DE102016107421B4 - Method for displaying environmental areas in the surroundings of a motor vehicle that cannot be detected by a detection device, driver assistance system and motor vehicle - Google Patents

Abstract

Method for displaying images on a display device (6) of a driver assistance system (2) in a motor vehicle (1), comprising the steps:
- capturing image data representing an environment (7) of the motor vehicle (1) by at least one optical capturing device (3) of the driver assistance system (2);
- processing currently acquired image data and additionally previously acquired image data to produce an image (17) which shows a plan view of at least one area of the motor vehicle (1) and of an area surrounding the motor vehicle (1) from above the motor vehicle (1); and
- Displaying the image (17) on the display device (6); wherein the image (17) shows a close-up area (8) of the surroundings (7), which, in a current position of the motor vehicle (1), lies beneath the motor vehicle (1), characterized in that a first surroundings map (9) is generated depending on the image data acquired by the optical acquisition device (3), and the image (17) comprises a representation of this surroundings map (9), wherein further information from the surroundings (7) of the motor vehicle (1) is acquired by a further acquisition device (5), in particular a functionally different acquisition device from the optical acquisition device (3), and the further information is taken into account when processing the image data to form the image (17), and wherein a second surroundings map (9') is generated depending on the further information, the two surroundings maps (9, 9') are superimposed, and an image (17) generated from the superimposed surroundings maps (9, 9') is displayed on the display device (6).

Description

The invention relates to a method for displaying images on a display device of a driver assistance system in a motor vehicle, as well as a driver assistance system for a motor vehicle with an optical detection device for detecting image data which represent an environment of the motor vehicle, with a control device for processing currently detected image data and additionally previously detected image data to form an image which shows a plan view of at least one area of the motor vehicle and of an area surrounding the motor vehicle from above the motor vehicle, and with a display device for displaying the image.

Common automatic parking systems for motor vehicles, which are typically based on distance sensors such as ultrasonic sensors, display detected parking spaces on a small display. If such a system detects multiple parking spaces, they are often all displayed. Especially in the case of parking space detection with the additional detection of road markings, many parking spaces can be shown on one display. Without a real image, which cannot be obtained from the data from the distance sensors, it is often difficult for the driver to correctly associate a parking space on the display with a parking space in the real world.

Alternatively, there are so-called top-view systems, in which the detection area of a camera or other optical image capture system is shown on the display. The camera data is converted to create a bird's-eye view, meaning the driver can view the vehicle they are driving on the display as a symbol in the real environment from a bird's-eye view. The problem with this is that the display depends on the camera's current field of view, and possible parking spaces at a greater distance, i.e., outside the immediate vicinity of the vehicle, such as parking spaces the vehicle has already passed, cannot 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 top view of at least one area of the motor vehicle and an area surrounding the motor vehicle is generated from currently acquired image data from an optical capture device and additionally from previously acquired image data. This allows, for example, parking spaces that the motor vehicle has already passed to be displayed.

The DE 10 2005 013 706 A1 discloses a device for assisting the parking of a vehicle, comprising a device for capturing an image of an area surrounding the vehicle in the form of image data and a device for reproducing the image data. An image overlay device superimposes additional image information obtained from distance information from a distance measuring device onto the reproduction of the image data in the image.

The DE 10 2013 207 906 A1 discloses methods and devices for positioning a vehicle, wherein the vehicle comprises a camera configured to capture the surroundings of the vehicle. Image data from the camera is received, and reference data is accessed, wherein the reference data comprises information about a reference object in the captured surroundings, and wherein relative positions of the vehicle to the reference object are determined.

The DE 10 2010 005 501 A1 discloses a method for evaluating sensor data of an environment sensor relating to the environment of a vehicle, wherein, in order to describe the position of an environment feature determined during the evaluation, said feature is assigned to one of several consecutive strips in the longitudinal direction of the motor vehicle together with at least one indication of its transverse position within the strip perpendicular to the longitudinal direction of the motor vehicle in the roadway plane.

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 problem is solved by the independent patent claims. Advantageous embodiments emerge from the dependent patent claims, the description, and the figures.

A method for displaying images on a display device of a driver assistance system in a motor vehicle comprises a series of steps. One step is capturing image data representing the surroundings of the motor vehicle by at least one optical capturing device of the driver assistance system. A further step is processing currently captured image data and, in addition, previously captured image data into an image that provides a top view of at least one area from above the motor vehicle. of the motor vehicle and an area surrounding the motor vehicle. The top view can therefore show at least one area of the motor vehicle or the motor vehicle and the area surrounding the motor vehicle from a bird's eye view. The capturing and/or processing can also take place in an iterative process, similar to that which occurs with panoramas from individual images. For example, new image data can be constantly captured and new images generated during processing. A further step is displaying the image on the display device. The displayed image can show the top view from a viewing direction that coincides with a vehicle vertical axis. Alternatively, the top view can be shown from a viewing direction that is slightly inclined to the vehicle vertical axis. Slightly here can mean less than 15, less than 10, less than 5 or less than 3 degrees.

The image shows a close-up area of the surroundings, which lies beneath the motor vehicle in its current position. The close-up area can be shown in addition to one or more other areas of the surroundings. The surroundings beneath the motor vehicle can therefore be located behind the motor vehicle in a plan view and can, for example, represent a road or other ground beneath the motor vehicle. In the image, the displayed surroundings are represented by the additional previously acquired image data and not by image data currently acquired, i.e., in the motor vehicle's current position. The close-up area beneath the motor vehicle can comprise a first surrounding area, which lies geometrically beneath the motor vehicle in the direction of the vehicle's vertical axis, and/or a second surrounding area, which borders the first surrounding area and lies geometrically next to the motor vehicle in the direction of the vehicle's vertical axis, but lies outside the current detection range of the at least one optical detection device. The first surrounding area thus corresponds to a projection parallel to the vehicle's vertical axis onto a surface, and the second surrounding area corresponds to an edge bordering the first surrounding area. The near field shown can also be dynamically adapted to respective predetermined conditions, so that different parts of the first and/or second environmental 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 gains a better overview of the vehicle's surroundings. As a result, they can, for example, better assess the vehicle's behavior when driving over a curb, or more easily notice a hazard in the exit area, such as a drain, next to or below a vehicle door. The described method is particularly advantageous in locations with limited visibility, where space is usually tight and where the immediate surroundings of the vehicle, which are often outside the driver's direct field of vision, are of particular interest in order to avoid collisions and the like. The driver can thus check exactly how far they can drive in special cases when the corresponding area of the surroundings, the near area, is no longer within the vehicle's detection range or the driver's field of vision.

In an advantageous embodiment, it is provided that the near area of the surroundings located beneath the motor vehicle in the current position of the motor vehicle lies outside a current detection range of the at least one optical detection device. The optical detection device can comprise one or more cameras, for example a 360-degree camera. Since the surroundings lying outside a current detection range of the usual optical detection devices are precisely surrounding areas that are very close to the motor vehicle, a visual display of this surroundings is advantageous. In the prior art, this near area is typically detected exclusively by distance sensors such as ultrasonic sensors, which naturally do not detect much information that is of interest to the driver and therefore cannot be reproduced. These disadvantages are avoided by the described embodiment.

The optical detection device can be a detection device that is sensitive in a given spectral range, particularly the spectral range visible to humans. Alternatively or additionally, however, sensitivity can be present in a wider spectral range, for example, in the radar wave range. This has the advantage that the image provides a particularly accurate representation of the vehicle's surroundings and opens up additional dimensions or invisible aspects of the environment to the driver, which can be accessed with or only with the additional detection device.

In a further embodiment, it is provided that the motor vehicle or at least one area of the motor vehicle is shown in the image at least partially, i.e. partially or partially or completely, at least semi-transparently, i.e. semi-transparent or transparently. Semi-transparent here means that the showed, is shown recognizably through the shown motor vehicle or the shown area of the motor vehicle. In this case, at least the area of the motor vehicle is shown at least semi-transparently in that predetermined objects, for example markings or embedded objects such as manhole covers or obstacles that can be driven over such as curbs, are arranged and/or have been recognized. In particular, however, a contour of the motor vehicle is shown non-transparently. A contour can be an outline here. Non-transparency can be understood here as opaque. This has the advantage that the driver can put the environment beneath the motor vehicle in relation to the real environment and the behavior of the motor vehicle in a particularly intuitive way. Furthermore, objects in the environment can be easily recognized by the driver and at the same time the motor vehicle or the area of the motor vehicle can still be easily recognized as such. This also improves the driver's overview of the environment of the motor vehicle.

In a further advantageous embodiment, at least one surrounding area with predetermined properties is visually highlighted in the image. In particular, a surrounding area can be highlighted in which the driver assistance system has detected a parking space and/or a parking ban and/or a ground marking, for example a parking space number or hatching or a prohibition sign, and/or a drivable obstacle, for example a curb, and/or a non-drivable obstacle, for example another motor vehicle and/or a bollard, and/or a hazard, for example a storm drain and/or an embankment. The at least one surrounding area can also be marked with a signal. This has the advantage that clarity is improved, especially on a display device of limited size, since even small obstacles, hazards, or markings that would otherwise be easily overlooked on the display device are particularly easy for the driver or other user to detect.

According to the invention, a first environmental map is generated depending on the image data acquired by the optical capture device, and the image comprises a representation of this environmental map or at least part of the environmental map. A large number of objects with respective spatial relationships to one another and respective dimensions can be stored in such an environmental map. In particular, a metric in the sense of a metric space can also be defined in the environmental map. This has the advantage that the reproduction of the environment in the image is particularly accurate and the integration of further data relating to the environment of the motor vehicle is possible in a particularly simple manner, thereby delivering accurate results. Furthermore, further transformations, for example scaling, can be carried out particularly easily and quickly with little computational effort.

According to the invention, it is further provided that further information from the surroundings of the motor vehicle is acquired by a further acquisition device, and that the further information is taken into account when processing the image data into the image. The further information can, in particular, comprise 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 preferably used when the optical acquisition device comprises a stereo camera. In this latter case, the further information can also be taken into account when processing the image data into the image without the need for a further acquisition device.

The additional detection device is, in particular, a detection device that is functionally different from the optical detection device. This has the advantage that the visual impression the driver receives from the image from the optical detection device can be further quantified or specified, for example, by displaying distance data, which can be done both in numerical form and in the established form of threshold values or threshold bar displays. This can also be used to display the size of a parking space or parking gap, for example.

It can be provided that the further detection device comprises a distance measuring device and the further information comprises distance data of the motor vehicle to one or more objects in the surroundings. The distance measuring device can be an ultrasonic distance measuring device. This has the advantage that the parking sensors already commonly used in modern vehicles, which are often based on ultrasonic sensors, can be used, thus additionally improving the accuracy of the image and the driver's overview of the surroundings without great additional effort. Furthermore, such distance measuring devices can also easily detect areas close to the motor vehicle, which are often outside the detection range of an optical detection device. This also makes it possible to detect the immediate area of the motor vehicle, which in a current position of the motor vehicle is already outside the detection range of the optical detection detection device, and thus displayed in the image based on current or at least more current data than if only the image data were taken into account when processing the image data into the image.

Furthermore, the invention provides that, depending on the additional information, a second map of the surroundings is generated, the two maps of the surroundings are superimposed, and an image generated from the superimposed maps of the surroundings is displayed on the display device. This has the advantage that the image shows an even more precise representation of the surroundings. Furthermore, further transformations, such as scaling or a dynamic display of the surroundings, are independent of the specific representation in the image and are mathematically particularly easy to handle, so that the display most suitable for the best possible overview of the surroundings of the motor vehicle can be selected by a control device or the driver in different situations, even with little computational effort.

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

In a further embodiment, it can be provided that an area in the environment that can be identified with the further detection device is shown superimposed with precise location in the representation of the environment in the first environment map. The identifiable area can also be referred to as an identifiable zone. In particular, the identifiable zone can only be identifiable with the further detection device. The further detection device recognizes the type or nature of the identifiable zone or area. In this case, the further detection device can, for example, also access external services such as the Internet in order to record properties of the environment and identify a respective zone. Through the precise location overlay, precise information that was previously only stored in the second environment map, for example with more precise dimensions than the optical detection device allows, is assigned to the first environment map in a way that is intuitively comprehensible for the driver. This provides the driver with a better overview of the vehicle's surroundings, allowing them to easily and quickly relate the features detected in the second environment map by the driver assistance system to the real world.

In particular, a zone that is captured or displayed in the environmental map of the optical detection device, but whose function and suitability cannot be assessed by the optical detection device, is then also functionally identified. This is then made possible by the additional detection device. The zone is then displayed redundantly in the image, and the precise location overlay also achieves functional signaling of this zone through the representation of the zone in the second environmental map, and this is optically signaled or presented to the observer accordingly.

In a further embodiment, a non-linear scale, in particular a logarithmic scale, is used to display the image. Objects in the image areas closer to the representation of the motor vehicle can be displayed larger than objects in the image areas farther from the representation of the motor vehicle. This combines a large, detailed representation of the near area of the motor vehicle with the overview provided by a representation of the far area in the image. At the same time, the representation of the near area, which is particularly important for avoiding collisions, does not suffer from providing an overview of a large area surrounding the motor vehicle. A representation of the near area that is enlarged relative to the far area is also advantageous, since the environmental features of interest in the near area (e.g., a drain or a curb) are typically smaller than the features in the far area (e.g., parking spaces or other vehicles).

In a further advantageous embodiment, the image is scaled depending on the driving speed and/or direction of the motor vehicle. This has the advantage that, for example, at a slow driving speed, only the immediate surroundings of the motor vehicle are displayed, while at a higher driving speed, a larger surrounding area is displayed. A smaller section of the surroundings can also be displayed, especially when reversing. The display of the area below the vehicle is particularly helpful when reversing, as the area behind the vehicle is often difficult for the driver to see, making it easy to overlook obstacles or objects on the ground, as well as markings on the ground. This allows a relevant area of the surroundings to be displayed to the driver at all times. This also eliminates the need for a non-linear scale, which might take some getting used to for the driver.

In another advantageous embodiment, it is provided that the at least one area of the motor vehicle or the motor vehicle in the image is displayed centrally or decentrally in the image depending on the driving speed and/or the direction of travel and/or route guidance by the driver assistance system and/or parking guidance by the driver assistance system and/or an activated direction change indicator device of the motor vehicle. Here, too, the area of the surroundings of the motor vehicle can be displayed which, based on experience or probabilities, is of particular relevance to the driver. Here, too, a non-linear scale, which might take some getting used to for the driver, can be dispensed with.

The invention also relates to a driver assistance system for a motor vehicle, comprising at least one optical detection device for detecting image data representing the surroundings of the motor vehicle, a control device for processing currently detected image data and, in addition, previously detected image data to produce an image showing a top view of at least one region of the motor vehicle and of a region surrounding the motor vehicle from above the motor vehicle, and a display device for displaying the image. The control device is designed to also show a near area of the surroundings in the image, which area lies below the motor vehicle in the current position of the motor vehicle.

Advantages and advantageous embodiments of the driver assistance system correspond here 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, the driver assistance system is designed for semi-autonomous and/or autonomous parking. Semi-autonomous parking can also be understood here as assisted parking, in which, for example, a steering angle is determined by the driver assistance system and the position of the accelerator pedal is determined by a driver. Parking can comprise entering and/or exiting a parking space. This has the advantage that the display of the immediate area below the vehicle and the improved overview of the surroundings avoids surprises for the driver. For example, the driver will be able to more easily estimate how much gas to apply when driving over a curb and will not be startled if the vehicle suddenly accelerates without a corresponding display during an autonomous parking maneuver.

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

The term “under” may refer here to the position and orientation given when the vehicle is used and arranged as intended and to an observer standing in front of the vehicle or sitting in the vehicle.

Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and/or shown alone in the figures can be used not only in the respective combination specified, but also in other combinations without departing from the scope of the invention. Thus, embodiments are to be regarded as encompassed and disclosed by the invention that are not explicitly shown and explained in the figures, but which emerge and can be generated through separate combinations of features from the explained embodiments. Embodiments and combinations of features are also to be regarded as disclosed that therefore do not have all the features of an originally formulated independent claim. Furthermore, embodiments and combinations of features are to be regarded as disclosed, in particular through the embodiments presented above, which go beyond or deviate from the combinations of features presented in the backreferences to the claims.

• 1 eine schematische Draufsicht auf ein Kraftfahrzeug mit einem Fahrerassistenzsystem;
• 2 eine Ausführungsform einer Anzeigeeinrichtung, mit einer beispielhaften Darstellung einer ersten Umgebungskarte in einer beispielhaften Verkehrssituation;
• 3 die Anzeigeeinrichtung aus 2 in einer auf die erste Verkehrssituation folgenden Verkehrssituation;
• 4 die Anzeigeeinrichtung aus 2 in einer weiteren, auf die ersten beiden Verkehrssituationen folgenden Verkehrssituation;
• 5 die Anzeigeeinrichtung aus 2 in der dortigen Verkehrssituation mit einer beispielhaften Darstellung einer zweiten Umgebungskarte; und
• 6 eine beispielhafte Überlagerung der beiden Umgebungskarten aus 2 und 5.

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

• 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 a first map of the surrounding area in an exemplary traffic situation;
• 3 the display device 2 in a traffic situation following the first traffic situation;
• 4 the display device 2 in a further traffic situation following the first two traffic situations;
• 5 the display device 2 in the traffic situation there with an exemplary representation of a second map of the surrounding area; and
• 6 an example overlay of the two environmental maps from 2 and 5 .

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

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 in this case has a plurality of cameras 3a, 3b, 3c and 3d, shown four. However, the optical detection device 3 could, for example, also have more or fewer cameras, e.g. a single 360° camera. In addition to the optical detection device 3, the driver assistance system 2 here also has a further detection device 5, in this case with the further sensors 5a, 5b, 5c, 5d, 5e, 5f, 5g, 5h, which are designed here as ultrasonic sensors. The driver assistance system 2 further comprises a control device 3, which is coupled to the optical detection device 3 and to a display device 6.

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

In the present exemplary embodiment, the control device 4 can create a first environment map 9 ( 2 - 4 ). The image displayed on the display device 6 is then a representation of this first environment map 9.

In addition, the control device 4 in this example also processes further information from the environment 7 of the motor vehicle 1, which is detected by the further detection device 5. In the present case, the further detection device 5 is an ultrasonic distance measuring device, which detects information in the form of distance data of the motor vehicle 1 to respective objects in the environment 7. In this example, the control device 4 processes the further information into a second environment map 9' ( 5 ). The control device 4 is designed accordingly to superimpose the two environment maps 9, 9' with precise location and to generate an image 17 ( 6 ) on the display device 6.

A near area 8 of the surroundings 7 of the motor vehicle 1, which includes the surroundings beneath the motor vehicle as well as an edge area adjacent to the area of the surroundings geometrically beneath the motor vehicle, is located here outside the detection range of the optical detection system 3. In the present case, the information in the near area 8 of the surroundings 7 in the first environment map 9 is therefore always generated only from previously acquired image data and not from the currently acquired image data. Here, the near area 8 is rectangular in shape, but it can also take on a different shape depending on the detection range of the optical detection system 3 and also the further detection range of the further detection system 5.

2 shows an embodiment of a display device 6, with an exemplary representation of the first surroundings map 9 in an exemplary traffic situation. The surroundings map 9 corresponds here, when using the optical detection device 3 without further detection device(s) 5, to the image 17 shown ( 6 ). However, the surrounding area map 9 may generally also include elements that are not shown here or in Figure 17 as a section of a map.

Shown are an image 1' of the motor vehicle 1 and an image 7' of the surroundings 7 of the motor vehicle 1 from a bird's eye view. For better understanding, a detection range 10 of the optical detection device 3 and the close range 8 are also shown here. In the illustration, the image 1' of the motor vehicle 1 is located on a roadway next to a row of other motor vehicles 11a, 11b, 11c parked transversely to the direction of travel. Between the roadway and the other motor vehicles 11a, 11b, 11c, a curb runs as a drivable obstacle 14. The curb is also referred to as a drivable obstacle 14. and is therefore represented in the current image data. The representation of the objects located within the detection area 10 is based on currently recorded image data, while the representation of the objects outside the detection area 10 and within the near area 8 is based on previously recorded image data. For the reader's better understanding, the other motor vehicles 11a, 11b, 11c are shown in full, even if they may only be partially recorded in the surrounding area map 9 in a real situation.

In the example shown, the driver now wishes to reverse into a parking space 13, which he has just passed, according to the dashed arrow 12 shown here for clarity only. Accordingly, the motor vehicle 11c or the empty parking space 13 has already been detected by the optical detection device 3 and can be displayed on the display device 6 as shown.

3 and 4 Now show a further course of the exemplary traffic situation from 2 . In 3 The driver has now already reversed halfway into the free parking space 13. The surroundings 7 of the motor vehicle 1 are represented here by the current image data, so that the surroundings map 9 within the detection area 10 is constantly updated accordingly. Outside the current detection area 10, the representation 7' of the surroundings 7 is based on the previously recorded image data. The current image data now also represent further features of the surroundings 7, namely a hazard area 15 in the form of a drain and a marking 16, namely the number of the parking space 13. The representation of the part of the traversable obstacle 14, which is present as a curb and is located below the motor vehicle 1, is now based on the previously recorded, for example in the 2 depicted situation, captured image data.

In this case, the image 1' of the motor vehicle 1 is shown semi-transparently, i.e., translucently over the representation 7' of the surroundings 7 of the motor vehicle 1. The driver thus knows exactly when, for example, the motor vehicle 1's wheels 18 are about to cross the curb and can adjust the accelerator accordingly. This is particularly helpful during an assisted parking maneuver, in which, for example, the steering angle is determined by the driver assistance system 2.

In 4 Motor vehicle 1 is now parked in parking space 13. The curb, as a drivable obstacle 14, has been completely driven over and is once again within the detection range 10 of the optical detection device 3. However, both the floor marking 16 and the hazard location 15 are now outside the detection range 10, namely within the near field 8 of motor vehicle 1 or underneath the motor vehicle. Accordingly, these areas of the image are now processed or generated from the previously acquired image data. Such obstacles, hazard positions, or markings can also be additionally optically highlighted or marked using image processing. In the example shown, the driver can thus easily recognize that he is parked in parking space 13 with the number "Thirteen" and that he should exercise increased caution when getting out to avoid falling or losing an object in the gutter.

It should also be noted that in the three 2 to 4 the section of the environment map 9 was scaled differently in each case and the position of the image 1' of the motor vehicle 1 was adapted to the current situation in order to achieve an optimal perception of the environment 7 or the image 7' of the environment 7. Thus, in 1 the area of the environment 7 in which the motor vehicle 1 is moving, in 2 especially the area into which the motor vehicle 1 turns and in 4 , in the stationary vehicle, the surroundings of the motor vehicle 1 are shown evenly and the image 1' of the motor vehicle 1 is arranged centrally. In 3 and 4 The representations generated from previously acquired image data in the close range 8 are shown in dashed lines.

In 5 the display device is off 2 in the traffic situation there with an exemplary representation of a second surrounding map 9'. This representation of the second surrounding map 9' could therefore be generated by using the additional detection device 5 alone. However, it is shown here only to illustrate the functionality of the second surrounding map 9'.

The traffic situation in the chosen example is identical to that in 2 shown traffic situation. However, since distance information and no optical information is obtained via the additional detection device 5, only the traversable obstacle 14 in the form of the curb and the other motor vehicles 11 in the form of a non-traversable obstacle are detected in the surroundings of the motor vehicle. The parking space 13 was also recognized as such by the additional detection device 5. For example, this can be achieved by measuring the respective distances and comparing them with the minimum distances stored in the control device 4. Accordingly, the respective areas or zones are identified and marked in the second environment map 9' as non-driveable area 11', driveable obstacle 14' and parkable area 13'.

These zones, which are also recorded or displayed in the first environmental map 9 of the optical detection device 3, but whose function and suitability could not be assessed by the optical detection device 3, were functionally identified accordingly by the additional detection device 5. In the image 17 resulting from the two environmental maps 9, 9' ( 6 ) The respective zones are then displayed redundantly, once as a non-transparent display in the background and once as a semi-transparent display superimposed on the background. The two displays then contribute independently to improving the driver's information.

In 6 An exemplary overlay of the two environment maps 9, 9' is now shown 2 and 5 shown as Figure 17. In this case, the optically recorded, already 2 known information. In addition, the information in 5 marked areas 14' of the curb as a drivable obstacle 14 as well as the area 11' of the other motor vehicles 11a, 11b, 11c as a non-drivable obstacle 11 and the parkable area 13' of the parking space 13 according to the respective detection. Such precise and reliable marking is possible by the precise location-based superimposition of the two environmental maps 9 and 9'. As a result, precise information previously stored only in the second environmental map 9', for example with more precise dimensions than the optical detection device 3 allows, is assigned to the first environmental map 9. This provides the driver with a better overview of the environment 7 of the motor vehicle 1, so that they can easily and quickly assign the features recognized in the second environmental map 9' by the driver assistance system 2 to the real world or environment 7. Due to the precise location overlay, the representation of the zone in the second surrounding map 9' also serves as a functional signaling of this zone. This zone is then visually signaled or presented to the driver or observer. The semi-transparent representation thus acts similarly to a marking or highlighting. The functional differences between the two detection devices 3, 5 achieve a particularly high level of reliability in providing an improved overview of the vehicle's surroundings.

Claims (12)

Method for displaying images on a display device (6) of a driver assistance system (2) in a motor vehicle (1), comprising the steps of: - capturing image data representing an environment (7) of the motor vehicle (1) by at least one optical capturing device (3) of the driver assistance system (2); - processing currently captured image data and additionally previously captured image data to produce an image (17) which, from above the motor vehicle (1), shows a plan view of at least one area of the motor vehicle (1) and of an area surrounding the motor vehicle (1); and - displaying the image (17) on the display device (6); wherein the image (17) shows a close-up area (8) of the surroundings (7) which, in a current position of the motor vehicle (1), lies beneath the motor vehicle (1), characterized in that a first map of the surroundings (9) is generated depending on the image data acquired by the optical acquisition device (3), and the image (17) comprises a representation of this map of the surroundings (9), wherein further information from the surroundings (7) of the motor vehicle (1) is acquired by a further acquisition device (5), in particular a acquisition device which is functionally different from the optical acquisition device (3), and the further information is taken into account when processing the image data to form the image (17), and wherein a second map of the surroundings (9') is generated depending on the further information, the two maps of the surroundings (9, 9') are superimposed, and an image (17) generated from the superimposed maps of the surroundings (9, 9') is displayed on the display device (6). Procedure according to Claim 1 , characterized in that the near area (8) lying beneath the motor vehicle (1) in the current position of the motor vehicle (1) lies outside a current detection area (10) of the at least one optical detection device (3). Method according to one of the preceding claims, characterized in that the motor vehicle (1) is shown in the image (17) at least partially at least semi-transparently, but in particular a contour of the motor vehicle (1) is shown non-transparently. Method according to one of the preceding claims, characterized in that in the image (17) at least one surrounding area (11', 13', 14') with predetermined properties is optically highlighted, in particular surrounding areas in which a parking possibility (13) and/or a parking ban and/or a floor marking (16) and/or a drivable obstacle (14) and/or a non-drivable obstacle (11) and/or a danger point (15) was detected. Procedure according to Claim 4 , characterized in that the further detection device (5) comprises a distance measuring device, in particular an ultrasonic distance measuring device, and the further information comprises distance data of the motor vehicle (1) to an object in the environment (7). Procedure according to Claim 5 , characterized in that in the generated image (17) the first environment map (9) is displayed non-transparently and the second environment map (9') is generated at least partially semi-transparently and the second environment map (9') is superimposed on the first environment map (9) in the image (17). Procedure according to Claim 6 , characterized in that an area in the environment (7) that can be identified by the further detection device (5) is shown superimposed in the representation (7') of the environment (7) in the first environment map (9) with precise location. Method according to one of the preceding claims, characterized in that the image (17) is scaled as a function of a driving speed and/or a driving direction of the motor vehicle (1). Method according to one of the preceding claims, characterized in that the at least one area of the motor vehicle (1) or the motor vehicle (1) on the image (17) is displayed centrally or decentrally in the image (17) depending on the driving speed and/or the direction of travel and/or route guidance by the driver assistance system and/or parking guidance by the driver assistance system and/or an activated direction change display device of the motor vehicle (1). Driver assistance system (2) for a motor vehicle (1), comprising: - at least one optical detection device (3) for detecting image data representing an environment (7) of the motor vehicle (1); - a control device (4) for processing currently detected image data and additionally previously detected image data to produce an image (17) which, from above the motor vehicle (1), shows a plan view of at least one area of the motor vehicle (1) and of an area surrounding the motor vehicle (1); and - a display device (6) for displaying the image (17); wherein the control device (4) is designed to also show, in the image (17), a close-up area (8) of the surroundings (7), which, in a current position of the motor vehicle (1), lies beneath the motor vehicle (1), characterized in that a first environmental map (9) is generated depending on the image data acquired by the optical acquisition device (3), and the image (17) comprises a representation of this environmental map (9), wherein further information from the surroundings (7) of the motor vehicle (1) is acquired by a further acquisition device (5), in particular a functionally different acquisition device from the optical acquisition device (3), and the further information is taken into account when processing the image data to form the image (17), and wherein, depending on the further information, a second environmental map (9') is generated, the two environmental maps (9, 9') are superimposed, and an image (17) generated from the superimposed environmental maps (9, 9') is displayed on the display device (6). Driver assistance system (2) according to Claim 10 , 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 10 or 11 .