EP3781441A1 - Procédé de commande d'un système d'affichage - Google Patents

Procédé de commande d'un système d'affichage

Info

Publication number
EP3781441A1
EP3781441A1 EP19711898.7A EP19711898A EP3781441A1 EP 3781441 A1 EP3781441 A1 EP 3781441A1 EP 19711898 A EP19711898 A EP 19711898A EP 3781441 A1 EP3781441 A1 EP 3781441A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
display
area
environment
surroundings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19711898.7A
Other languages
German (de)
English (en)
Inventor
Udo Schulz
Andreas Fladee
Matthias Ulrich
Ron XU
Camille MARBACH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3781441A1 publication Critical patent/EP3781441A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
    • B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8033—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for pedestrian protection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

Definitions

  • the invention relates to a method for controlling a display unit for displaying an environment of a vehicle, in particular an industrial truck, as well as such a display system with the display unit and such a vehicle, in particular industrial truck, according to the preamble of the independent claims.
  • the subject of the present invention is also a
  • Control device and a computer program.
  • Throttle lever switch or by hand possible.
  • For driving on areas with cross-traffic a representation of a horizontal wide-angle view is possible, which must also be activated by hand. Since the drivers or
  • a camera control module provides based on a driver's request
  • the present invention is a method for controlling a display unit for displaying an environment of a vehicle, in particular an industrial truck, according to independent claim 1.
  • the subject of the present invention is also a control device according to claim 10 for carrying out the method.
  • the subject matter of the present invention is a computer program which is set up to carry out all the steps of a previously described method as well as a machine-readable storage medium with a computer program stored thereon.
  • the present invention is finally according to claim 13, a display system with the display unit for displaying an environment of a vehicle, in particular an industrial truck, and according to claim 14, a vehicle with the display system.
  • the vehicle may be a passenger car or a commercial vehicle. It is conceivable that the vehicle is a mobile work machine.
  • the vehicle may be a vehicle for agricultural, construction or logistic purposes.
  • the vehicle is an industrial truck such as a forklift.
  • the forward section of the vehicle may be a section of road ahead of a direction of movement, in particular directly ahead. It is conceivable that the preceding route section is an area of the vehicle
  • the route section lying ahead comprises a region of the roadway extending in the direction of movement of the vehicle directly in front of the vehicle with a defined spatial extent in the direction of movement of the vehicle.
  • the defined spatial extent may, for example, be specified as 5 m, 10 m, 25 m, 50 m or 100 m or may be predefinable to a value in a range between 0 m and 250 m.
  • the route section ahead can be based on a current or current direction of movement or spatial Orientation of the vehicle to be determined as lying ahead. It is also conceivable that a preceding section of the route is determined based on route planning or logistics planning for the vehicle.
  • An environment of a vehicle can be understood as a spatial environment of the vehicle.
  • the term environment may also include only a part of an environment that surrounds the vehicle on all sides.
  • the environment of the vehicle may be an upstream one
  • Track section of the vehicle include.
  • the road user may be another vehicle, in particular another truck, or a pedestrian. Under a cross on the
  • road users who meet the route section can be understood to mean a road user crossing across or obliquely to a direction of movement of the vehicle onto the route section. It is conceivable that the road user crosses the route section or crosses or turns into the route section or a crossing or
  • a danger zone is to be understood as a spatial area in which a hazard to the vehicle and / or the road user can occur.
  • a hazard here means an imminent property damage or personal injury to the vehicle or the road user or a person leading the vehicle or the road user.
  • An increased risk or an increased probability of an accident or a collision between the vehicle and the road user can exist in the hazardous area.
  • traffic routes, routes or footpaths can merge into one another or intersect.
  • the danger area can be, for example, a road intersection, a junction between a footpath and a road or a roadway, a crossing facility or a pedestrian crossing, an intersection, an opening or end area of a shelf aisle, an area before or after a gate or gate to be a transit. Furthermore, a hazardous area in the logistics area can be found both in halls
  • the display system comprises a display unit and a control device for controlling the display unit.
  • the control device is designed, a
  • the control device can have a wireless or wired electronic connection with the detection unit.
  • the control device is also designed to process the received image information, for example several
  • control device may have an additional computing unit, for example a graphics processor.
  • control device is designed to process the received image information and / or to transmit it unprocessed to the display unit.
  • control device may have a wireless or wired electronic connection to the display unit.
  • the display unit is designed to display the image information transmitted by the control device.
  • the display unit may have a screen, a display area of, for example, an infotainment or a display or a monitor.
  • the display unit can be an existing on the vehicle or subsequently installed in the vehicle or on the
  • Vehicle arranged display unit Furthermore, the display unit is designed to convert a first display of the surroundings of the vehicle into a second display of the surroundings of the vehicle and vice versa.
  • the display unit is controlled based on the detected hazard area. In other words, in other words, the display unit is controlled based on an identification of the hazardous area, or the display unit is controlled when the hazardous area has been identified. So the display unit is controlled when one Image information has been provided or received or determined or detected via a recognized or identified hazardous area.
  • the second area indicated by means of the second display is larger in relation to the first area of the surroundings, indicated by the first display, transversely to a direction of movement of the vehicle.
  • the second area is greater than the first area of the surroundings perpendicular or substantially perpendicular to a direction of movement and parallel to a background of the vehicle.
  • the second region may have a larger horizontal image angle than the first region, wherein the horizontal image angle in a plane parallel to a background of the
  • the first region can also correspond to a plan view or a bird's-eye view of the surroundings of the vehicle with a defined extent transverse to a direction of movement of the vehicle.
  • the second displayed area of the environment is transverse to the
  • Movement direction of the vehicle greater than the first displayed area if by means of the second display, a region of the environment is shown along a horizontal transversely, in particular perpendicular to the direction of movement of the vehicle as the first display.
  • the transfer of the first display in the second display is preferably carried out before driving or passing or crossing the hazardous area. It is conceivable that a time of the transfer of the first display in the second display or the control of the display unit is predetermined and / or predetermined. For example, the transfer may take place immediately after recognition of the
  • the transferring of the first display into the second display may involve switching from a first displayed image information of a first detection unit, in particular a camera, to a second displayed image information of a second detection unit, in particular a camera. It can continue
  • additional environmental information in particular image information of the environment, can be generated by means of the detection unit.
  • the method provides a step of controlling the display unit after passing or traversing a recognized one
  • Danger zone in order to return the second display of the environment of the vehicle to the first display of the environment.
  • the passing of the recognized danger zone can be analogous to the detection of the
  • Hazardous area can be detected, for example by means of a balance of a position of the vehicle with a map of the surroundings of the vehicle, the map of the environment having a spatial position of the hazardous area.
  • the driver can again be shown a particularly intuitive, for example, undistorted display on the surroundings of the vehicle after passing through the danger zone, and additional information can be provided on display areas of the display unit that are available again after the display has been transferred.
  • the inventive method can be adapted or configured to the environment of the vehicle. It is conceivable that a time or a spatial distance to the hazardous area for the control of the display unit can be specified. It is also conceivable that a size of the displayed area of the environment can be specified. Here, for example, different specifications are conceivable for outdoor and indoor areas.
  • the method comprises a step of receiving image information, wherein the image information represents the surroundings of the vehicle detected by means of a detection unit in order to display the detected environment of the vehicle by means of the display system. It is particularly advantageous if the method has a step of detecting the surroundings of the vehicle by means of a detection unit.
  • the image information of the environment may include image information generated by an imaging technique such as video, lidar, radar, or ultrasound. It is conceivable that image information is received by a plurality of detection units and processed for display. By this configuration, the detected image information of the display unit can be provided.
  • a detection unit can be understood as a unit that is designed to detect the surroundings of the vehicle.
  • the detection unit may comprise one or more sensor units.
  • one or more control or computing units can be assigned to the sensor units.
  • the detection unit may comprise one or more camera, lidar, radar or ultrasound units.
  • the detection unit on four camera units, each with a video camera.
  • a fisheye lens can be arranged on each video camera in order to capture the largest possible angular range of the environment.
  • Detecting unit may be an existing on the vehicle
  • the detection unit is arranged on the vehicle.
  • the detection unit is arranged on a contour of the vehicle, for example on a roof or roof spar, on a counterweight or on an attachment of the vehicle, for example on an upper end of a lifting mast.
  • the detection unit in particular an additional detection unit, is arranged on a front end region of the attachment facing away from the vehicle.
  • the detection unit may be on a vehicle
  • the first area displayed by means of the first display is a partial area of the second area of the environment displayed by means of the second display.
  • the first displayed area is partially or completely contained in the second displayed area.
  • a region of the surroundings of the vehicle which is selected symmetrically relative to an imaginary axis of symmetry perpendicular to the ground and pointing through the vehicle is displayed.
  • the first area may be a horizontal one
  • Angle range from -45 ° to + 45 ° and the second range a horizontal field angle range from -95 ° to + 95 ° include, where 0 ° one
  • Movement direction of the vehicle correspond. That is, by means of the second display, the first area indicated by means of the first display is expanded to the second area symmetrically relative to the axis of symmetry.
  • the first area indicated by means of the first display can be extended non-uniformly to the second area.
  • the first area may be a horizontal one
  • Orientation loss of the driver when transferring the first display in the second display of the environment of the vehicle can be prevented.
  • first and the second display of the environment have the same or different perspectives on the environment.
  • the first display a bird's eye view and a plan view of the vehicle and an adjacent to the vehicle
  • the first ad is a perspective in the direction of movement to the vehicle ahead environment includes.
  • the perspective in the direction of movement for the first display may include a first area having a first horizontal angle of view.
  • the second display also detects a perspective in the direction of movement of the vehicle on the surroundings ahead of the vehicle. In this case, the perspective in the direction of movement for the second display has a second area with a second horizontal angle of view, which is greater than the first horizontal angle of the first area displayed.
  • the additional information displayed by means of the second display is particularly easy and intuitive to detect for the driver of the vehicle.
  • the driver is particularly clearly pointed to the danger zone lying ahead.
  • the first display comprises at least two partial displays, the partial displays
  • a first partial display may have a first perspective in the form of a top view or a bird's-eye view of the surroundings of the vehicle.
  • a second partial display a second
  • the first partial areas may be a partial area directly around the vehicle, that is, at a distance of less than 5, 10, 15 or 20 m from the vehicle, and a partial area of the vehicle ahead of the vehicle
  • the partial displays may be displayed horizontally side by side or vertically one above the other on a display unit. It is conceivable that the partial displays are of different sizes, that is, areas of different sizes are required on the display unit for display. It is also conceivable that the partial displays are displayed on the same or different display units. With this configuration, the driver can be provided a particularly good overview of his environment, if no
  • Hazardous area is detected. Furthermore, it is advantageous if the hazardous area is detected by means of an adjustment of a position of the vehicle with a map of the surroundings of the vehicle, the map of the surroundings having the danger zone.
  • the map represents at least part of the environment of the vehicle.
  • the map may represent the environment of the vehicle in indoor and / or outdoor areas.
  • the map can be a two-dimensional or three-dimensional map.
  • the map may be a metric or semantic map, that is a map with metric or geometric and semantic information.
  • the map includes an indication of a hazardous area. It is conceivable that the map has a spatial position of the danger zone in absolute or relative coordinates. It is also conceivable that the card has semantic information about the danger zone. It is also conceivable that the card image data of the hazardous area and a the
  • the map can be created for example by means of camera and / or lidar and / or radar and / or GNSS sensors. It is conceivable that the map is updated regularly or continuously. As a result, changing routes and storage areas can be taken into account, especially on logistics areas. In this case, the map can be updated, for example, when picking up or placing a transport container by means of the vehicle, since a total of parked transport containers potential
  • the hazard areas in the map manually, that is registered by a manager of the card. It is also conceivable that the hazardous areas are determined on the basis of information about current and already covered travel paths or routes of other vehicles in the area covered by the map. It is conceivable that for determining the hazardous areas, the travel distances or driving distance of the other vehicles with the speed, braking and / or
  • Acceleration progressions and / or breaks are evaluated. This allows potential frequently occurring or occurred
  • a transition detected by means of one of the vehicles is stored from an inner area to an outer area or from an outer area to an inner area in the map.
  • the indoor area may be a warehouse and the outdoor area may be an outdoor area in front of the warehouse.
  • a road user often encounters a driving route of the vehicle leaving the inner area or the outer area.
  • the card may be stored on a memory unit of the controller. It is also conceivable for the card to be stored on a storage unit arranged externally or outside the vehicle, for example on a server or a cloud. In this case, the control device has a
  • Storage unit to transmit at least one position information of the vehicle and to receive information about a determined based on the transmitted position information hazard area.
  • the danger area can be reliably detected by using information about a position of the vehicle.
  • the method comprises a step of determining the position of the vehicle based on a
  • a detection unit for detecting the surroundings of the vehicle and / or
  • a communication unit for communicating with a
  • Infrastructural device is determined in the vicinity of the vehicle.
  • an environment information can be created, which represents an information of the environment.
  • an image information of the environment is generated by means of a detection unit designed as a camera.
  • the control device has a communication unit for communication with an externally arranged Computing or storage unit, z.
  • an externally arranged Computing or storage unit, z As a server or a cloud, to transmit the environment information or the image information and to receive a based on the transmitted environment information or image information determined position information of the vehicle.
  • the control device determines a position of the vehicle based on the environmental information.
  • the externally arranged storage unit or the control device in this case comprises a localization unit, that is, in other words, the storage unit or the control unit is designed to determine a position of the vehicle on the basis of the environmental information or image information.
  • control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated with the control device associated
  • the Communication unit be provided to communicate with the infrastructure device in the vicinity of the vehicle.
  • the communication can be one-way or two-way communication.
  • the infrastructure device may be an electronic tag, for example an RFID tag or RFID chip or a Blue Tooth transmitter or a Blue Tooth transmitter and receiver.
  • the communication unit can be designed for near field communication.
  • the communication unit may be an RFID reader or blue tooth receiver. It is conceivable that the infrastructure device due to a suggestion by the communication unit or permanently or periodically the
  • Communication unit receives the transmitted environment information. It is also conceivable that the communication unit determines a position of the vehicle on the basis of the received environment information. For this purpose, the communication unit may, for example, use the known method of triangulation or trilateration in order to obtain at least three received environment information.
  • the position of the vehicle can be determined precisely and robustly also in areas, in particular inside areas, without GNSS reception.
  • the hazardous area is based on at least one feature of the environment, in particular the detected
  • a step of determining a feature of the environment in the Environment sensor signal or provided by the detection unit image information to be provided advantageously, a feature in the image information or image may be referred to as a feature
  • Ambient sensor signal provides an indication of a hazardous area.
  • the hazard area is preferably detected on the basis of a structural, spatial or local feature, in particular of a structural or spatial feature of an infrastructure facility.
  • the feature may be, for example, a (warehouse or hall) gate, a passageway, a beginning or end of a shelf aisle or a storage aisle, a
  • Determining one or more features algorithms known to those skilled in the art for image processing or feature extraction can be used.
  • the determination of the feature can take place by means of a control device or a detection unit assigned to the detection unit or the control device.
  • the control device or the determination unit can
  • the hazardous area is detected by means of a comparison of the detected feature with stored in a map of the environment of the vehicle features.
  • the card is a semantic card.
  • the semantic map image information with the detected features are already stored.
  • the stored image information with the detected characteristics associated with a label or a note to the hazardous area can be used not only to display the orientation but also to determine the position of the vehicle.
  • the display unit is assigned a transmitting unit and a receiving unit, and the method
  • the emitted signal may, for example, be a light signal, a laser signal, a radar signal or an ultrasound signal, which is transmitted by means of a corresponding transmission unit.
  • the signal can be emitted substantially perpendicular to a background of the vehicle. It is conceivable that the signal is transmitted repeatedly or periodically at predefined and / or predefinable time intervals.
  • the emitted signal can be reflected at the region of the infrastructure device, for example a hall roof, which is arranged above the vehicle.
  • the reflected signal can be received.
  • a reflected signal it is assumed that the vehicle is in a covered indoor area. If we do not receive a reflected signal it is assumed that the vehicle is located in an uncovered outdoor area.
  • Vehicle can be detected by a covered indoor area in an open-topward outdoor area and vice versa, to detect a present in close proximity to the transition hazard area.
  • the method provides a step of controlling a warning device based on the recognized hazard area to an operator of the vehicle in front of an expected, across the
  • the warning device may give a visual, audible or haptic warning.
  • the operator of the vehicle or the road user can be made aware of the danger area in good time.
  • Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the above described embodiments, in particular when the program product or program is executed on a computer or a device.
  • a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory
  • Fig. 1 is a schematic representation of an industrial truck
  • FIG. 2 shows the truck according to FIG. 1;
  • Fig. 3A, B is a schematic representation of a first and a second display
  • Fig. 1 shows a simplified representation of a truck 10.
  • Industrial truck 10 has a display system 20 with a control device 22 and a display 24 formed as a display 24. Furthermore, the industrial truck 10 has a multi-camera system 30
  • Detection system 30 with four trained as cameras 32, 34, 36, 38
  • Detection units 32, 34, 36, 38 are Detection units 32, 34, 36, 38.
  • the control device 22 is electronically connected by means of a first wired connection 26 to the cameras 32, 34, 36, 38 and by means of a wired connection 28 to the display unit 24.
  • the cameras 32, 34, 36, 38 permanently capture an environment of the
  • the cameras 32, 34, 36, 38 at least partially detect different areas of the environment.
  • the control device 22 processes the image information received by the cameras 32, 34, 36, 38 into a representation of the environment of the image
  • Industrial truck 10 in a bird's eye view or a 360 degree top view.
  • controller 22 processes the image information of one located at a front portion of the vehicle and substantially in
  • the control device transmits the processed image information to the display unit 24 via the connection 28.
  • the display unit or the display 24 shows by means of a first display the representation of the environment of the truck 10 in or out of the
  • the first display of the display 24 is divided into two partial displays to the surroundings of the truck 10 in bird's eye view and the representation of the
  • controller 22 determines the position of the truck 10 based on the received image information. For this purpose, the controller 22 may determine the position of the truck 10 based on the received image information.
  • Arithmetic unit 40 determined based on a comparison of the transmitted
  • hazard areas in the vicinity of the industrial truck 10 are determined.
  • Information about one or more determined Hazardous areas are transmitted from the arithmetic unit 40 to the control device 22.
  • control device 22 controls the display 24 to convert a first display of the surroundings of the industrial truck 10 into a second display of the surroundings of the industrial truck 10, wherein by means of the second display a first area of the environment indicated by means of the first display across to one
  • Movement direction of the truck 10 larger second area of the environment of the truck 10 is displayed to indicate the expected, across the route section meeting road users early.
  • Fig. 2 illustrates the truck designed as a forklift 10 10 of FIG. 1.
  • the forklift 10 moves to a hazardous area in the form of a junction.
  • the cameras 32, 34, 36, 38 are arranged with the greatest possible distance to a base of the forklift 10 at a contour of the forklift 10.
  • the camera 32 is arranged on the mast 42 of the forklift 10.
  • the cameras 34, 38 are each arranged on a lateral roof rail 44, 48, the camera 36 on a rear roof rail 46.
  • the cameras 32, 34, 36, 38 each have a fisheye lens.
  • the cameras 32, 34, 36, 38 are designed to detect a horizontal detection region 52, 54, 56, 58 with a horizontal image angle of greater than 180 degrees.
  • each two horizontal detection areas 52, 54, 56, 58 partially overlap in an overlapping one another
  • the detection areas 52, 54, 58, 58 are only indicated in Fig. 2 and give the detectable horizontal
  • Detection ranges 52, 54, 56, 58 are many times larger than shown in FIG. 2.
  • FIG. 3 schematically illustrates a first display 62 in FIG. 3A and a second display 66 in FIG. 3B of the display unit 24 of the display system 20 according to FIG. 1.
  • 3A shows a 360 degree top view with a first partial display 60 and a substantially undistorted representation of the forklift 10 leading Streckenabschnits in a second, horizontally arranged next to the first partial display 62 partial display 64 on the forklift 10 of FIG. 2nd
  • 3B shows an image information of the surroundings of the vehicle detected by the front camera 32.
  • the display of the environment is distorted to display a perpendicular to the direction of movement of the forklift 10 larger area of the environment.
  • a pedestrian 70 running across the route section or running in the direction of the danger zone can be displayed in good time.
  • the method includes a step 110 of providing the display system.
  • step 120 the environment of the vehicle is detected by the detection system. Step 120 is repeated permanently.
  • step 130 image information representing the detected environment is transmitted to the controller.
  • step 130 the transmitted image information is processed.
  • step 140 the transmitted image information is sent to a
  • step 150 the location unit is based on the
  • transmitted image information determines a spatial position of the vehicle.
  • step 160 the subject spatial position of the vehicle is transmitted to the controller.
  • step 170 it is determined by means of the control device based on the transmitted spatial position of the vehicle whether there is a danger zone on the preceding route section. For this purpose is mitels the
  • Control means the requested position with a on a storage unit of the Control device stored card aligned with hazardous areas. At the danger area, a road user meeting across the route section is to be expected. If there is no hazardous area on the route section lying ahead, the display unit is controlled in step 180 by means of the control device in order to display a first display of the surroundings of the vehicle.
  • the display unit is controlled in step 190 by means of the control device in order to display a second display of the surroundings of the vehicle.
  • a second area of the surroundings of the vehicle which is larger than a first area of the environment displayed by means of the first display, is displayed by means of the second display transversely to a direction of movement of the vehicle.
  • step 120 the method is continued in step 120.
  • an exemplary embodiment includes a "and / or" link between a first feature and a second feature, this is to be read such that the
  • Embodiment according to an embodiment both the first feature and the second feature and according to another embodiment, either only the first feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour commander une unité d'affichage destinée à afficher un environnement d'un véhicule, en particulier d'un engin de manutention. Le procédé comprend les étapes suivantes : - le repérage d'une zone dangereuse sur un tronçon de trajet précédent du véhicule, un usager de la route (70) arrivant transversalement sur le tronçon de trajet étant attendu sur la zone dangereuse ; - la commande de l'unité d'affichage sur la base de la zone dangereuse repérée, afin d'amener un premier affichage (60) de l'environnement du véhicule dans un deuxième affichage (66) de l'environnement du véhicule. Une deuxième zone de l'environnement du véhicule plus grande qu'une première zone de l'environnement transversalement à un sens de mouvement du véhicule affichée au moyen du premier affichage (60) est affichée au moyen du deuxième affichage (66), afin d'afficher suffisamment tôt l'usager de la route (70) attendu, arrivant transversalement sur le tronçon de trajet.
EP19711898.7A 2018-04-20 2019-03-15 Procédé de commande d'un système d'affichage Pending EP3781441A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018206062.2A DE102018206062A1 (de) 2018-04-20 2018-04-20 Verfahren zur Steuerung eines Anzeigesystems
PCT/EP2019/056626 WO2019201524A1 (fr) 2018-04-20 2019-03-15 Procédé de commande d'un système d'affichage

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EP3781441A1 true EP3781441A1 (fr) 2021-02-24

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EP (1) EP3781441A1 (fr)
DE (1) DE102018206062A1 (fr)
WO (1) WO2019201524A1 (fr)

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DE102021210525A1 (de) 2021-09-22 2023-03-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Organisieren eines Lagerbereichs eines Warenlagers und zum Betreiben eines Warenlagers

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US20100253780A1 (en) * 2009-04-03 2010-10-07 Shih-Hsiung Li Vehicle auxiliary device

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JP3773433B2 (ja) * 2000-10-11 2006-05-10 シャープ株式会社 移動体の周囲監視装置
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WO2010099416A1 (fr) * 2009-02-27 2010-09-02 Magna Electronics Système d'alerte pour véhicule
US20100253780A1 (en) * 2009-04-03 2010-10-07 Shih-Hsiung Li Vehicle auxiliary device

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See also references of WO2019201524A1 *

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DE102018206062A1 (de) 2019-10-24
WO2019201524A1 (fr) 2019-10-24

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