# US 10,311,309 B2 · Method and device for interpreting a surrounding environment of a vehicle, and vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,311,309 B2 - Document ID: US10311309B2 - Status: Granted - Kind: B2 - Application number: 15/436,018 - Filed: 2017-02-17 - Published: 2017-08-24 - Granted: 2019-06-04 - Earliest claimed: 2016-02-19 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Holger Janssen - Web page: https://patentgrep.com/patent/US10311309B2 ## CPC - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 7/73: using feature-based methods - G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60R 2300/307: virtually distinguishing relevant parts of a scene from the background of the scene - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T 2207/30256: Lane; Road marking - G06T 2207/30261: Obstacle - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A method is described for interpreting a surrounding environment of a vehicle. The method includes a step of providing an image of the surrounding environment of the vehicle, a step of forming an item of relational information using a first position of a first object in the image and a second position of a second object in the image, the item of relational information representing a spatial relation between the first object and the second object in the surrounding environment of the vehicle, and a step of use of the item of relational information in order to interpret the surrounding environment of the vehicle. ## Claims ### Claim 1 A method for interpreting a surrounding environment of a vehicle, comprising: providing a video image of the surrounding environment of the vehicle; forming an item of relational information, using a first position of a first object, in the video image, and a second position of a second object in the video image, wherein the item of relational information represents a spatial relation between the first object and the second object in the surrounding environment of the vehicle; and using the item of relational information to interpret the surrounding environment; wherein the video image includes a central-perspective image of a driving scene. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein, in the using, the item of relational information is used for at least one of a lateral steering function and a longitudinal regulation of the vehicle. ### Claim 3 (depends on 1) The method as recited in claim 1, further comprising: assigning at least one of the first object and the second object to an object class that is used, in the using, to interpret the surrounding environment of the vehicle. ### Claim 4 (depends on 1) The method as recited in claim 1, further comprising: forming an item of occlusion information that represents an occlusion of the first object by the second object in the video image; and using the item of occlusion information in the using the item of relational information to interpret the surrounding environment of the vehicle. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein: in the forming, an additional item of relational information is formed using a further first position of a further first object in the video image and a further second position of a further second object in the video image, the further item of relational information representing a spatial relation between the further first object and the further second object in the surrounding environment of the vehicle, and in the using, the further item of relational information is used to interpret the surrounding environment of the vehicle. ### Claim 6 (depends on 5) The method as recited in claim 5, wherein the using includes generating a relation value between the item of relational information and the further item of relational information, to interpret the surrounding environment of the vehicle using the relation value. ### Claim 7 (depends on 6) The method as recited in claim 6, wherein, in the using, the relation value is used for following travel behind a further vehicle. ### Claim 8 (depends on 1) The method as recited in claim 1, further comprising: determining a bearing of one of the objects or of a further object in relation to an optical sensor, wherein the bearing is used, in the using, to interpret the surrounding environment of the vehicle. ### Claim 9 A device for interpreting a surrounding environment of a vehicle, comprising: an arrangement configured to perform the following: a video image of the surrounding environment of the vehicle; forming an item of relational information, using a first position of a first object, in the video image, and a second position of a second object in the video image, wherein the item of relational information represents a spatial relation between the first object and the second object in the surrounding environment of the vehicle; and using the item of relational information to interpret the surrounding environment; wherein the video image includes a central-perspective image of a driving scene. ### Claim 10 A vehicle, comprising: an optical sensor, which includes a video camera; a driver assistance system; and a device connected electrically and conductively to at least one of the optical sensor and the driver assistance system, the device being for interpreting a surrounding environment of a vehicle, and configured for performing the following: providing a video image of the surrounding environment of the vehicle; forming an item of relational information, using a first position of a first object, in the video image, and a second position of a second object in the video image, wherein the item of relational information represents a spatial relation between the first object and the second object in the surrounding environment of the vehicle; and using the item of relational information to interpret the surrounding environment; wherein the video image includes a central-perspective image of a driving scene. ### Claim 11 A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising: a program code arrangement having program code for interpreting a surrounding environment of a vehicle, by performing the following: providing a video image of the surrounding environment of the vehicle; forming an item of relational information, using a first position of a first object, in the video image, and a second position of a second object in the video image, wherein the item of relational information represents a spatial relation between the first object and the second object in the surrounding environment of the vehicle; and using the item of relational information to interpret the surrounding environment; wherein the video image includes a central-perspective image of a driving scene. ### Claim 12 (depends on 11) The non-transitory computer readable medium of claim 11, wherein in the forming, an additional item of relational information is formed using a further first position of a further first object in the video image and a further second position of a further second object in the video image, the further item of relational information representing a spatial relation between the further first object and the further second object in the surrounding environment of the vehicle, and wherein in the using, the further item of relational information is used to interpret the surrounding environment of the vehicle.