Method and environment-capture system for producing an environmental image of an entire multi-part vehicle

2:

• The method as claimed in claim 1, wherein:
• the environmental image of the entire vehicle is combined as a surround view-top view image, or
• after combining the individual images to form the environmental image of the entire vehicle, a surround view-top view image as a top view of the vehicle environment around the entire vehicle is subsequently formed from the environmental image.

3:

• The method as claimed in claim 1, wherein the environmental image of the entire vehicle proceeds in closed fashion peripherally around the entire vehicle and/or
• the environment is represented in closed fashion peripherally around the entire vehicle.

4:

• The method as claimed in claim 1, wherein overlap regions are formed between:
• the front individual image and the two front lateral individual images of the tractor vehicle, and/or
• between the back individual image and the back lateral individual images.

5:

• The method as claimed in claim 1, wherein the overlap regions are fixed portions of the individual images and/or independent of the articulation angle.

6:

• The method as claimed in claim 1, wherein the front lateral cameras are positioned in or on the tractor vehicle such that their lateral front capture regions in each case extend forward beyond the tractor vehicle and backward beyond a rear region of the tractor vehicle backward, and
• wherein the back lateral cameras are positioned in or on the trailer vehicle such that their back lateral capture regions extend backward beyond a back rear region of the trailer vehicle and forward beyond a front surface of the trailer vehicle.

9:

• The method as claimed in claim 1, wherein
• the lateral overlap regions are ascertained from the lateral front individual images and the lateral back individual images without knowledge of the articulation angle, and the articulation angle between the tractor vehicle and the trailer vehicle is subsequently ascertained from the ascertained overlap regions.

10:

• The method as claimed in claim 1, wherein
• the overlap regions are ascertained depending on matching of adjacent left individual images or right individual images by image processing algorithms.

11:

• The method as claimed in claim 1, wherein the lateral overlap regions are ascertained by comparing temporal sequences of lateral individual images.

12:

• The method as claimed in claim 1, wherein the matching of the lateral individual images is ascertained from the individual images and/or from the individual images of the ascertained top views.

13:

• The method as claimed in claim 1, wherein top views are first produced from the individual images and subsequently the environmental image of the entire vehicle is ascertained from the top views.

14:

• The method as claimed in claim 1, wherein the environmental image of the entire vehicle represents the environment around the entire vehicle without gaps and/or without a dead space and/or continuously.

15:

• The method as claimed in claim 1, wherein the individual images and/or the environmental image of the entire vehicle and/or the surround view-top view image are/is produced with color data for representing captured external objects.

16:

• The method as claimed in claim 1, wherein the environmental image of the entire vehicle is formed without including a backwardly directed rear camera of the tractor vehicle and/or without including a front camera of the trailer vehicle provided on the front side of the trailer vehicle.

17:

• The method as claimed in claim 1, wherein the articulation angle is ascertained by the front rear camera provided on the rear region of the tractor vehicle, by capturing a front side of the trailer vehicle and ascertaining the articulation angle of the trailer vehicle relative to the tractor vehicle, and in-particular-with-determination of the relative position of the front side of the trailer vehicle and/or of a pattern on the trailer vehicle relative to the tractor vehicle.

18:

• The method as claimed in claim 1, wherein the lateral individual images are trimmed depending on the articulation angle and/or ascertained matching, in order to form suitable overlap regions.

20:

• The environment-capture system as claimed in claim 19, has further comprising an articulation angle sensor for ascertaining the articulation angle.

21:

• An entire multi-part vehicle having a tractor vehicle, a trailer vehicle and the environment-capture system as claimed in claim 19.