DE102018200312B4 - Method, device and computer-readable storage medium with instructions for controlling a display of an augmented reality head-up display device for a motor vehicle and motor vehicle with such a device - Google Patents

Abstract

Method for controlling a display of an augmented reality head-up display device (41) for a motor vehicle (40), with the steps: - Generating (12) a marking (60) for a device located in front of the motor vehicle (40). Object (61, 62) for a contact-analog display by the augmented reality head-up display device (41), the marking (60) being designed such that pitching movements of the motor vehicle (40) do not lead to an overlap between the Marking (60) and the object (61, 62) in that the marking (60) is designed as a fragment of a frame around the object (61, 62), the marking (60) only representing vertical elements of the frame around the object ( 61, 62) or corner elements of the frame around the object (61, 62), or that vertical shifts of the marking (60) relative to the object (61, 62) caused by pitching movements of the motor vehicle (40) do not disrupt the clarity of the marking (60) in that the marking (60) is designed as a ring border of the object (61, 62) lying parallel to the road or as a combination of an arrow element and a horizontal fragment of a frame; and - outputting (13) the marker (60) for display by the augmented reality head-up display device (41).

Description

The present invention relates to a method, a device and a computer-readable storage medium with instructions for controlling a display of an augmented reality head-up display device for a motor vehicle. The invention further relates to a motor vehicle in which a method according to the invention or a device according to the invention is used.

With the constant development of virtual and augmented reality technologies and applications, they are also finding their way into automobiles. Augmented Reality (AR), in German “extended reality”, is the enrichment of the real world with virtual elements that are correctly registered in three-dimensional space and allow real-time interaction. Since the term “augmented reality” has prevailed over the term “extended reality” in the professional world in German-speaking countries, the former will be used below. The expression “Mixed Reality” is also used synonymously.

The head-up display (HUD) offers a possible technical implementation to enrich the driver's workplace with perspectively correct virtual extensions. The light rays from a display built into the dashboard are folded over several mirrors and lenses and reflected into the driver's eye via a projection surface, so that the driver sees a virtual image outside the vehicle. In the automotive sector, the windshield is often used as a projection surface, and its curved shape must be taken into account in the display. As an alternative, an additional pane made of glass or plastic is sometimes used, which is arranged between the driver and the windshield on the dashboard. The visual overlay of the display and the driving scene means that fewer head and eye movements are necessary to read the information. In addition, the adaptation effort for the eyes is reduced because, depending on the virtual distance of the display, there is less or no need for accommodation. However, current production HUDs are limited to displays directly below the driver's primary field of vision and contain redundant information, such as the speed display, which can also be found elsewhere in the cockpit. Although this display technology reduces looking away from the road, it still has the disadvantage that the information presented has to be interpreted and transferred to the real situation because it is not registered in the real scene. This can be a mentally demanding cognitive process in complex situations. By marking objects and displaying information at their real reference point, i.e. through a contact-analog representation, environmental information can be displayed directly in the driver's field of vision. This direct graphical enrichment of the environment in the form of augmented reality can significantly reduce cognitive transfer requirements.

Augmented reality offers a wide range of possible applications to support the driver through contact-like marking of roads and objects. Relatively obvious examples usually relate to the area of navigation. While classic navigation displays in conventional head-up displays usually show schematic representations, e.g. a right-angled arrow pointing to the right as a sign that you should turn right at the next opportunity, AR displays offer much more effective options. Since the displays can be displayed as “part of the environment”, extremely quick and intuitive interpretations by the user are possible. In modern motor vehicles, a wide range of data is collected by environmental sensors. The aim of current developments is to meaningfully integrate this data into augmented reality displays.

For example, describes the DE 10 2016 213 871 A1 a display device for a host vehicle. The display device includes an imaging unit that captures an image of the front area of the host vehicle. An image recognition unit recognizes an image of a vehicle ahead from the perspective of a driver of the host vehicle. A display control unit causes a display projection unit to project an elongated preceding vehicle distance display extending horizontally along a lower end of the preceding vehicle image onto a position below the preceding vehicle image. The distance display has a greater horizontal width, the smaller the distance between vehicles.

The US 2017 / 0 308 262 A1 describes a display control device for performing overlapping display of a highlight image and a notification object visually recognized by an image projection plane of a virtual image display device used by a driver of a vehicle. The highlight image represents the existence of the notification object. The display control device includes a block for acquiring target information. The target information includes at least a position and a size of the notification object. The display control device further includes a display execution block. This block shows a first highlight image and a second highlight image in a form suitable for identifying the first and second highlight images based on the captured target information. The first highlight image corresponds to a size of the notification object, while the second highlight image results from enlarging the first highlight image with a predetermined enlargement percentage. The changing sizes of the highlight images are used to clearly identify an object.

Registering the virtual information in the driver's real field of vision in the sense of augmented reality places very high demands on the technical implementation. In order to be able to display virtual content in reality with precise location and perspective, very detailed knowledge about the environment and the vehicle's own movement is necessary. So that the virtual display has the correct perspective in the world for the driver, it must be positioned and aligned in three-dimensional space depending on the position of the vehicle, since the head-up display is installed in the vehicle. The vehicle's position changes constantly and highly dynamically due to pitching, rolling and yaw movements.

Against this background, the describes DE 10 2008 046 038 A1 a display device for displaying an image in a driver's field of vision. Using an image display unit, a virtual image is displayed by projecting an image in front of the vehicle via a reflective device. An obstacle detector detects an obstacle around the vehicle. A safety determination unit determines the safety of the vehicle with respect to the detected obstacle based on a distance to the obstacle or a relative speed of the vehicle to the obstacle. Finally, an image control unit controls a position of the virtual image. The position of the virtual image moves along a path that surrounds the obstacle in the driver's field of vision if the obstacle endangers driving safety. By moving the virtual image, vehicle vibrations that disrupt image perception are concealed. A further development of this approach is described in: DE 10 2009 004 432 A1 .

However, pitching movements of the vehicle have the greatest impact on the positioning of the virtual display. The display appears to scroll up and down. Since relative height is a strong monocular depth criterion, objects displayed higher in the field of view are perceived by humans as being further away. The pitching movements therefore have a direct effect on the perceived imaging distance. As a result, the influences of the driving dynamics lead to the virtual image being perceived as restless and not stable.

Against this background, the describes DE 10 2012 001 950 A1 a method for operating a camera arrangement for a vehicle, in which at least one piece of image information is displayed on a surface. The surface can be, for example, the windshield of the vehicle. Depending on the surface's own movement, the at least one piece of image information is changed in such a way that the surface's own movement is at least largely compensated. In this way, the influences of pitching and yaw movements of the vehicle on the display of the image information can be compensated for.

Furthermore, it describes DE 10 2014 013 408 A1 a method for displaying environmental information of a vehicle, in which real optical environmental information is overlaid with virtual image data. By means of at least one detection unit, a road surface located in front of the vehicle in the direction of travel is detected and a height profile of the road surface is recognized. Depending on the height profile, a future movement of the vehicle is predicted and depending on the future movement, the virtual image data is displayed in the correct position and superimposed on the real optical surrounding information.

Furthermore describes the DE 10 2015 007 518 A1 a method for predicting the position of a vehicle. The method uses data from at least three sensors of different sensor types in combination with a vehicle model to estimate the current or future position of the vehicle. A first type of sensor detects at least one component of the position of the vehicle. A second type of sensor detects at least one component of an excitation of the vehicle, which leads to a change in at least one component of the position of the vehicle. A third type of sensor detects at least one property of the vehicle's surroundings.

It also describes DE 10 2016 005 452 A1 a method for correcting a position of an augmented reality object projected in a display of a vehicle, which changes as a result of an adjusted chassis of the vehicle. While the vehicle is traveling, the vehicle's own movement that occurs as a result of the adjusted chassis is determined from at least one image of a road surface of the road on which the vehicle is moving. Based on the determined own movement The augmented reality object projected onto the display is stabilized in its position.

All of the approaches mentioned above attempt to compensate for the influences of vehicle movement on the virtual display. It is possible to detect vehicle movement with sufficient precision using yaw rate and acceleration sensors. However, the data processing chain from sensory data acquisition to data processing and 3D rendering to the display is so long that there is a latency in the range of around 100ms. In augmented reality applications, latencies in the range of 15ms are perceived as disruptive. Typically, attempts are made to reduce the latencies that occur by optimizing the hardware or software. For example, with regard to hardware, the tracking method can be optimized by increasing the temporal and spatial sampling rate or by synchronization methods [1]. In terms of software, these include predictive tracking [2], late latching [3] and image deflection [4]. However, the approaches mentioned are associated with not inconsiderable costs.

Another approach is to hide the contact-analog display if there is too much interference from vehicle movements. For example, describes the DE 10 2014 221 608 A1 a method for deactivating a contact analog display on data glasses in a motor vehicle. For this purpose, data on the movement of the motor vehicle, in particular on the lateral acceleration of the motor vehicle; provided. As long as the vehicle movement of the motor vehicle exceeds a predetermined threshold value, the display of a contact-analog representation on the data glasses is suspended.

This approach ensures that the virtual image is perceived as having a relatively stable location, but with the necessary limitation that no contact-analog representation occurs when larger vehicle movements occur.

The US 2016 / 0 147 073 A1 describes a head-up display for a vehicle. The head-up display is set up to display a marker around an object. A size of the marking is adjusted depending on the size of the vehicle's own movement.

Further approaches to reducing the perceptibility of display errors are described DE 10 2017 220 268 A1 and the DE 10 2017 216 774 A1 , which are older rights.

It is an object of the invention to show alternative solutions for controlling a display of an augmented reality head-up display device for a motor vehicle.

This object is achieved by a method with the features of claim 1, by a computer-readable storage medium with instructions according to claim 4 and by a device with the features of claim 5. Preferred embodiments of the invention are the subject of the dependent claims.

• - Generieren einer Markierung für ein vor dem Kraftfahrzeug befindliches Objekt für eine kontaktanaloge Anzeige durch die Augmented-Reality-Head-up-Display-Vorrichtung, wobei die Markierung derart ausgestaltet ist, dass Nickbewegungen des Kraftfahrzeugs nicht zu einer Überschneidung zwischen der Markierung und dem Objekt führen, indem die Markierung als Fragment eines Rahmens um das Objekt ausgestaltet ist, wobei die Markierung nur vertikale Elemente des Rahmens um das Objekt oder Eckelemente des Rahmens um das Objekt umfasst, oder dass durch Nickbewegungen des Kraftfahrzeugs verursachte vertikale Verschiebungen der Markierung relativ zum Objekt sich nicht störend auf die Eindeutigkeit der Markierung auswirken, indem die Markierung als parallel zur Fahrbahn liegende Ringeinfassung des Objekts oder als Kombination eines Pfeilelements und eines horizontalen Fragments eines Rahmens ausgestaltet ist; und
• - Ausgeben der Markierung zur Anzeige durch die Augmented-Reality-Head-up-Display-Vorrichtung.

According to a first aspect of the invention, a method for controlling a display of an augmented reality head-up display device for a motor vehicle comprises the steps:

• - Generating a marking for an object located in front of the motor vehicle for a contact-analog display by the augmented reality head-up display device, the marking being designed such that pitching movements of the motor vehicle do not result in an overlap between the marking and the object lead in that the marking is designed as a fragment of a frame around the object, the marking only comprising vertical elements of the frame around the object or corner elements of the frame around the object, or that vertical shifts of the marking relative to the object caused by pitching movements of the motor vehicle do not have a disruptive effect on the clarity of the marking by designing the marking as a ring border of the object lying parallel to the road or as a combination of an arrow element and a horizontal fragment of a frame; and
• - Outputting the marker for display by the augmented reality head-up display device.

• - Generieren einer Markierung für ein vor dem Kraftfahrzeug befindliches Objekt für eine kontaktanaloge Anzeige durch die Augmented-Reality-Head-up-Display-Vorrichtung, wobei die Markierung derart ausgestaltet ist, dass Nickbewegungen des Kraftfahrzeugs nicht zu einer Überschneidung zwischen der Markierung und dem Objekt führen, indem die Markierung als Fragment eines Rahmens um das Objekt ausgestaltet ist, wobei die Markierung nur vertikale Elemente des Rahmens um das Objekt oder Eckelemente des Rahmens um das Objekt umfasst, oder dass durch Nickbewegungen des Kraftfahrzeugs verursachte vertikale Verschiebungen der Markierung relativ zum Objekt sich nicht störend auf die Eindeutigkeit der Markierung auswirken, indem die Markierung als parallel zur Fahrbahn liegende Ringeinfassung des Objekts oder als Kombination eines Pfeilelements und eines horizontalen Fragments eines Rahmens ausgestaltet ist; und
• - Ausgeben der Markierung zur Anzeige durch die Augmented-Reality-Head-up-Display-Vorrichtung.

According to another aspect of the invention, a computer-readable storage medium contains instructions that, when executed by a computer, cause the computer to perform the following steps to control a display of an augmented reality head-up display device for a motor vehicle:

• - Generating a marking for an object located in front of the motor vehicle for a contact-analog display by the augmented reality head-up display device, the marking being designed such that pitching movements of the motor vehicle do not result in an overlap between the marking and the object lead in that the marking is designed as a fragment of a frame around the object, whereby the marking only ver tical elements of the frame around the object or corner elements of the frame around the object, or that vertical shifts of the marking relative to the object caused by pitching movements of the motor vehicle do not have a disruptive effect on the clarity of the marking, in that the marking is a ring border of the road that lies parallel to the road object or as a combination of an arrow element and a horizontal fragment of a frame; and
• - Outputting the marker for display by the augmented reality head-up display device.

The term computer is to be understood broadly. In particular, it also includes control devices and other processor-based data processing devices.

• - einen Grafikgenerator zum Generieren einer Markierung für ein vor dem Kraftfahrzeug befindliches Objekt für eine kontaktanaloge Anzeige durch die Augmented-Reality-Head-up-Display-Vorrichtung, wobei die Markierung derart ausgestaltet ist, dass Nickbewegungen des Kraftfahrzeugs nicht zu einer Überschneidung zwischen der Markierung und dem Objekt führen, indem die Markierung als Fragment eines Rahmens um das Objekt ausgestaltet ist, wobei die Markierung nur vertikale Elemente des Rahmens um das Objekt oder Eckelemente des Rahmens um das Objekt umfasst, oder dass durch Nickbewegungen des Kraftfahrzeugs verursachte vertikale Verschiebungen der Markierung relativ zum Objekt sich nicht störend auf die Eindeutigkeit der Markierung auswirken, indem die Markierung als parallel zur Fahrbahn liegende Ringeinfassung des Objekts oder als Kombination eines Pfeilelements und eines horizontalen Fragments eines Rahmens ausgestaltet ist; und
• - einen Ausgang zum Ausgeben der Markierung zur Anzeige durch die Augmented-Reality-Head-up-Display-Vorrichtung.

According to a further aspect of the invention, a device for controlling a display of an augmented reality head-up display device for a motor vehicle has:

• - a graphics generator for generating a marking for an object located in front of the motor vehicle for a contact-analog display by the augmented reality head-up display device, the marking being designed such that pitching movements of the motor vehicle do not result in an overlap between the marking and guide the object in that the marking is designed as a fragment of a frame around the object, wherein the marking only comprises vertical elements of the frame around the object or corner elements of the frame around the object, or that vertical displacements of the marking caused by pitching movements of the motor vehicle are relative to the object do not have a disruptive effect on the clarity of the marking by designing the marking as a ring border of the object lying parallel to the road or as a combination of an arrow element and a horizontal fragment of a frame; and
• - an output for outputting the marker for display by the augmented reality head-up display device.

In the solution according to the invention, the viewer's perception is addressed and the subjective feeling of positional accuracy when displaying a marking by an augmented reality head-up display device is increased by a fault-tolerant design of the marking. This means that computationally intensive treatment of objective display errors in the form of incorrect positioning in the image can be eliminated or can only be carried out to a reduced extent.

Overlaps between a mark and a real object are particularly disturbing to the viewer. Avoiding such overlaps ensures that incorrect positioning of the marking is perceived as less disturbing.

According to a first embodiment, the marking is designed as a fragment of a frame around the object. The fragment of the frame can be, for example, vertical elements or corner elements of the frame. If the marking only includes vertical elements of the frame, overlaps between the marking and the real object are reliably avoided due to incorrect positioning of the marking in the vertical direction. When using corner elements of the frame, overlaps may occur even with smaller vertical displacements, but they are less salient due to the small area of the overlap.

According to one aspect of the invention, the marking is designed such that an enclosure distance of the marking relative to the object is greater than a vertical displacement of the marking relative to the object that is expected due to the pitching movements. With this design, overlaps only occur with strong pitching movements, which are not to be expected in everyday driving.

According to a second embodiment, the marking is designed as a ring border of the object that lies parallel to the road. With such a design, an overlap with the object actually makes sense. For the intuitive understanding of the display, in this design it is of secondary importance at what height the marking is bordered, so that pitching movements do not have a disruptive effect.

According to a third embodiment, the marking is designed as a combination of an arrow element and a fragment of a frame. For objects with a low height or objects at street level, it makes sense to design the marking that is understood regardless of whether the real object is above or below. For example, markings that can be understood as both a frame and an arrow are suitable for this. With such a design, the marking can lie both below and above the object without the position appearing incorrect and ambiguous.

According to one aspect of the invention, the specific design of the marking is selected depending on a height of the object or a position of the object relative to the road. For objects with a lower height or objects such as potholes or oil stains that are in the road itself, it is recommended to use a double-sided marking, which is understood regardless of whether the real object is above or below. For taller objects, it is advisable to use one of the other designs presented. A useful value for distinguishing between taller and less tall objects is a height of around 50 cm. The classification of the object in terms of size and location, ie on the road or in the road, can be done, for example, by means of an image evaluation of a camera image.

A method according to the invention or a device according to the invention is used particularly advantageously in a vehicle, in particular a motor vehicle.

• 1 zeigt schematisch ein Verfahren zur Steuerung einer Anzeige einer Augmented-Reality-Head-up-Display-Vorrichtung für ein Kraftfahrzeug;
• 2 zeigt eine erste Ausführungsform einer Vorrichtung zur Steuerung einer Anzeige einer Augmented-Reality-Head-up-Display-Vorrichtung für ein Kraftfahrzeug;
• 3 zeigt eine zweite Ausführungsform einer Vorrichtung zur Steuerung einer Anzeige einer Augmented-Reality-Head-up-Display-Vorrichtung für ein Kraftfahrzeug;
• 4 stellt schematisch ein Kraftfahrzeug dar, in dem eine erfindungsgemäße Lösung realisiert ist;
• 5 zeigt schematisch einen allgemeinen Aufbau einer Augmented-Reality-Head-up-Display-Vorrichtung für ein Kraftfahrzeug;
• 6 zeigt ein erstes Beispiel einer bekannten Augmented-Reality-Darstellung einer Augmented-Reality-Head-up-Display-Vorrichtung;
• 7 zeigt ein zweites Beispiel einer bekannten Augmented-Reality-Darstellung einer Augmented-Reality-Head-up-Display-Vorrichtung;
• 8 zeigt ein erstes Beispiel einer fehlertoleranten Ausgestaltung einer Markierung;
• 9 zeigt weitere Beispiele fehlertoleranter Ausgestaltungen einer Markierung;
• 10 zeigt eine fehlertolerante Ausgestaltung einer Markierung als Ringeinfassung eines Objekts; und
• 11 zeigt ein weiteres Beispiel einer fehlertoleranten Ausgestaltung einer Markierung auf Basis einer Kombination eines Pfeilelements und eines Fragments eines Rahmens.

Further features of the present invention will become apparent from the following description and the appended claims in conjunction with the figures.

• 1 shows schematically a method for controlling a display of an augmented reality head-up display device for a motor vehicle;
• 2 shows a first embodiment of a device for controlling a display of an augmented reality head-up display device for a motor vehicle;
• 3 shows a second embodiment of a device for controlling a display of an augmented reality head-up display device for a motor vehicle;
• 4 schematically represents a motor vehicle in which a solution according to the invention is implemented;
• 5 shows schematically a general structure of an augmented reality head-up display device for a motor vehicle;
• 6 shows a first example of a known augmented reality representation of an augmented reality head-up display device;
• 7 shows a second example of a known augmented reality representation of an augmented reality head-up display device;
• 8th shows a first example of a fault-tolerant design of a marking;
• 9 shows further examples of fault-tolerant configurations of a marking;
• 10 shows a fault-tolerant design of a marking as a ring enclosure of an object; and
• 11 shows another example of a fault-tolerant design of a marking based on a combination of an arrow element and a fragment of a frame.

For a better understanding of the principles of the present invention, embodiments of the invention are explained in more detail below with reference to the figures. It is understood that the invention is not limited to these embodiments and that the described features can also be combined or modified without departing from the scope of the invention as defined in the appended claims.

1 schematically shows a method for controlling a display of an augmented reality head-up display device for a motor vehicle. Using a suitable methodology, an object located in front of the motor vehicle is detected 10, for example a vehicle in front or an obstacle. In addition, a height of the object or a position of the object relative to the road can be determined 11. A graphics generator generates 12 a marking for the object for a contact-analog display by the augmented reality head-up display device, the marking being one in terms of a vertical displacement of the marking relative to the object has a fault-tolerant design.

The marking is preferably designed in such a way that when displayed there is no overlap between the marking and the object or any overlap between the marking and the object appears less salient. For example, the marking can be designed as a fragment of a frame around the object. The fragment of the frame can be vertical elements or corner elements of the frame. Alternatively, the marking can be designed as a ring border of the object lying parallel to the road or as a combination of an arrow element and a fragment of a frame. Preferably, the specific design of the fault-tolerant marking is selected depending on a height of the object or a position of the object relative to the road.

The generated marking is finally output to a control device of the augmented reality head-up display device for display by the augmented reality head-up display device 13. Instead of outputting the generated marking to the control device, alternatively only an instruction is issued to the control unit to generate a marking with a fault-tolerant design. It is also possible for the method described to be carried out entirely by the control unit of the augmented reality head-up display device.

2 shows a simplified schematic representation of a first embodiment of a device 20 for controlling a display of an augmented reality head-up display device for a motor vehicle. The device 20 has an input 21 through which image data from a camera 43 or data from a sensor system 44 can be received. The sensor system 44 can, for example, have a laser scanner or a stereo camera for detecting the condition of the road. The device 20 also has an analysis unit 22, which detects an object located in front of the motor vehicle based on the data received. In addition, the analysis unit 22 can be set up to determine a height of the object or a position of the object relative to the road. A graphics generator 23 generates a marker for the object for a contact-analog display by the augmented reality head-up display device, the marker having a fault-tolerant design with respect to a vertical displacement of the marker relative to the object.

The marking is preferably designed in such a way that when displayed there is no overlap between the marking and the object or any overlap between the marking and the object appears less salient. For example, the marking can be designed as a fragment of a frame around the object. The fragment of the frame can be vertical elements or corner elements of the frame. Alternatively, the marking can be designed as a ring border of the object lying parallel to the road or as a combination of an arrow element and a fragment of a frame. Preferably, the specific design of the fault-tolerant marking is selected depending on a height of the object or a position of the object relative to the road.

The generated marking is output to a control device 42 of the augmented reality head-up display device via an output 26 of the device 20. Alternatively, only an instruction can be issued to the control device 42 to generate a marking with a fault-tolerant design. The controller 42 can then insert the generated marker into a display of the augmented reality head-up display device.

The analysis unit 22 and the graphics generator 23 can be controlled by a control unit 24. If necessary, settings of the analysis unit 22, the graphics generator 23 or the control unit 24 can be changed via a user interface 27. If necessary, the data generated in the device 20 can be stored in a memory 25 of the device 20, for example for later evaluation or for use by the components of the device 20. The analysis unit 22, the graphics generator 23 and the control unit 24 can be used as dedicated Hardware can be implemented, for example as integrated circuits. Of course, they can also be partially or completely combined or implemented as software that runs on a suitable processor, for example a GPU. The input 21 and the output 26 may be implemented as separate interfaces or as a combined bidirectional interface. In the example described, the device 20 is an independent component. However, it can also be integrated in the control unit 42 of the augmented reality head-up display device.

3 shows a simplified schematic representation of a second embodiment of a device 30 for controlling a display of an augmented reality head-up display device for a motor vehicle. The device 30 has a processor 32 and a memory 31. For example, the device 30 is a computer or a control device. Instructions are stored in the memory 31 which, when executed by the processor 32, cause the device 30 to carry out the steps according to one of the methods described. The instructions stored in the memory 31 thus embody a program that can be executed by the processor 32 and which implements the method according to the invention. The device 30 has an input 33 for receiving information, for example graphic data or information about recognized objects. Data generated by processor 32 is provided via an output 34. In addition, they can be stored in memory 31. The input 33 and the output 34 can be combined to form a bidirectional interface.

The processor 32 may include one or more processing units, such as microprocessors, digital signal processors, or combinations thereof.

The memories 25, 31 of the described embodiments can have both volatile and non-volatile memory areas and include a wide variety of storage devices and storage media, for example hard drives, optical storage media or semiconductor memories.

4 schematically represents a motor vehicle 40 in which a solution according to the invention is implemented. The motor vehicle 40 has an augmented reality head-up display device 41 with an associated control unit 42. Furthermore, the motor vehicle 40 has a device 20 for controlling a display of the augmented reality head-up display device 41. The device 20 can of course also be integrated into the augmented reality head-up display device 41 or into the control unit 42 of the augmented reality head-up display device 41. Further components of the motor vehicle 40 are a camera 43 and a sensor system 44 for detecting objects, a navigation system 45, a data transmission unit 46 and a series of assistance systems 47, one of which is shown as an example. Using the data transmission unit 46, a connection to service providers can be established, for example to retrieve map data. A memory 48 is available for storing data. The data exchange between the various components of the motor vehicle 40 takes place via a network 49.

5 schematically shows an augmented reality head-up display device 41 for a motor vehicle 40, with the help of which content can be displayed on a projection surface 52 of the motor vehicle 40, for example on the windshield or on an additional pane made of glass or plastic between the driver and the windshield on the dashboard. The displayed content is generated by an imaging unit 50 and projected onto the projection surface 52 using an optical module 51. Typically, the projection takes place in an area of the windshield above the steering wheel. The imaging unit 50 can be, for example, an LCD TFT display. The augmented reality head-up display device 41 is usually installed in a dashboard of the motor vehicle 40.

When marking objects in an augmented reality representation, clear symbols are usually chosen that frame the object completely or only from one side, for example. 6 shows a first example of such an augmented reality representation of an augmented reality head-up display device. For example, a marker 60 is superimposed on the actual environment in a contact-analog representation, which marks a vehicle 61 in front to visualize an ACC system status (ACC: Adaptive Cruise Control). Navigation information, warnings or other elements can also be displayed. The disadvantage of the marking 60 is that it moves up and down for the viewer relative to the vehicle 61 in front due to pitching movements of the motor vehicle. 6a) shows a marking 60 correctly positioned relative to the object 61, 6b) a marking 60 shifted upwards relative to the object 61 and 6c ) a marking 60 shifted downwards relative to the object 61. Such movements are perceived early and as particularly disturbing due to their salient effect. For example, an intersection of the real object 61 with the virtual marking 60 can become visible, as shown in 6b) the case is.

7 shows a second example of a known augmented reality representation of an augmented reality head-up display device. In this example, object 62 is an obstacle on the road, specifically a tire. In the case of such an object 62 with a low height, an inaccuracy in the position of the marking 60 can not only be disruptive, but can even lead to an ambiguous marking 60. 7a) shows a clear marking 60 with the correct position of the marking 60. In 7b) the marking 60 is shifted upwards relative to the object 62. Due to the incorrect position, it is not clear what the marking 60 specifically refers to.

According to the invention, fault-tolerant configurations are therefore used for the markings in which no overlap occurs between the real object and the virtual object due to pitching movements of the motor vehicle or in which any overlaps appear less salient.

8th shows a first example of such a fault-tolerant design of a marking 60. In this design, the object 61 is only partially framed by the marking 60, preferably only to the side instead of at the bottom or top. 8a) shows a marking 60 correctly positioned relative to the object 61, 8b) a marking 60 shifted upwards relative to the object 61 and 8c ) a marking 60 that is shifted downwards relative to the object 61. Despite the incorrect position of the marking 60, there are no overlaps with the real object 61.

9 shows further examples of fault-tolerant configurations of a marking. A reduction in possible optical overlaps can also be achieved by increasing the distance between the bezels, as shown in 9a) is shown. With this design, overlaps only occur with strong pitching movements, which are not to be expected in everyday driving. 9b) illustrates a fragmentation of the frame in which only corner elements of the frame are displayed become. In this configuration, overlaps occur even with smaller pitching movements, but they are less salient due to the small area of the overlap. The area of the overlap is essentially determined by the length of the horizontal legs of the corner elements.

By shortening these horizontal legs accordingly, the overlap can even be completely avoided. In 9c ) a diffuse design of the frame is used, ie the frame merges smoothly into the surroundings. This will be in 9c ) indicated by the dashed lines. With this embodiment too, any overlaps between the marking 60 and the object 61 are less salient.

Furthermore, there are embodiments of the marking 60 that even require an overlap with the object 61. 10 shows a fault-tolerant design of the marking 60 as a ring enclosure of the object 61. 10a) shows a marking 60 correctly positioned relative to the object 61, 10b) a marking 60 shifted upwards relative to the object 61 and 10c ) a marking 60 that is shifted downwards relative to the object 61. For the intuitive understanding of the display, in this embodiment it is of secondary importance at what height the object 61 is surrounded by the marking 60, so that pitching movements do not have a disruptive effect.

11 shows another example of a fault-tolerant design of a marker 60 based on a combination of an arrow element and a fragment of a frame. 11a) shows a marking 60 correctly positioned relative to the object 62, 11b) a marking 60 shifted upwards relative to the object 62. For objects 62 with a low height, for example abandoned objects such as tires, or objects in the street level, for example potholes or oil stains, a double-sided marking 60 is preferably used, which is understood independently of this. whether the real object is above or below. For example, markings 60, which can be understood as both a frame and an arrow, are suitable for this purpose. In such a configuration, the marking 60 can lie both below and above the object 62 without the position appearing incorrect and ambiguous.

The classification of the object in terms of size and location, ie on the road or in the road, can be done by image evaluation of a camera image. For objects that are higher than around 50 cm, it is advisable to use the in the 8-10 presented designs. For objects with a lower height or objects such as potholes or oil stains that are directly in the road itself, it is recommended to use a double-sided marking as in 11 . Preferably, the height at which to switch between the different types of fault-tolerant design can be adjusted by the user.

Reference symbol list

10

Detecting an object

11

Detecting a height or location of the object

12

Generate a fault-tolerant marker for display

13

Output the generated fault-tolerant marker

20

contraption

21

Entrance

22

Unit of analysis

23

Graphics generator

24

Control unit

25

Storage

26

Exit

27

User interface

30

contraption

31

Storage

32

processor

33

Entrance

34

Exit

40

motor vehicle

41

Augmented reality head-up display device

42

Controller of the augmented reality head-up display device

43

camera

44

Sensor system

45

navigation system

46

Data transmission unit

47

Assistance system

48

Storage

49

network

50

Imaging unit

51

Optical module

52

Projection surface

60

mark

61

Vehicle in front

62

obstacle

credentials

• [1] http://www.hizook.com/blog/2015/05/17 /valves-lighthouse-tracking-system-may-be-bignews-robotics
• [2] https://developer3.oculus.com/blog/the-latent-power-of-prediction/
• [3] https://developer3.oculus.com/blog/optimizing-vr-graphics-with-late-latching/
• [4] Pelot: “Dynamic Blanking for Virtual Reality Image Displacement,” http://web.stanford.edu/class/ee267/Spring2016/report_pelot.pdf

Claims (6)

Method for controlling a display of an augmented reality head-up display device (41) for a motor vehicle (40), with the steps: - Generating (12) a marking (60) for an object (61, 62) located in front of the motor vehicle (40) for a contact-analog display by the augmented reality head-up display device (41), the marking ( 60) is designed in such a way that pitching movements of the motor vehicle (40) do not lead to an overlap between the marking (60) and the object (61, 62), in that the marking (60) acts as a fragment of a frame around the object (61, 62 ) is designed, wherein the marking (60) only comprises vertical elements of the frame around the object (61, 62) or corner elements of the frame around the object (61, 62), or that vertical displacements of the motor vehicle (40) caused by pitching movements of the Marking (60) relative to the object (61, 62) does not have a disruptive effect on the clarity of the marking (60), in that the marking (60) acts as a ring border of the object (61, 62) lying parallel to the road or as a combination of an arrow element and a horizontal fragment of a frame; and - Outputting (13) the marking (60) for display by the augmented reality head-up display device (41). Procedure according to Claim 1 , wherein the marking (60) is designed such that an enclosure distance of the marking (60) with respect to the object (61, 62) is greater than a vertical displacement of the marking (60) relative to the object (61, 62) that is expected due to the pitching movements ). Procedure according to Claim 1 or 2 , wherein the specific design of the marking (60) is selected depending on a height of the object (61, 62) or a position of the object (61, 62) relative to the road. Computer-readable storage medium containing instructions that, when executed by a computer, enable the computer to carry out the steps of a method according to one of Claims 1 until 3 to control a display of an augmented reality head-up display device (41) for a motor vehicle (40). Device (20) for controlling a display of an augmented reality head-up display device (41) for a motor vehicle (40), with - a graphics generator (23) for generating (12) a marking (60) for an object (61, 62) located in front of the motor vehicle (40) for a contact-analog display by the augmented reality head-up display device (41 ), wherein the marking (60) is designed such that pitching movements of the motor vehicle (40) do not lead to an overlap between the marking (60) and the object (61, 62) by converting the marking (60) as a fragment of a frame the object (61, 62) is designed, wherein the marking (60) only comprises vertical elements of the frame around the object (61, 62) or corner elements of the frame around the object (61, 62), or that pitching movements of the motor vehicle ( 40) caused vertical displacements of the marking (60) relative to the object (61, 62) do not have a disruptive effect on the clarity of the marking (60), in that the marking (60) acts as a ring border of the object (61, 62) lying parallel to the road. or is designed as a combination of an arrow element and a horizontal fragment of a frame; and - an output (26) for outputting (13) the marking (60) for display by the augmented reality head-up display device (41). Motor vehicle (40) with an augmented reality head-up display device (41), characterized in that the motor vehicle (40) has a device (20) according to Claim 5 has or is set up to have a method according to one of the Claims 1 until 3 to control a display of the augmented reality head-up display device (41).

Images