US 12,403,958 B2
Method for displaying an environment of a vehicle having a coupled trailer, computer program, computing device and vehicle
Christian Sperrle, Ann Arbor, MI (US); Elizabeth Kao, Northville, MI (US); James Stephen Miller, Dexter, MI (US); Matthias Mayerle, Stuttgart (DE); and Raphael Cano, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Apr. 17, 2023, as Appl. No. 18/301,458.
Claims priority of application No. 10 2022 206 127.6 (DE), filed on Jun. 20, 2022.
Prior Publication US 2023/0406410 A1, Dec. 21, 2023
Int. Cl. B62D 15/02 (2006.01); B62D 13/00 (2006.01); G06T 11/00 (2006.01); H04N 5/91 (2006.01); H04N 7/18 (2006.01)
CPC B62D 15/029 (2013.01) [B62D 13/005 (2013.01); G06T 11/00 (2013.01); H04N 5/91 (2013.01); H04N 7/181 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for representing an environment of a vehicle having a coupled trailer, the vehicle including at least three vehicle cameras, which are situated respectively on different sides of the vehicle, and the trailer having at least one trailer camera situated on a rear side of the trailer, the method comprising the following steps:
recording a sequence of vehicle camera images using each of the at least three vehicle cameras, the vehicle camera images respectively representing a partial area of the environment;
recording a sequence of trailer camera images using the trailer camera, which represent a rearward environment behind the trailer;
acquiring odometry data of the vehicle;
ascertaining a trailer angle between a longitudinal axis of the trailer and a longitudinal axis of vehicle;
preprocessing the recorded current vehicle camera images and the recorded current trailer camera image;
storing items of image information about a close range of the vehicle as a function of the preprocessed vehicle camera images and/or of the preprocessed trailer camera image, a position relative to the vehicle being assigned to the stored items of image information;
adjusting the position of the stored items of image information as a function of the detected odometry data of the vehicle; and
displaying an environment model from a virtual observational perspective, the preprocessed current vehicle camera images and the preprocessed current trailer camera image being projected onto a projection area of the environment model and being joined, and for partial areas of the environment of the vehicle that are not represented in the current vehicle camera images or in the current trailer camera image, the stored items of information being projected onto the projection area according to their position relative to the vehicle and being joined to the vehicle camera images and the trailer camera image.