Method and device for determining concealed regions in the vehicle environment of a vehicle
A driver assistance system ( 1 ) for a vehicle includes environment sensors ( 2 ), which sense a vehicle environment of the vehicle, and a data processing unit ( 4 ), which evaluates sensor data of the environment sensors ( 2 ) to detect obstacles (H) in the vehicle environment. In accordance with detected obstacles (H), concealed regions (VB) in the vehicle environment of the vehicle are determined, which concealed regions are concealed by the obstacles (H) and restrict a field of view (FOV) of optical environment sensors ( 2 ) of the driver assistance system ( 1 ).
1. A driver assistance system for a vehicle, comprising:
environment sensors including optical environment sensors, configured to sense a vehicle environment of the vehicle; and
a data processing unit, configured to evaluate sensor data of the environment sensors in order to detect obstacles in the vehicle environment;
wherein the data processing unit is further configured to determine, from the sensor data, concealed regions in the vehicle environment dependent on the detected obstacles, which concealed regions are concealed from a respective view of at least a respective one of the optical environment sensors by the detected obstacles and restrict a respective field of view of the respective optical environment sensor, wherein the determining of the concealed regions comprises respectively determining, from the sensor data, at least one of a size, an extent and a contour of each respective one of the detected obstacles, and then calculating each respective one of the concealed regions from the respective determined size, extent and/or contour of the respective detected obstacle that conceals the respective concealed region.
2. The driver assistance system according to claim 1 , wherein the data processing unit is configured to process, in particular to filter, the sensor data which originate from the optical environment sensors in the determined concealed regions.
3. The driver assistance system according to claim 1 , wherein the data processing unit is configured to cover the concealed regions with textured areas in the sensor data for being displayed to a driver of the vehicle.
4. The driver assistance system according to claim 1 , wherein the data processing unit is configured to calculate the concealed regions dependent on a projection surface used for representing images by projecting the sensor data onto the projection surface.
5. The driver assistance system according to claim 1 , wherein the optical environment sensors are mounted on the vehicle, and further comprising a control circuit configured to actuate the optical environment sensors, in particular to switch between different ones of the optical environment sensors mounted on the vehicle, dependent on the concealed regions.
6. The driver assistance system according to claim 1 , wherein the optical environment sensors comprise vehicle cameras, in particular fisheye cameras, which each have a predefined field of view.
7. The driver assistance system according to claim 6 , wherein the data processing unit is configured to calculate the concealed regions dependent on the fields of view of the pertinent optical environment sensors.
8. The driver assistance system according to claim 1 , wherein the data processing unit is configured to calculate the concealed regions dependent on a relative speed between the detected obstacles and the vehicle.
9. A method of determining concealed regions in a vehicle environment of a vehicle, comprising the following steps:
(a) evaluating sensor data, which are generated by environment sensors including optical environment sensors of the vehicle, to detect obstacles in the vehicle environment; and
(b) calculating, from the sensor data, dependent on the detected obstacles, concealed regions which are concealed from a respective view of at least a respective one of the optical environment sensors by the detected obstacles and restrict a respective field of view of the respective optical environment sensor, wherein the calculating of the concealed regions comprises respectively determining, from the sensor data, at least one of a size, an extent and a contour of each respective one of the detected obstacles, and then calculating each respective one of the concealed regions from the respective determined size, extent and/or contour of the respective detected obstacle that conceals the respective concealed region.
10. The method according to claim 9 , further comprising processing, in particular filtering, the sensor data, which originate from the optical environment sensors of the vehicle in the calculated concealed regions.
11. The method according to claim 9 , further comprising covering the concealed regions with textured areas in the sensor data for being displayed to a driver of the vehicle.
12. The method according to claim 9 , wherein the concealed regions are calculated dependent on a projection surface used for representing images by projecting the sensor data onto the projection surface.
13. The method according to claim 9 , wherein the optical environment sensors are mounted on the vehicle, and further comprising actuating the optical environment sensors, in particular switching between different ones of the optical environment sensors mounted on the vehicle, dependent on the concealed regions.
14. The method according to claim 9 , wherein the concealed regions are calculated dependent on predefined fields of view of the pertinent optical environment sensors.
15. The method according to claim 9 , wherein the concealed regions are calculated dependent on a relative speed between the detected obstacles and the vehicle.
16. The method according to claim 9 , wherein the calculating of the concealed regions further comprises defining a boundary of a respective one of the concealed regions by a light beam that extends from an extreme outermost contour point of a respective one of the detected obstacles to a respective one of the optical environment sensors.
17. A method of operating a driver assistance system of a vehicle having a display, a data processor and sensors including a first optical sensor mounted on the vehicle, wherein the method comprises the steps:
a) with the sensors, sensing an environment outside of the vehicle and producing sensor data that represents features of the environment;
b) with the data processor, evaluating the sensor data, and from the sensor data, detecting an obstacle that exists in the environment, determining that the obstacle conceals, from the first optical sensor, a concealed region in a field of view of the first optical sensor, determining at least one of a size, an extent and a contour of the obstacle, and calculating the concealed region from the determined size, extent and/or contour of the obstacle;
c) with the data processor, further processing the sensor data to produce processed data dependent on and in response to the calculated concealed region; and
d) on the display, displaying information determined from the processed data, wherein the information is adapted to assist a driver of the vehicle in performing a driving maneuver of the vehicle.
18. The method according to claim 17 , wherein the further processing comprises filtering the sensor data dependent on and in response to the calculated concealed region.
19. The method according to claim 17 , wherein the further processing comprises covering the calculated concealed region of the sensor data with a textured area to be displayed in the information on the display.
20. The method according to claim 17 ,
wherein the sensors further include a second optical sensor mounted on the vehicle,
wherein the method further comprises, from the sensor data, determining whether any object in the environment conceals from the second optical sensor any concealed region in a field of view of the second optical sensor, and calculating any such concealed region in the field of view of the second optical sensor; and
wherein the further processing of the sensor data comprises determining that any such concealed region in the field of view of the second optical sensor is less extensive in area or proportion than the concealed region in the field of view of the first optical sensor, and switching from the sensor data produced by the first optical sensor to the sensor data produced by the second optical sensor being included in the processed data.
21. The method according to claim 17 , wherein the calculating of the concealed region is further dependent on a relative speed between the vehicle and the obstacle.
22. The method according to claim 17 , further comprising determining, from the processed data, a measure of a traffic density of traffic on a road on which the vehicle is driving.