two environment maps 9 . 9 ' resulting image 17 ( 6 ), the respective zones are then displayed redundantly in succession, once as a non-transparent representation in the background and once as a semi-transparent representation superimposed on the background. The two representations then independently contribute to improved driver information.

In 6 will now be an example overlay of the two map 9 . 9 ' out 2 and 5 as a picture 17 shown. Thus, in the present case, the optically detected, already off 2 to see known information. In addition, the in 5 marked areas 14 ' of the curb as a traversable obstacle 14 as well as the area 11 ' the other motor vehicles 11a . 11b . 11c as a non-negotiable obstacle 11 and the parking area 13 ' the parking possibility 13 according to the respective Detection marked. Such an accurate and reliable marking is possible by the local superposition of the two environment maps 9 and 9 ' , As a result, a previously only in the second environment map 9 ' deposited precise information, for example, with more accurate dimensions than the optical detection device 3 this allows the first environment map 9 assigned. This will give the driver a better overview of the environment 7 of the motor vehicle 1 realized, so he here in the second map of the area 9 ' through the driver assistance system 2 recognized features easily and quickly the real world or environment 7 can assign. Due to the local overlay, the representation of the zone in the second environment map is used 9 ' also as a functional signaling of this zone. The driver or observer is then optically signaled or presented this zone accordingly. The semi-transparent representation acts here thus similar to a marking or emphasis. Due to the functional diversity of the two detection devices 3 . 5 In this case, a particular reliability is achieved in providing an improved overview of the environment of the motor vehicle.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102010034127 A1 [0004]
• DE 102005013706 A1 [0005]

Claims (15)

Method for displaying images on a display device ( 6 ) of a driver assistance system ( 2 ) in a motor vehicle ( 1 ), with the steps: - Capturing image data that an environment ( 7 ) of the motor vehicle ( 1 ) by at least one optical detection device ( 3 ) of the driver assistance system ( 2 ); Processing of currently captured image data and additionally of previously acquired image data to an image ( 17 ), which from above the motor vehicle ( 1 ) is a plan view of at least a portion of the motor vehicle ( 1 ) and on a surrounding area of the motor vehicle ( 1 ) shows; and - displaying the image ( 17 ) on the display device ( 6 ); characterized in that the image ( 17 ) a close range ( 8th ) the environment ( 7 ), which in a current position of the motor vehicle ( 1 ) under the motor vehicle ( 1 ) lies. A method according to claim 1, characterized in that in the current position of the motor vehicle ( 1 ) under the motor vehicle ( 1 ) lying near area ( 8th ) outside of a current coverage area ( 10 ) of the at least one optical detection device ( 3 ) lies. Method according to one of the preceding claims, characterized in that the motor vehicle ( 1 ) in the picture ( 17 ) is shown at least partially at least semi-transparent, but in particular a contour of the motor vehicle ( 1 ) is shown non-transparent. Method according to one of the preceding claims, characterized in that in the image ( 17 ) at least one surrounding area ( 11 ' . 13 ' . 14 ' ) is highlighted visually with predetermined properties, in particular surrounding areas, in which by the driver assistance system ( 2 ) a parking space ( 13 ) and / or a parking ban and / or a ground mark ( 16 ) and / or a drivable obstacle ( 14 ) and / or a non-drivable obstacle ( 11 ) and / or a hazardous point ( 15 ) was detected. Method according to one of the preceding claims, characterized in that, depending on the optical detection means ( 3 ) captured image data a first environment map ( 9 ) and the image ( 17 ) a representation of this map of the surroundings ( 9 ). Method according to one of the preceding claims, characterized in that further information from the environment ( 7 ) of the motor vehicle ( 1 ) by a further detection device ( 5 ), in particular to the optical detection device ( 3 ) functionally different detection means are detected, and in the processing of the image data to the image ( 17 ) the further information is considered. Method according to claim 6, characterized in that the further detection device ( 5 ) comprises a distance measuring device, in particular an ultrasonic distance measuring device, and the further information distance data of the motor vehicle ( 1 ) to an object in the environment ( 7 ). Method according to claim 5 and claim 6 or 7, characterized in that, depending on the further information, a second environment map (9 ') is generated, the two environment maps ( 9 . 9 ' ) and one from the superimposed environment maps ( 9 . 9 ' ) generated image ( 17 ) on the display device ( 6 ) is shown. Method according to claim 8, characterized in that in the generated image ( 17 ) the first map of the area ( 9 ) is rendered non-transparent and the second environment map ( 9 ' ) is generated at least partially semi-transparent and the second environment map ( 9 ' ) of the first environment map ( 9 ) in the picture ( 17 ) is superimposed. A method according to claim 9, characterized in that a with the further detection device ( 5 ) identifiable area in the environment ( 7 ) Locally accurate in the representation ( 7 ' ) the environment ( 7 ) in the first environment map ( 9 ) is superimposed. Method according to one of the preceding claims, characterized in that the image ( 17 ) in dependence on a driving speed and / or a direction of travel of the motor vehicle ( 1 ) is scaled. Method according to one of the preceding claims, characterized in that the at least one region of the motor vehicle ( 1 ) or the motor vehicle ( 1 ) in the picture ( 17 ) depending on the driving speed and / or the direction of travel and / or a route guidance by the driver assistance system and / or parking guidance by the driver assistance system and / or an activated change of direction display device of the motor vehicle ( 1 ) central or decentralized in the picture ( 17 ) is shown. Driver assistance system ( 2 ) for a motor vehicle ( 1 ), comprising: - at least one optical detection device ( 3 ) for capturing image data representing an environment ( 7 ) of the motor vehicle ( 1 represent); A control device ( 4 ) for processing each currently captured image data and additionally from previously captured image data to an image ( 17 ), which from above the motor vehicle ( 1 ) a plan view of at least a portion of the motor vehicle ( 1 ) and on a surrounding area of the motor vehicle ( 1 ) shows; and a display device ( 6 ) to display the image ( 17 ); characterized in that the control device ( 4 ), in the image ( 17 ) also a close range ( 8th ) the environment ( 7 ), which in a current position of the motor vehicle ( 1 ) under the motor vehicle ( 1 ) lies. Driver assistance system ( 2 ) according to claim 13, characterized in that the driver assistance system ( 2 ) is designed for semi-autonomous and / or autonomous parking. Motor vehicle ( 1 ) with a driver assistance system ( 2 ) according to claim 13 or 14.

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