Method and vehicle control system for producing images of a surroundings model, and corresponding vehicle

A vehicle control system of a vehicle for producing images of a stored three-dimensional surroundings model of surroundings of the vehicle, said images having been corrected for perspective, comprising:

• a camera device configured to produce at least one camera picture of the surroundings;
• a computing device configured:
• to project the camera picture onto a projection surface in the surroundings model,
• to identify, in the surroundings model, a relevant region that is relevant for driving, by marking the relevant region in the surroundings model with a line or a color that is synthesized in the surroundings model and does not exist in the at least one camera picture of the surroundings so as to produce a marked relevant region in the surroundings model,
• to project the marked relevant region of the surroundings model, including the line or the color with which the relevant region has been marked, onto a corresponding projection surface area of the projection surface onto which projection surface the camera picture is also projected, so as to superimpose the marked relevant region and the camera picture with one another on the projection surface and thereby to mark a perspective-corrected image region of the camera picture that is projected onto the projection surface, wherein the marked perspective-corrected image region corresponds to the marked relevant region as having been corrected for perspective, and
• to produce a virtual camera image of the marked relevant region and the camera picture superimposed with one another on the projection surface so as to represent the marked perspective-corrected image region in the virtual camera image, by a virtual camera that can move freely in the surroundings model;
• and
• an output device configured to output the virtual camera image.

A method comprising the steps:

• a) with a camera system of a vehicle, producing a real camera picture of surroundings of the vehicle;
• b) providing a stored three-dimensional surroundings model of the surroundings of the vehicle;
• c) projecting the real camera picture onto a virtual projection surface;
• d) in the surroundings model, identifying a relevant region that is relevant for driving of the vehicle, wherein the identifying of the relevant region includes marking the relevant region in the surroundings model with a line or a color that is synthesized in the surroundings model and does not exist in the at least one camera picture of the surroundings so as to produce a marked relevant region in the surroundings model;
• e) projecting the marked relevant region of the surroundings model, including the line or the color with which the relevant region has been marked, onto the virtual projection surface that also has the real camera picture projected thereon, so as to superimpose the marked relevant region and the real camera picture with one another on the virtual projection surface;
• f) with a virtual camera that is freely movable to different virtual camera positions relative to the virtual projection surface, at a selected one of the virtual camera positions producing a virtual camera image of the virtual projection surface having the real camera picture and the marked relevant region projected and superimposed with one another thereon;
• and
• g) outputting the virtual camera image.