DE102018130916A1 - Method for the prioritized transmission of recorded information from a sensor of a motor vehicle to a control unit of the motor vehicle, sensor, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for transmitting detected information (11, 12, 13) of at least one sensor (4) of a motor vehicle (1) to a control unit (3) of the motor vehicle (1), the sensor (4) using a data connection ( 11) is connected to the control unit (3), via which the acquired information (11, 12, 13) is transmitted from the sensor (4) to the control unit (3) (S7), an environment () 8) of the motor vehicle (1) is detected and objects (9a to 9i) in the surroundings (8) are characterized by the detected information (11, 12, 13), the detected information (11, 12, 13) depending on priority is given to at least object-specific criteria and / or at least one decision criterion (S6) and the transmission from the sensor (4) to the control unit (3) is carried out as a function of the assigned prioritization (S7), wherein information acquired (11, 12, 13) with a first priority with a first Frequency is transmitted to the control unit (3) and detected information (11, 12, 13) with a second priority lower than the first priority is transmitted to the control unit (3) with a second frequency lower than the first frequency. The invention further relates to a sensor (4), a driver assistance system (2) and a motor vehicle (1).

Description

The invention relates to a method for transmitting acquired information of at least one sensor of a motor vehicle to a control unit of the motor vehicle. The sensor is connected to the control unit via a data connection, via which the acquired information is transmitted from the sensor to the control unit. An environment of the motor vehicle is detected with the sensor and detected objects in the environment are characterized by the acquired information.

In the prior art, raw data, which are recorded by a sensor when the surroundings are recorded, are sent to a central control unit of the motor vehicle as soon as the data have been recorded. Filtering of the recorded data takes place in a centrally controlled manner in the central control unit of the motor vehicle. The central control of the sensors allows the processing of rapid changes in the environment of the motor vehicle and the simplified integration of new improvements in the control unit of the motor vehicle.

In particular in the case of automated driving of the motor vehicle, the information acquired about the surroundings is of enormous importance. In particular, the recorded information must be sent to the central control unit regularly and at a high speed in order to record and evaluate the environmental scenario of the motor vehicle precisely, in particular in a close range of the motor vehicle. Because a large number of recorded information about the environment is generated without filtering, this large number of recorded information is transmitted to the control unit via the data connection. However, the data connection in particular has a limited bandwidth, so that the large amount of information which relates to both the short-range and the long-range are transmitted to the control unit in an evenly distributed manner. Since, in particular, information about the far area has less relevance for driving operation than information about the near area, it can happen that irrelevant information, for example about a distant object, is transmitted in the same way as information about a near object. However, since in particular the bandwidth of the data connection is limited, no more information about objects in the near area is transmitted than information about objects in the far area, so that the information density for relevant and irrelevant objects is the same.

In order to counter this problem, the DE 101 48 069 A1 a method for recognizing and tracking objects. On the basis of images of objects, at least one sensor, in particular arranged on a vehicle, for detecting electromagnetic radiation, in particular a laser scanner, is output to a data processing device in the object data sets assigned to the objects. One of several prioritization criteria that relate to the properties of the objects is selected and a maximum total number of object data records corresponding to a prioritization criterion, in particular determined by a prioritization parameter, is output, which are determined by the selected prioritization criterion. Alternatively, depending on at least two prioritization criteria, each of which relates to at least one property of the objects, and one of the plurality of prioritization parameters, object data records that correspond to at least one prioritization criteria are output. In particular, the individual objects are prioritized in the prior art and an object data record with the higher prioritization is output first in accordance with the prioritization criteria. In dynamic driving situations in particular, however, the data records relating to an object are often very large and not all information relating to the object is of relevant importance. In particular, the data connection can therefore only be prioritized between the objects, but not between the individual properties or the individual raw data relating to the objects cannot be prioritized either.

The object of the present invention is to provide a method, a sensor, a driver assistance system and a motor vehicle, by means of which detected information relating to an environment of the motor vehicle can be evaluated in an improved manner.

This object is achieved by a method, a sensor, a driver assistance system and a motor vehicle according to the independent claims.

One aspect of the invention relates to a method for transmitting recorded information of at least one sensor of a motor vehicle to a control unit, in particular of the motor vehicle. The sensor is connected to the control unit via a data connection, via which the acquired information is transmitted from the sensor to the control unit. An environment of the motor vehicle is detected with the sensor and at least one object in the environment is characterized by the acquired information.

The recorded information becomes, in particular, dependent on at least object-specific criteria and / or at least one Decision criterion, prioritized. The transmission from the sensor to the control unit is carried out as a function of the assigned prioritization, wherein information acquired with a first priority is transmitted to the control unit with a first frequency and information acquired with a second priority lower than the first priority becomes lower with the first frequency second frequency transmitted to the control unit. The transmission of the acquired information, in particular to the control unit, is thus dependent on the priority, which can also be referred to as the transmission priority.

Depending on the at least object-specific criteria and / or the at least one decision criterion, the acquired information is prioritized accordingly over the other acquired information. If the recorded information has a higher priority than further recorded information, this recorded information is transmitted more frequently than the further recorded information. In particular, the limited bandwidth of the data connection can be used in an improved manner. Furthermore, the control unit receives the information that is relevant for the evaluation of the current environment, in particular for the vicinity of the motor vehicle, more frequently than the information that is of less relevance. This makes it possible for recorded information relating to relevant objects to be transmitted and evaluated more frequently and thus with a greater resolution than recorded information for objects with less relevance. Relevant objects in particular can thereby be evaluated or assessed more precisely and reliably by the control unit. An improved environmental evaluation is thus realized. In automated driving, in particular, higher traffic safety can thus be achieved, since the close range of the motor vehicle is evaluated in an improved manner.

According to an advantageous embodiment, the acquired information is divided into at least one of at least two predetermined information levels or information groups depending on at least one object-specific criterion and / or at least one decision criterion, in particular prior to prioritization. In particular, the information recorded is categorized. In particular, it is decided what type of information is collected. For example, an absolute position to the motor vehicle or an absolute distance of the object from the motor vehicle, a relative position to the own motor vehicle, information relating to a property of the object or further raw data about the object can be divided into at least one of two predetermined information levels, each of the Information levels corresponds to a type of information captured. In particular, it can be provided that each information level has a different priority than the other information level. The recorded information is thus easily divided and prioritized in the corresponding information levels. In particular, the recorded information of the one information level can then be sent with a first frequency and the recorded information of the second information level can be sent with a second frequency. In particular, the division into the at least two information levels enables a prioritization to be carried out and, in accordance with the prioritization, the recorded information to be sent to the control unit with the respective frequency via the data connection, so that the control unit can improve the evaluation.

It is also advantageous if at least three different information levels are specified. In particular, the acquired information can then be divided into one of the three information levels depending on the object-specific criterion and / or at least the decision criterion. In this way, the information recorded can be distinguished more precisely with regard to its type and divided into the corresponding information level. In particular, this enables further differences to be made between the recorded information, so that an even more precise prioritization of the recorded information is possible. In particular, the recorded information can be sent with different frequencies according to its division into one of the three information levels. The limited bandwidth of the data connection can thus be used even more advantageously, so that the surroundings of the motor vehicle can be evaluated in an improved manner.

If the information acquired is object-specific, this information can in turn be divided into the first information level or the second information level. In the first information level, in particular, recorded information is divided into what an absolute distance of the object from the motor vehicle or a change in distance of the object from the motor vehicle 1 affect.

If the recorded information corresponds to a distance or a change in the distance of the object, the recorded information is divided into the first information level. If the acquired information relates to a longitudinal position or a lateral position of the object, the acquired information is divided into the second information level.

In particular, it is provided that information relating to raw data that is recorded is divided into the third information level. In other words, if the information recorded is raw data, it is divided into the third information level.

It has furthermore proven to be advantageous if at least two different classes are specified in at least one first information level, and recorded information which is divided at least into this information level with the classes is classified into one of the classes. In particular, a further classification can thus take place in the first information level. In particular, a further “subclassification” of the recorded information can thus take place within the first information level. In particular, the object in the environment as a whole is analyzed in the first information level. In particular, the importance or relevance of the object is characterized in this information level. In other words, the information captured concerns the object as a whole. For example, the information acquired can be a distance between the object and the motor vehicle. In particular, it can be provided, for example, that the recorded information relating to a distance of a first object in the surroundings of the motor vehicle is classified into the first class and further recorded information relating to a further distance of a second object in the surroundings is classified into the second class. It can then be provided that the recorded information relating to the first object has a higher priority than the recorded information relating to the second object. In particular, the information recorded can therefore be prioritized in the first information level. In particular, the recorded information relating to the first object and divided into the first class of the first information level can then be prioritized over the recorded information relating to the second object and divided into the second class of the first information level. In other words, the information acquired, which relates to the first object in the present example, is transmitted to the control unit with a higher frequency than the information acquired, which relates to the second object, in the second class. In particular, it can be provided that a third class is specified within the first information level, into which the acquired information can be divided. An even more precise prioritization of the acquired information can thus be carried out, so that the surroundings of the motor vehicle can be evaluated even more advantageously.

At least two, in particular three, classes are preferably further divided in the first information level. The acquired information is divided into the first class of the first information level if the acquired information is an absolute position, in particular an absolute distance, of the object, which lies below a first distance threshold value. In other words, the information acquired, which relates to the absolute distance of the object and which is within a short range, which is formed by the first distance threshold value, is divided into the first class of the first information level. Should the recorded information relate to a distance of the object, which lies above the first distance threshold value but is below a second distance threshold value and is therefore in a middle range, then the recorded information relating to the position of the object becomes the second class of the first Information level divided. If the information acquired relates to a distance of the object which lies above the second distance threshold value and is therefore in a far range, the information relating to the distance of the object is divided into the third class.

It is also advantageous if the at least two different classes of the first information level are classified as an object-specific decision criterion, in particular depending on a distance and / or on a change in the distance of at least one object from the motor vehicle. In particular, the object is thus divided into a corresponding class of the first information level with regard to its distance from the motor vehicle. It is also possible that, for example, the object is classified based on a change in the distance of the object from the motor vehicle. For example, a nearby object in the same lane as the motor vehicle is divided into the first class of the first information level. It is also possible that an object which is on an opposite lane and thus the distance of the object changes rapidly is also divided into the first class of the first information level. In particular, it can also be provided that an object that is close to the motor vehicle in the opposite lane and thus changes the distance has a higher priority than an object that is only close. In particular, it can then be provided that the position of the object in the first class is sent with a higher frequency than the position of the further object.

According to an advantageous embodiment, at least two different classes are specified at least in a second information level, and the acquired information, which is divided into classes at least in this information level, is classified into one of the classes. In the second level of information thus the recorded information relating to an object, in particular relating to a property of the object, is divided into the corresponding class of the at least two classes of the second information level. In particular, the information recorded, which is divided into the second information level, relates to a relative position of the object with respect to the driver's own motor vehicle. In particular, for example, a first object which is located in front of the motor vehicle at a first distance has a different relevance than a second object which is located at the same distance next to the motor vehicle. In particular, for example, if the first object is in the same lane as your own motor vehicle with respect to the second object, which is in a different lane. In particular, a type of distance can also be classified in the second information level. For example, the longitudinal position of the first object is more relevant than the lateral position of the object. In particular, recorded information relating to the longitudinal position of the first object can then be divided into the first class of the second information level. Detected information relating to the lateral position of the first object can then be divided into the second class of the second information level. The opposite is true for the second object. Captured information relating to the lateral position of the second object is divided into the first class of the second information level, while captured information relating to the longitudinal position of the second object can be divided into the second class of the second information level. The recorded information is thus classified according to a property of the objects and, depending on the corresponding property, a decision is made as to which class of the second information level the classified information is divided into. In particular, it can then be provided that, for example, recorded information which is divided into the first class is transmitted with a higher frequency than recorded information which is divided into the second class of the second information level. In particular, the information recorded is already assigned to an object. In particular, then, for example, recorded information of the object which is divided into the first class of the second information level can be transmitted with a higher frequency than recorded information of the object which is divided into the second class of the second information level. In particular, it can thus also be decided according to the properties of the object which recorded information relating to the object is sent with a higher frequency than further recorded information relating to the object. In particular, this enables the bandwidth of the data connection to be used even more advantageously, so that relevant information, in particular with regard to the properties of the motor vehicle, in particular with regard to objects in the vicinity of the motor vehicle, is transmitted with a higher frequency than recorded information, which in particular properties relate to objects that have a lower relevance.

It has also proven to be advantageous if at least two different classes are specified at least in a third information level and the recorded information, which is at least divided into classes in this information level, is classified into one of the classes. In particular, the acquired information is processed as raw data in the third information level. In particular, a development of the raw data in the third information level can be analyzed. In particular, it can be provided, for example, that recorded information from raw data which has no development, in other words is static, is divided into the first class, while changing information is divided into a second class of the third information level. In particular, the changed information is more relevant than the static information. In particular, a recorded information regarding raw data with regard to its relevance can thus be classified, so that a decision can be made as to the frequency with which the recorded information can be sent to the control unit of the motor vehicle. In particular, this enables an improved prioritization of the raw data. In particular, the bandwidth of the data connection can thus be used advantageously, so that the surroundings of the motor vehicle can be evaluated in an improved manner, in particular in automated driving.

If the recorded information concerns raw data, the assigned information is divided into the third information level after the assignment to the object. In the third information level, the recorded information regarding a development of a value of a parameter of the object is divided into at least two, in particular three further classes. In particular, only the development of the recorded information is analyzed in the third information level and is therefore not assigned to any special property of the object. If, for example, the information acquired is a static value of a parameter of the object, the static value is divided into a first class of the third information level. If, for example, the acquired information is a changing value of a parameter of the object, the acquired information is divided into the second class of the third information level. In particular, it is provided that the information captured should be one act unexpectedly changing the value of the parameter of the object, the recorded information is divided in particular into a third class of the third information level.

It has also proven to be advantageous if prioritized information divided into an information level is prioritized and, depending on this, the frequency of the transfer of captured information of this information level to the control unit is carried out. In particular, it can be provided that recorded information which is in the first information level is sent with a first frequency, while recorded information which is in a second information level is sent with a second frequency. In particular, the first frequency can be greater than the second frequency. In particular, it can be provided that acquired information which is divided into a third information level is sent with a third frequency, which is lower than the second frequency. In particular, it is thus possible for the bandwidth of the data connection to be used advantageously, since acquired information, which has a lower relevance based on an object-specific criterion and / or a decision criterion, is transmitted with a lower frequency than the acquired information with a higher relevance. In particular, an improved detection or evaluation of the environment is thus made possible for automated driving of the motor vehicle, since in particular the recorded information with a high relevance is transmitted more frequently and can thus be evaluated more precisely than the recorded information with a lower relevance.

It has also proven to be advantageous if, for the assessment of the prioritization of recorded information in one, in particular superordinate / higher-level, information level, the information divided into at least one other information level is taken into account. In particular, it can be provided that the first information level is higher / higher than the second information level and the second information level is higher than the third information level. For example, first recorded information relating to a first object, which is divided into the first class of the second information level, the object being classified into a second class of the first information level, is given a lower priority than second recorded information relating to a second object , which is divided into the second class of the second level of information, the second object being divided into the first class of the first level of inflation. In other words, the first information within the second information level has a higher priority within the first information level than the second acquired information, however, since the higher-level information levels are also taken into account and the second object has a higher priority than the first object second recorded information is sent with a higher frequency than the first recorded information. The recorded information relating to the second object is thus sent more frequently than the recorded information relating to the first object. This makes it possible to implement a prioritization of the information acquired in a specific object. In particular, it can thus be prevented that properties of objects that are not as relevant as other objects are transmitted more frequently than properties of objects that are highly relevant. In particular, this enables the bandwidth of the data connections to be advantageously used, so that the surroundings of the motor vehicle can be advantageously evaluated by the control unit, in particular the central control unit.

In a further advantageous embodiment, recorded information which is divided into the third information level can be dependent on recorded information which is divided into the first and / or the second information level, and in particular the prioritization of the recorded information in the first and / or the second level of information. In particular, the detected information, which is divided into the third information level, is thus allocated with respect to the object or the property of the object. In particular, static information or dynamic changing information is thus assigned in accordance with the object or the properties of the object. In particular, it can thus be decided with what frequency, depending on the first and second information level, the information acquired from the third information level is sent to the control unit.

In an advantageous embodiment, recorded information of an object at a first distance from the motor vehicle is divided into a first class, a first value of the first distance being less than a first distance threshold value, and further recorded information of an object at a second distance from the motor vehicle, divided into a second class, a second value of the second distance being greater than the first distance threshold value and less than a second distance threshold value, and a further, further detected information of an object with a third distance to the motor vehicle being divided into a third class, a third value the third distance is larger than the second Distance threshold. In particular, objects in the surroundings of the motor vehicle are classified according to their relevance depending on the distance of the object from the motor vehicle. In particular, objects which are in the close range, in other words closer than the first distance threshold value, can thus be divided into the first class of the first information level. Objects which are further away from the motor vehicle than the first distance threshold value but closer than the second distance threshold value are then divided in particular into the second class, into a middle area, of the first information level. Further objects which are above the second distance threshold value will then be divided in particular into the third class, into a remote area, of the first information level. The acquired information with a first class of the first information level is transmitted more frequently than acquired information of the second class of the first information level. Captured information of the third class of the information level is transmitted with a lower frequency than captured information with a second class and / or a first class. A simple possibility can thereby be created in order to categorize the objects according to their relevance, which is particularly dependent on the distance of the object from the motor vehicle, and to classify them accordingly in the first information level. In particular, it is provided that the distance threshold values are determined dynamically. In particular, the distance threshold values can be determined as a function of a speed of the motor vehicle. For example, at a high speed, for example over 80 km / h on a motorway, the close range can be determined, in particular, at a greater distance than at a speed of 50 km / h, for example in city traffic. In particular, all three distance threshold values can be determined dynamically. In particular, a plurality of distance sub-threshold values can be provided, so that the near area, the middle area and the far area are not determined as circular areas, but rather are determined as elliptical areas. For example, a boundary of the close range can be determined in such a way that the boundary is further away in the longitudinal direction from the motor vehicle, so that objects further away are in front of or behind the motor vehicle in the close range, while the boundary is closer to the motor vehicle in the lateral direction so that objects next to the motor vehicle no longer fall into the close range, so that an elliptical boundary of the close range is formed overall. It is also possible that the close-up area towards the front, viewed in the main direction of travel of the motor vehicle, is longer than towards the rear. This applies analogously to the other areas.

According to a further advantageous embodiment, recorded information of an object in a first class can be transmitted with the first frequency and recorded information of a further object in a second class can be transmitted with the second frequency and recorded information of yet another object with the third class in a third frequency, which is lower than the second frequency. As a result, the information gathered can be prioritized, depending on the class, so that the control unit can carry out a situation-dependent evaluation of the environment.

It is also advantageous if, in the second information level, the information acquired is divided into the class of the second information level with respect to a longitudinal position as an object-specific criterion or a lateral position as an object-specific criterion of the object. The longitudinal position is, for example, a position of the object, which is located in front of or behind the motor vehicle, viewed in a main direction of travel of the motor vehicle. The lateral position is in particular a position of the object which is located next to, in particular to the left or right of the motor vehicle in the main direction of the motor vehicle. The division into the longitudinal and the lateral position in particular allows the absolute position or the absolute distance of the object to be divided even more finely, since, depending on the absolute position of the object, either the longitudinal position or the lateral position has a higher or lower relevance . In particular, the division of the recorded information relating to the longitudinal position into the first or second class or the lateral position into the first or second class is dynamically dependent on the respective driving situation or environmental situation of the motor vehicle. In particular, it can be provided that when the situation changes, the division of the information recorded into the first or second class of the second information level also changes. For example, recorded information relating to a longitudinal position of an object that overtakes the motor vehicle as long as it is behind the motor vehicle can be divided into the first class. If the object is next to the motor vehicle during the overtaking process, the detected information relating to the longitudinal position is divided into the second class of the second information level. After the overtaking process, the longitudinal position is again divided into the first class of the second information level.

According to a further advantageous embodiment, a longitudinal position can be as object-specific criteria of an object located in front of the motor vehicle are prioritized higher than a lateral position as object-specific criteria of the object and / or a lateral position of an object located laterally of the motor vehicle is prioritized higher than a longitudinal position. In other words, the acquired information regarding the longitudinal position of an object that is in front of the motor vehicle is divided into the first class of the second information level, and the acquired information regarding the lateral position of the object that is in front of the motor vehicle is divided into the second Class divided. When information is acquired on an object that is located next to the motor vehicle, the situation is exactly the other way round. Here, the acquired information regarding the lateral position is divided into the first class of the second information level and the acquired information regarding the longitudinal position is divided into the second class of the second information level. The reason for this is that the longitudinal position of the object in front of the motor vehicle is more relevant than the lateral position of the object in front of the motor vehicle. The lateral position of an object located next to the motor vehicle is more relevant than the longitudinal position of the object next to the motor vehicle. In particular, it can thus be dynamically decided which information is of greater relevance and can be divided accordingly into the classes of the second information level.

According to a further advantageous embodiment, a value of a parameter of the object is divided into the at least two classes of the third information level as a decision criterion in a third information level, a static value of the parameter being divided into a first of the at least two classes and a change in a value of the parameter is divided into a second of the at least two classes. In particular, the third information level is information recorded with raw data relating to the object. In particular, a development of the raw data is observed in the third information level and divided into the classes accordingly. In particular, if the parameter does not change or does not change noticeably, it is in particular a static value, so that it is divided into the first class of the third information level. When raw data changes, for example when the motor vehicle accelerates, in other words when the motor vehicle speed changes, this change in the raw data is divided into the second class of the third information level. In particular, a distinction can thus be made between changing raw data and static raw data. In particular, recorded information from changing raw data is of greater relevance than recorded information from static raw data, so that a further prioritization of the recorded information can be realized on the basis of the division into the first class or second class, so that the bandwidth of the data connection can be used better.

It has also proven to be advantageous if an unexpected change in a value of the parameter is divided into a third class of the third information level as a decision criterion and a predictable change in the value of the parameter is divided into the second class. In particular, unexpected and therefore unpredictable changes are of great relevance when evaluating the information recorded. For example, if the object is braked constantly, the speed of the object can be predicted. If the braking suddenly unexpectedly increases, the speed changes unpredictably. In particular, this unexpected change in the value of the speed can then be divided into the third class of the third information level. In particular, for example, if the information acquired relates to the unexpected braking of a motor vehicle that is in front of the motor vehicle, the longitudinal position of the object changes unexpectedly quickly, so that this information relating to this object is transmitted with a higher frequency than the acquired information relates to the unexpected Change in the lateral position of this object.

It is also advantageous if the acquired information of the second class of the third information level is transmitted more frequently than the acquired information of the first class of the third information level and / or the acquired information of the third class of the third information level is transmitted more frequently than the acquired information of the second class of third level of information. In other words, unexpected changes in the value of the parameter are transmitted more frequently than expected changes in a value of the parameter. Static values of a parameter are transmitted with a lower frequency than expected changes and / or unexpected changes in the parameter. In particular, a classification of the recorded information can thus take place in more detail, so that the bandwidth of the data connection can be used even more advantageously and, depending on the relevance of the recorded information, the recorded information is transmitted to the control unit of the motor vehicle via the data connection and thus the control unit an improved evaluation of the environment can perform.

For example, the information acquired can be a speed value of the object. If the speed does not change, i.e. remain static, the information recorded will be divided into the first class of the third information level. If the object accelerates and thus the speed changes, in particular if the acceleration accelerates evenly, the detected information is divided into the second class of the third information level. Should the speed of the object change unexpectedly, for example due to a sudden braking operation of the object, the unexpectedly changed speed is divided into the third class of the third information level. In particular, it is provided that recorded information which is divided into the third class of the third intonation level is transmitted with a greater frequency than recorded information which is divided into the second class of the third information level. In particular, it is provided that recorded information which is divided into the second class of the third information level is transmitted with a greater frequency than recorded information which is divided into the first class of the third information level.

It has also proven to be advantageous if the transmitted information is evaluated by a control unit of a driver assistance system of the motor vehicle. In particular, the evaluation of the recorded information takes place centrally within the motor vehicle. In particular, the recorded information relating to the environment can thus be evaluated centrally within the control unit of the motor vehicle and combined to form an improved overall picture. In particular, rapid changes in the environment can thus advantageously be evaluated centrally within the control unit, in particular by using further information from, for example, other sensors. Furthermore, improvements, for example for autonomous driving, can be implemented centrally on the control unit, so that the improvement does not have to be carried out on a single sensor.

Another independent aspect of the invention relates to a method for transmitting detected information of at least one sensor of a motor vehicle to a control unit, in particular of the motor vehicle, the sensor being connected to the control unit via a data connection via which the acquired information is transmitted from the sensor to the control unit , whereby the surroundings of the motor vehicle are detected with the sensor and at least one detected object in the surroundings is characterized by the detected information, the detected information, in particular depending on at least one object-specific criterion and / or at least one decision criterion, in at least one of at least two predetermined information levels or information groups can be divided, and at least some of the acquired information can be prioritized in at least one of the information levels, whereby when a transmission to the control unit takes place is performed, the information is then transmitted to the control unit depending on the prioritization. In particular, the prioritization takes place depending on the information level in which recorded information is divided. This means that information in one information level is given a higher transmission priority or priority than information in another information level and / or information is only prioritized if it has been divided into a specific information level.

Embodiments of the first independent aspect of the method are to be regarded as advantageous embodiments of the further independent aspect of the method.

Another aspect of the invention relates to a sensor with a control device which is designed to carry out the previously explained method.

According to an advantageous embodiment, the sensor can be designed as an ultrasonic sensor or as a lidar sensor or as a camera sensor or as a radar sensor. In particular, the method can thus be carried out using a wide variety of sensor types which are known from motor vehicle construction.

A further aspect of the invention relates to a driver assistance system with a control unit and with at least one sensor, the driver assistance system and the sensor being designed to carry out the method. In particular, the sensor is connected to the control unit of the driver assistance system with a data connection.

In a further aspect of the invention relates to a motor vehicle with a driver assistance system. The motor vehicle is designed in particular as a passenger car.

Advantageous embodiments of the method are to be regarded as advantageous embodiments of the sensor, the driver assistance system and the motor vehicle. For this purpose, the sensor, the driver assistance system and the motor vehicle have objective features in order to ensure that To carry out method or an advantageous embodiment thereof.

Further features of the invention result from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the figure description and / or shown alone in the figures, can be used not only in the combination specified in each case, but also in other combinations or on their own, without the frame to leave the invention. Embodiments of the invention are thus also to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, but which emerge from the explanations explained and can be generated by separate combinations of features. Designs and combinations of features are also to be regarded as disclosed, which therefore do not have all the features of an originally formulated independent claim. Furthermore, versions and combinations of features, in particular those explained above, are to be regarded as disclosed, which go beyond or differ from the combinations of features set out in the references of the claims.

The invention will now be explained in more detail on the basis of preferred exemplary embodiments and with reference to the attached drawings.

• 1 ein Kraftfahrzeug mit zumindest einem Fahrerassistenzsystem gemäß einer Ausführungsform der vorliegenden Erfindung;
• 2 ein schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 3 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 4 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 5 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 6 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 7 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 8 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 9 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung;
• 10 ein weiteres schematisches Flussdiagramm eines Ausführungsbeispiels zum Übertragen von erfassten Informationen gemäß der vorliegenden Erfindung; und
• 11 eine schematische Draufsicht auf ein Ausführungsbeispiels eines Kraftfahrzeugs mit einem Fahrerassistenzsystems in einem Umgebungsszenario.

Show:

• 1 a motor vehicle with at least one driver assistance system according to an embodiment of the present invention;
• 2nd a schematic flow diagram of an embodiment for transmitting acquired information according to the present invention;
• 3rd another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 4th another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 5 another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 6 another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 7 another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 8th another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 9 another schematic flowchart of an embodiment for transmitting acquired information according to the present invention;
• 10th another schematic flowchart of an embodiment for transmitting acquired information according to the present invention; and
• 11 is a schematic plan view of an embodiment of a motor vehicle with a driver assistance system in an environmental scenario.

Identical and functionally identical elements are provided with the same reference symbols in the figures.

1 shows a motor vehicle 1 according to an embodiment of the present invention in a plan view. The car 1 is designed in the present case as a passenger car. The car 1 has a driver assistance system 2nd on. The driver assistance system 2nd again has a control unit 3rd on, for example, by an electronic control unit of the driver assistance system 2nd can be formed. In addition, the driver assistance system 2nd with at least one sensor 4th coupled. In the present exemplary embodiment, the driver assistance system 2nd for example with four sensors 4th coupled, which is distributed to the motor vehicle 1 are arranged. However, only two sensors can be used, for example 4th or three sensors 4th or more than four sensors 4th be provided. One of the sensors is present 4th in a rear area 5 arranged one of the sensors 4th is in a front area 7 of the motor vehicle 1 arranged and the remaining two sensors 4th are in a respective page area 6 , in particular in an area of the side mirrors. The number and arrangement of the sensors 4th is to be understood here purely as an example. The sensor 4th can be designed as a radar sensor, ultrasonic sensor, lidar sensor or camera sensor. The four sensors 4th can be of the same type, for example as ultrasonic sensors. It is also possible that a respective sensor 4th is of a different nature. For example, a sensor 4th as an ultrasonic sensor, a sensor 4th as a camera sensor, a sensor 4th as a radar sensor and a sensor 4th be designed as a lidar sensor.

With the sensors 4th can be at least one object 9 in an environment 8th of the motor vehicle 1 be recorded. In particular, recorded information I. ( 2nd ) about the environment 8th , especially about the at least one object 9 , through the sensors 4th are captured and provided which the environment 8th describe. This captured information I can from the sensors 4th which each have a control device 10th have to the control unit 3rd be transmitted. The control device 10th of the sensor 4th is in particular designed to carry out a prioritization of the acquired information I and the acquired information I according to their prioritization with a respective frequency via a data connection 11 of the motor vehicle 1 to the control unit 3rd transferred to. The driver assistance system 2nd thus serves to support the driver of the motor vehicle 1 when driving the motor vehicle 1 . The driver assistance system 2nd can be, for example, an ACC (Adaptive Cruise Control System) or a parking assistance system or another system. In particular, by means of the driver assistance system 2nd an at least semi-autonomous, in particular autonomous driving operation of the motor vehicle 1 be performed.

2nd shows a schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. In one step S1 becomes a first piece of information 11 ( 4th ) by means of the sensor 4th detected. The first information captured 11 especially affects the object 9 in the neighborhood 8th .

In step S2 becomes the first information captured I1 in at least one of two information levels E ( 3rd ) assigned. The division into information level E takes place in particular on the basis of object-specific criteria and / or at least one decision criterion. In particular, each of the information levels E has a different priority. In particular, a first information level E1 ( 3rd ) have a higher priority than a second level of information E2 ( 3rd ). In particular, it can be provided that the first recorded information 11 with regard to the object-specific criteria and / or the decision criterion in a third information level E3 ( 3rd ) can be divided.

In particular, a captured information I, which in the first information level E1 is divided with a first frequency, a recorded information I, which in the second information level E2 is divided, with a second frequency and for example a recorded information I, which in the third information level E3 is divided with a third frequency to the control unit 3rd transfer. In particular, the first frequency is greater than the second frequency. In particular, the second frequency is greater than the third frequency. In other words, acquired information I which is in the first information level E1 is divided, transmitted more often than recorded information I, which is in the second information level E2 is divided. A recorded information I, which in the third information level E3 is divided, is transmitted with the third frequency, which is less than the second frequency.

In one step S3 becomes a second piece of information 12 ( 4th ) detected. The second captured information 12 is especially with the same sensor 4th detected. The second captured information 12 can do the object 9 concern, it is also possible that the second recorded information 12 another object 9 in the neighborhood 8th of the motor vehicle concerns.

In one step S4 becomes the second captured information 12 divided into one of the information levels E already explained.

In one step S5 a particular priority is assigned in particular to the respective information I acquired. The priority is particularly dependent on the division of the information I into the respective information level E1 , E2 , E3 . The assigned priority of the first level of information E1 is higher than the assigned priority of the second information level E2 . The assigned priority of the second information level E2 is again higher than the assigned priority of the third information level E2 .

In one step S6 the respective priorities of the recorded information I are compared with one another and the corresponding sequence and thus the frequency in which they are sent to the control unit are determined according to the priorities 3rd be transmitted.

In one step S 7 the recorded information I is then sent to the control unit in accordance with the assigned frequency 3rd over the data connection 11 Posted.

In one step S 8 it is then particularly provided that by means of the control unit 3rd of the driver assistance system 2nd the recorded information I is evaluated accordingly. In particular, the evaluation can be used for automated driving of the motor vehicle 1 be used. In particular, based on the prioritized information I sent, the object in particular 9 or the other objects are assessed based on their relevance. In particular, this can be done by the control unit 3rd an evaluation of in the area 8th relevant objects 9 be carried out with an improved resolution or more precisely.

In particular, after the step S 8 be provided that information I again by the sensor 4th are detected and prioritized according to the method presented and sent to the control unit 3rd transferred and evaluated by this.

3rd shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention as a detailed view of the step S2 the 2nd . The flowchart shown in the 3rd also applies to the step S4 out 2nd . Below is the step S2 the 3rd explained in more detail.

In step S2 the acquired information I is divided into one of the at least two information levels E depending on the object-specific criterion or a decision criterion.

In particular, the step S2.1 the captured information I the object 9 assigned. In other words, in the crotch S2.1 decided which object 9 the recorded information relates to I.

If the acquired information I is object-specific information, the step takes place S2.1.1 a further subdivision takes place with regard to the object-specific criterion.

If the information I acquired is raw data, the raw data is in one step S2.1.2 classified even further.

If the acquired information I is object-specific, this acquired information I can in turn go to the first information level E1 or to the second level of information E2 to be grouped. In the first level of information E1 In particular, recorded information I is classified, which is an absolute distance of the object 9 to the motor vehicle 1 or a change in distance of the object 9 to the motor vehicle 1 affect. Should the captured information be a distance or a change in distance of the object 9 correspond, so in step S2.1.1.1 the recorded information I in the first information level E1 assigned. The captured information should be a longitudinal position L1 or a lateral position L2 of the object 9 concern, the captured information I in the second information level E2 in one step S2.1.1.2 assigned.

In particular, it is provided that in the third information level E3 recorded information I, which relates to raw data, can be classified. In other words, the information I acquired should be raw data, so it is in the third information level E3 divided, which with the step S2.1.2 is shown.

The first level of information E1 is particularly in at least two, especially in three, classes 1KL to 3KL further divided. In the first class 1KL the first level of information E1 If the acquired information I is divided, the acquired information I should be an absolute position, in particular an absolute distance, of the object 9 act which is below a first distance threshold. In other words, the captured information I is the absolute distance of the object 9 relates and which is within a close range, which is formed by the first distance threshold, in the first class 1KL the first level of information E1 assigned. The information captured should be a distance of the object 9 , which lies above the first distance threshold value but lies below a second distance threshold value and is therefore in a central area, relates to the acquired information I, which is the position of the object 9 concerns, in the second grade 2KL the first level of information E1 assigned. The information I captured should be a distance of the object 9 , which lies above the second distance threshold value and is thus in a far range, relate to the information I regarding the distance of the object 9 to third grade 3KL assigned.

In particular, it is provided that the distance threshold values are determined dynamically. In particular, the distance threshold values can depend on a speed of the motor vehicle 1 be determined. For example, at a high speed, for example over 80 km / h on a motorway, the close range can be determined, in particular, at a greater distance than at a speed of 50 km / h, for example in city traffic. In particular, all three distance threshold values can be determined dynamically. In particular, further distance sub-threshold values are provided, so that the near area, the middle area and the far area are not determined as circular areas, but rather as elliptical areas. For example, a boundary of the close range can be determined such that the boundary is in the longitudinal direction of the motor vehicle 1 is further away, so that even distant objects 9 in front of or behind the motor vehicle 1 located in the near area, while in the lateral direction the border closer to the motor vehicle 1 is so that there are objects 9 next to the motor vehicle 1 no longer fall into the close range, so that an elliptical boundary of the close range is formed overall. It is also possible that the distance to the front is chosen to be larger than to the rear. This applies analogously to the other areas.

In particular, it is provided that acquired information I which is in the first information level E1 is classified according to their further division into classes 1KL to 3KL is prioritized accordingly. In one step S2.1.1.1.1 becomes the acquired information I of the first information level in the first class 1KL assigned a first priority. In step S2.1.1.1.2 is the captured information I which is in the second class 2KL is assigned a second priority. In step S2.1.1.1.3 is the captured information I which is in the third class 3KL a third priority is assigned. In particular, it is provided that the information I acquired is in the first class 1KL has a higher priority than a recorded information I, which is in the second class 2KL is divided. In particular, it can be provided that acquired information I is in the second class 2KL is classified has a higher priority than a recorded information I, which is in the third class 3KL is divided. In particular, it is then provided that information I of the first class is acquired 1KL is sent more frequently than recorded information I of the second class 2KL . And a captured information I, which in the second class 2KL is divided, is sent more often than a captured information I, which is in the third class 3KL is divided.

In other words, takes place within the first level of information E1 a further division and prioritization of the information I recorded instead. In particular, takes place in the first information level E1 prioritization with respect to the absolute distance of the object 9 to the motor vehicle 1 instead of. In other words, captured information becomes an object 9 regarding which is close to the motor vehicle 1 located, prioritized and transmitted more frequently than recorded information I, which relates to an object that is further away from the motor vehicle 1 located. The classification can change dynamically depending on the current driving situation or environmental situation. A class change is therefore possible.

Should the information acquired I be a lateral position L2 or a longitudinal position L1 of the object 9 concern, so this is in step S2.1.1.2 to the second level of information E2 assigned. In the second level of information E2 will in particular be the classification of the object 9 the first level of information E1 also taken into account. In particular, the step S2.1.1.2 decided whether the lateral position L2 of the object 9 or the longitudinal position L1 of the object 9 is more relevant in the current driving situation. For example, should the object 9 in front of the motor vehicle 1 on the same lane 12 , 13 , 14 ( 11 ) are like the motor vehicle 1 is the longitudinal position L1 more relevant than the lateral position L2 of the object 9 . In particular, in the present case, information I becomes the longitudinal position L1 concerning a first class 1KL the second level of information E2 classified while a captured information I the lateral position L2 of the object 9 concerning a second class 2KL the second level of information E2 is divided. Should the object 9 especially next to the motor vehicle 1 is the lateral position L2 of the object 9 more relevant than the longitudinal position L1 of the object 9 . The information I acquired is thus in step S2.1.1.2.1 in the first class 1KL divided, the acquired information I should be the more relevant position depending on the situation L1 , L2 affect. In step S2.1.1.2.2 the captured information I is in second grade 2KL the second level of information E2 divided, the information I acquired should be the more irrelevant position.

In particular, one points to the first class 1KL the second level of information E2 classified recorded information I a higher priority than one in the second class 2KL the second level of information E2 divided captured information I. In particular, thus captured information I, which is in the first class 1KL the second level of information E2 divided is transmitted more often than a recorded information I which in the second class 2KL the second level of intonation E2 is divided. In other words, the longitudinal position L1 one in front of the motor vehicle 1 located object 9 opposite a lateral position L2 of the object 9 prioritized and sent more often. In contrast, a lateral position L2 one is on the side of the motor vehicle 1 located object 9 against a longitudinal position L1 of the object 9 also prioritized.

In particular, the classification of the acquired information I is related to the longitudinal position L1 in the first or second class 1KL , 2KL or the lateral position L2 in the first or second class 1KL , 2KL dynamically depending on the respective driving situation or environmental situation of the motor vehicle 1 . In particular, it can be provided that, in the event of a changed situation, the division of the recorded information I into the first or second class 1KL , 2KL the second level of information E2 changes. For example, acquired information I, which is a longitudinal position L1 of an object 9 which affects the motor vehicle 1 overhauled as long as it is behind the motor vehicle 1 is in first grade 1KL to be grouped. If the object 9 when overtaking next to the motor vehicle 1 is the detected information I regarding the longitudinal position L1 to the second class 2KL the second level of information E2 assigned. After the overtaking process in turn, the information I acquired becomes the longitudinal position L1 concerning again in the first class 1KL the second level of information E2 assigned. The change in classification is only mentioned here as an example. There is another variety of other driving situations or Environmental situations in which the classification can also change.

If the information I acquired relates to raw data, it becomes an object after the assignment 9 the captured information I in step S2.1.2 to the third level of information E3 assigned. In the third level of information E3 the acquired information I regarding a development of a value of a parameter of the object 9 in at least two, especially three further classes 1KL to 3KL assigned. In particular, the third level of information E3 only the development of the recorded information I is analyzed and are therefore not a special property of the object 9 assigned. For example, the information I acquired should be a static value of a parameter of the object 9 act, so in step S2.1.2.1 this static value in a first class 1KL the third level of information E3 assigned. For example, the information I acquired should be a changing value of a parameter of the object 9 act, so in one step S2.1.2.2 the recorded information I in the second class 2KL the third level of information E3 assigned. In particular, the information I acquired should be an unexpectedly changing value of the parameter of the object 9 act, so in step S2.1.2.3 the recorded information I in particular in a third class 3KL the third level of information E3 assigned.

For example, the information I acquired can be a speed value of the object 9 act. If the speed does not change, that is to say remain static, the acquired information I is in the first class 1KL the third level of information E3 to be grouped. Should the object 9 accelerate and thus the speed change, in particular when the acceleration is uniform, thus change uniformly, the information I acquired relates to this in the second class 2KL the third level of information E3 assigned. Should be the speed of the object 9 , for example due to a sudden braking of the object 9 , change unexpectedly, the unexpectedly changed speed will move into the third class 3KL the third level of information E3 assigned. In particular, it is provided that recorded information I which is in the third class 3KL the third level of intonation E3 are classified with a greater frequency than transmitted information I, which is in the second class 2KL the third level of information E3 to be grouped. In particular, it is provided that recorded information I which is in the second class 2KL the third level of information E3 are classified with a greater frequency than transmitted information I, which is in the first class 1KL the third level of information E3 to be grouped.

In particular, it is provided that the first information level E1 is higher than the second level of information E2 and the second level of information E2 is higher than the third level of information E3 . In particular, recorded information becomes a higher-level information level E1 , E2 taken into account when prioritizing the information I captured.

In particular, how 3rd shown, a priority is assigned to each recorded information I. In particular, as in 2nd shown, a second piece of information I2 are recorded (step S4 ) and prioritization as in 3rd shown, also for the second information I2 be performed. In particular, the priority is then given to the first recorded information I1 and prioritizing the second captured information I2 the frequency of transmission compared to the second information I2 certainly.

4th shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention relating to several objects 9a , 9b . In particular, be in step S1 / S4 information I1 , I2 through the sensor 4th regarding the objects 9a , 9b detected. With the information collected I1 , I2 it is particularly information that is an absolute distance of the objects 9a , 9b affect. The object 9a is in the present example in particular in the vicinity of the motor vehicle 1 and the object 9b is in the present case in particular in the far area of the motor vehicle 1 . In step S2.1 are the captured information 11 , 12 out of step S1 / S4 the corresponding objects 9a , 9b assigned. At the object 9a takes place with the step S2.1.1 (out 3rd ) exemplary the division of the first recorded information 11 to the first level of information E1 instead of. The object 9a is in particular in the close range, in other words below the first distance threshold, so that in the step S2.1.1.1 the first information captured I1 in the first class 1KL the first level of information E1 is divided. In the next step S2.1.1.1.1 is the first captured information 11 of the object 9a assigned a first priority.

The second captured information I2 regarding the second object 9b is also in step S2.1.1 to the first level of information E1 assigned. In other words, the second information acquired also corresponds 12 regarding the second object 9b for example a distance of the object 9b . In step S2.1.1.1 becomes the two captured information 12 to third grade 3KL the first level of information E1 assigned. In step S2.1.1.1.3 becomes the second captured information 12 assigned a second priority.

In step S6 becomes the priority of the first captured information I1 with the priority of the second recorded information I2 within the control device 10th compared. In particular, the first recorded information points in the present case 11 the object 9a regarding a higher priority than the second recorded information 12 regarding the second object 9b . The first information captured 11 is transmitted with the greater frequency than the second recorded information 12 . In other words, in the crotch S7 the first information captured I1 from the control device 10th more often over the data connection 11 to the control unit 3rd sent as the second captured information 12 .

5 shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. In the present example, the sensor 4th two information 11 , 12 detected. The first information captured I1 concerns a longitudinal position L1 of the object 9 and the second captured information I2 affects a lateral position L2 of the object 9 . Especially if the object 9 in front of the motor vehicle 1 is the longitudinal position L1 more relevant than the lateral position L2 . Should the object 9 next to the motor vehicle 1 is the lateral position L2 more relevant than the longitudinal position L1 . The object is in the following embodiment 9 in front of the motor vehicle 1 .

In particular, the information collected 11 , 12 in step S2.1.1 to the second level of information E2 assigned. In step S2.1.1.2 it is then decided whether the longitudinal position L1 or the lateral position L2 is more relevant to the object in question 9 . Because in the present case the object 9 in front of the motor vehicle 1 is the longitudinal position L1 more relevant than the lateral position L2 .

In particular, in one step S2.1.1.2.1 the longitudinal position L1 in the first class 1KL the second level of information E2 divided and the second captured information 12 to the second class 2KL the second level of information E2 assigned. In particular, the step S6 the priority of the first information collected I1 with the priority of the second recorded information I2 compared, so that based on the priority the frequency of transmission to the control unit 3rd in step S7 is determined. By the control device 10th thus becomes the first information recorded in the following example 11 more often over the data connection 11 to the control unit 10th transmitted as the second captured information 12 .

6 shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. 6 shows that the information collected I1 , 12 an object 9 relate, with information of a distance of the object 9 in the first level of information E1 in the first class 1KL located. The classification follows the step S2.1.1 . In one step S2.1.1.2 are the captured information 11 , 12 judged that it is the information collected I1 , I2 for information regarding the longitudinal or lateral position L1 , L2 of the object 9 to the motor vehicle 1 acts. In the present example, the object is located 9 in front of the motor vehicle 1 so that a longitudinal position L1 is more relevant than a lateral position L2 of the object 9 . In particular, the longitudinal position L1 in step S2.1.1.2.1 in the first class 1KL the second level of information E2 divided and with the step S2.1.1.2.2 the lateral position L2 to the second class 2KL the second level of intonation E2 assigned.

The first information captured I1 relates in particular to a change in the longitudinal position L1 so that in the crotch S2.1.2 the raw data are classified according to the change. In step S2.1.2 also the raw data corresponding to the captured second information 12 regarding the lateral position L2 assigned. For example, it can be a situation in which the object 9 , which is particularly in front of the motor vehicle 1 expected, brakes, so that in particular the longitudinal position L1 changed which is more relevant. It is also possible that during the braking maneuver of the object 9 a lateral change in position L2 occurs, which is of less relevance. In particular, the acquired first information I1 in step S2.1.2.2 a second class 2KL the third level of information E3 assigned and the second recorded information I2 in step S2.1.2.1 the first class 1KL the third level of information E3 assigned. In particular, the step S6 the priority of the first information collected I1 with the second captured information 12 compared, so that based on the priority the frequency of transmission to the control unit 3rd in step S 7 is determined. In particular, the first recorded information is in the present example I1 where there is a longitudinal position L1 changed which especially in the second class 2KL the third level of information E3 divided is transmitted with a higher frequency than the second recorded information 12 the lateral position change which is in the first class 1KL the third level of information E3 is divided. In step S 7 is then from the control device 10th of the sensor 4th the information according to the frequency I1 , 12 to the control unit 3rd of the motor vehicle 1 , especially the driver assistance system 2nd , transfer.

7 shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. In the 7 become two captured information I1 , I2 processed. In particular, this concerns the first recorded information 11 a first object 9a regarding and in the second recorded information 12 the second object for information 9b concerning. In particular, both are objects 9a , 9b already acquired by other information I in the first information level E1 classified. In particular, the object 9a in the first level of information E1 in the first class 1KL the first level of information E1 assigned. The second object 9b is especially in the first level of information E1 to the second class 2KL the first level of information E1 assigned. For example, the second object 9b farther away in the middle area and the first object 9a are closer to the area. In particular, both objects are located 9a , 9b in front of the motor vehicle 1 . In particular, the information collected concerns I1 , I2 each the longitudinal positions L1 of objects 9a , 9b .

In particular, be in step S2.1 the information collected I1 , I2 the respective objects 9a , 9b assigned. As already explained, the following example relates to the first information recorded 11 the first object 9a and the second captured information 12 the second object 9b . Because it is particularly the information collected 11 , 12 around longitudinal positions L1 acts, these are in step S2.1.1.2 to the second level of information E2 assigned. As explained at the beginning of this figure, both items of information relate to one another 11 , 12 a longitudinal position L1 of objects 9a , 9b . In particular, this takes place in the crotch S2.1.1.2.1 a classification of the information collected I1 , I2 each in the first class 1KL the second level of information E2 instead of. But especially since the object 9a in the first level of information E1 was prioritized higher than the second object 9b is thus in step S6 the first information captured 11 prioritized higher than the second captured information 12 . In particular, the frequency of the recorded information is transmitted I1 , I2 in step S7 instead of.

8th shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. In the example 8th there are two objects 9a , 9b in the neighborhood 8th of the motor vehicle 1. Both objects 9a , 9b are located in particular in the vicinity of the motor vehicle 1 , so captured information I both objects 9a , 9b concerning in the first level of information E1 the first class 1KL the first level of information E1 has been assigned. The information collected I1 relates in particular to a lateral position L2 of the object 9a and the information I2 relates in particular to a longitudinal position L1 of the object 9b . In particular, both objects are located 9a , 9b in front of the motor vehicle 1 . In particular, the longitudinal position L1 more relevant than the lateral position L2 . In particular, the first recorded information I1 in step S2.1 the object 9a assigned and the second captured information 12 in step S2.1 becomes the object 9b assigned. In step S2.1.1.2 are each the captured information I1 , I2 to the second level of information E2 assigned. Because in particular the longitudinal positions L1 for the objects 9a , 9b which is in front of the motor vehicle 1 more relevant, receives the second recorded information I2 in step S2.1.1.2.1 the first class 1KL the second level of information E2 while the first captured information 11 which is a lateral position L2 of the object 9a concerns, in step S2.1.1.2.2 to the second class 2 KL the second level of information E2 is divided. In step S6 A corresponding prioritization then takes place. In step S6 So it is decided that the second information captured I2 is transmitted with a greater frequency than the first recorded information 11 . In particular, the step S7 then the captured second information I2 transmitted more often than the recorded first information 11 .

9 shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. The first information captured I1 particularly affects an object 9a and the second captured information I2 particularly affects an object 9b . In particular, the first information acquired I1 a value of a parameter of the object 9a , which changes especially unexpectedly. For example, a sudden braking as an unexpected negative acceleration can be the first recorded information I1 occur. With the second recorded information I2 can in particular be an expected change in the object 9b , such as an expected negative acceleration. In particular, there is distance information of the objects 9a , 9b in the first level of information E1 in the same class 1KL to 3KL the first level of information E1 .

In particular, the step S2.1 the first information captured I1 the object 9a assigned and the second captured information I2 the object 9b assigned. In step S2.1.2 finds the classification of the recorded information I1 , I2 to the third level of information E3 instead of. In particular, the third level of information E3 only raw data, in particular values, in particular changes in value, are considered. In step S 2.1.2 will continue to be the second captured information 12 also in the third information level E3 assigned. In step S2.1.2.3 becomes the first information captured 11 to third grade 3KL the third level of information E3 assigned. In particular, be in third grade 3KL the third level of information E3 classified unexpectedly changing values of the parameter. The second captured information 12 Which is in particular an expected change is therefore in the step S2.1.2.2 to the second class 2KL the third level of information E3 assigned. The third class 3KL the third level of information E3 has a higher priority than the second class 2KL the third level of information E3 . So in step S6 from the control device 10th of the sensor 4th the first information captured I1 compared to the second recorded information 12 prioritized higher and in step S7 with a higher frequency to the control unit 3rd of the motor vehicle 1 transmitted as the second captured information I2 .

10th shows a further schematic flow diagram of an exemplary embodiment for the transmission of acquired information I according to the present invention. The motor vehicle is in the present example 1 in an environment 8th with three objects 9a , 9b , 9c . In particular, the object is located 9a in the close range and thus distance information is in the first information level E1 with a first class 1KL the first level of information E1 been divided. The object 9b is at a medium distance from the motor vehicle 1 and distance information is in the first information level E1 with the second class 2KL the first level of information E1 been provided. The object 9c is located far from the motor vehicle 1 and distance information is in the first information level E1 to third grade 3KL the first levels of information E1 been divided. The first object 9a is particularly in front of the motor vehicle 1 , the second object 9b is located especially next to the motor vehicle 1 and the third object 9c is in particular also in front of the motor vehicle 1 .

At the first recorded information I1 it is in particular a static value of the longitudinal position L1 of the object 9a . With the second recorded information 12 it is in particular a lateral changing position L2 of the object 9b and information captured at the third 13 it is in particular a longitudinal unexpected change in position of the object 9c . In the steps S2.1 is the respective information captured I1 , I2 , I3 the respective objects 9a , 9b , 9c assigned. In step S2.1.2 are the captured information I1 , I2 , I3 to the third level of information E3 categorized. Because the first information captured 11 can in particular the value of the longitudinal position L1 concerns, this is particularly in the step S2.1.2.1 in the first class 1KL the third level of information E3 assigned. In step S2.1.2.2 will in particular be the second recorded information I2 to the second class 2KL the third level of information E3 assigned. In step S2.1.2.3 will in particular be the third recorded information 13 to third grade 3KL the third level of information E3 assigned. Because especially the third class 3KL has a higher priority than the second class 2KL , which in turn has a higher priority than the first class 1KL , the information collected I1 , I2 , I3 , these should only be an object 9a , 9b , 9c relate to be prioritized such that the third information captured I3 would be transmitted with a higher frequency than the second recorded information I2 and the second captured information I2 would be transmitted with a higher frequency than the first recorded information I1 . But especially the higher-level information levels E1 , E2 are taken into account, receives the first recorded information I1 the higher priority over the second captured information 12 , which in turn has a higher priority than the third recorded information I3 having. The prioritization, which with the step S6 within the control device 10th is carried out, takes into account the information I of the higher-level information levels E1 , E2 With. In step S7 becomes the first recorded information 11 sent more often than the second captured information 12 , which in turn is sent more frequently than the third recorded information 13 .

11 showed a schematic plan view of an embodiment of a motor vehicle 1 with a driver assistance system 2nd in an environmental scenario. The environment 8th has three lanes in particular 12 , 13 , 14 on. In particular, the motor vehicle is moving 1 in a second lane 13 . In particular, the motor vehicle 1 in a forward motion. In the neighborhood 8th there are further objects 9a to 9i . In particular, the objects 9a to 9i be designed both as a motor vehicle and as a motorcycle or truck.

In particular, the object is located 9b in the direction of travel of the motor vehicle 1 considered in front of the motor vehicle 1 in the lane 13 . The object 9h is especially designed as a motorcycle and is also in the lane 13 however in the direction of travel of the motor vehicle 1 considered behind the motor vehicle 1 . The object 9g is also in the lane 13 behind the motor vehicle 1 and in particular is also designed as a passenger car. On a lane 12 there is in particular the object designed as a motor vehicle 9a , as well as the object designed as a motor vehicle 9i . Behind the object 9e is still in the lane 12 an object designed as a motorcycle 9i . In the lane 14 is in front of the vehicle in the direction of travel 1 looks at an object 9c , which is designed here as a truck. In addition to the motor vehicle 1 in a lane 14 is the object 9d , which is also designed as a motor vehicle. At an angle at the back in the lane 14 there is another object 9f , which is also designed as a motor vehicle.

In particular, recorded information becomes distances from the motor vehicle 1 of objects 9b , 9d , 9e regarding and due to the movement of the motor vehicle 1 a high priority. In particular, recorded information becomes a distance of the object 9b concerning in the first level of information E1 in the first class 1KL divided, as well as captured information I, the distances of the object 9d and 9e concern, also in the first level of information E1 the first class 1KL to be grouped. In particular, captured information I, the distances of the object 9a and 9h concern in the first level of information E1 assigned. Collected information I the objects 9c , 9f , 9i and 9g be concerned especially in the first information level E1 to third grade 3KL the first level of information E1 assigned. In particular, information that is acquired is the objects 9b , 9d and 9e concern sent more often than captured information I that affect the objects 9a , 9f , 9h affect. In particular, captured information I, the objects 9a , 9h , 9f concern sent more often than captured information I that affect the objects 9c , 9f , 9i and 9g affect.

In particular, it is provided that a longitudinal position L1 of the object 9b is sent more often than a lateral position L2 of the object 9b . Especially since the object 9b in front of the motor vehicle 1 is the longitudinal position L1 in the first class 1KL the second level of information E2 divided and information I regarding the lateral position L2 of the object 9b will be in second grade 2KL the second level of information E2 assigned. In contrast, the lateral position L2 of the object 9b sent less frequently than the longitudinal position L1 of the object 9b .

In particular, it is provided that the model adapts dynamically to the surrounding scenario. For example, as indicated by the arrow 15 represented the object 9h suddenly the motor vehicle 1 overtake, the division of the acquired information I can be a distance of the object 9h concerning the second class 2KL the first level of information E1 switch so that the captured information I the object 9h concerning the first class 1 KL of the first information level E1 is classified during the overtaking maneuver. In particular, a lateral position can then initially L2 of the object 9h be more relevant and therefore in the first class 1KL the second level of information E2 be classified as the longitudinal position L1 of the object 9h . After overtaking the object 9h the recorded information can then in particular determine the longitudinal position L1 be relevant again, so that the acquired information I the longitudinal position L1 of the object 9h concerning the first class 1KL the second level of information E2 is classified after the overtaking process.

It can be provided, for example, that the motor vehicle 1 along the trajectory 16 , its position changed so that the corresponding information captured the objects 9a to 9i be re-classified and prioritized. In particular, the motor vehicle 1 itself along the trajectory 16 move, a detected information I gets a distance of the object 9a concerning a first class 1KL in the first level of information E1 allocated so that captured information I the object 9a regarding after moving the motor vehicle 1 along the trajectory 16 are sent more frequently than recorded information I the object 9b concerning.

In the present example, if the motor vehicle 1 in the lane 13 In particular, acquired information I can move a change in the longitudinal position L1 of the object 9b regarding, in particular by an unforeseen braking operation of the object 9b , are sent more frequently than acquired information I the lateral position L2 of the object 9b concerning. In particular, it can thus be prevented that recorded information I relating to the object 9g concern and are not relevant for the current traffic situation are the bandwidth of the data connection 11 between the sensor 4th and the driver assistance system 2nd too much strain. In particular, the relevant acquired information I is thus sent with a higher frequency than the irrelevant acquired information I. In particular, in fully autonomous operation, the data connection can depend on the relevance of the acquired information I. 11 can be used in an improved manner and thus for an improved evaluation by the control unit 3rd contribute.

It is also possible that when prioritizing acquired information I or when transmitting acquired information I, the acquisition speeds of the different sensors are likewise 4th , with different sensor types, are also taken into account. In particular, since, for example, a lidar sensor has a faster detection speed than an ultrasound sensor, this can also be taken into account when processing the detected information I.

QUOTES INCLUDE IN THE DESCRIPTION

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Patent literature cited

• DE 10148069 A1 [0004]

Claims (22)

Method for transmitting detected information (11, 12, 13) of at least one sensor (4) of a motor vehicle (1) to a control unit (3) of the motor vehicle (1), the sensor (4) using a data connection (11) with the Control unit (3) is connected, via which the acquired information (11, 12, 13) is transmitted (S7) from the sensor (4) to the control unit (3), an environment (8) of the motor vehicle being connected to the sensor (4) (1) is detected and the detected information (11, 12, 13) at least a detected object is characterized in the area (8), (9a to 9i), characterized in that the detected information (11, 12, 13) depending priority is given to at least object-specific criteria and / or at least one decision criterion (S6) and the transmission from the sensor (4) to the control unit (3) is carried out as a function of the assigned prioritization (S7), with information (11, 12, 13 ) with a first priority he first frequency is transmitted to the control unit (3) and acquired information (11, 12, 13) with a second priority lower than the first priority is transmitted to the control unit (3) with a second frequency lower than the first frequency. Procedure according to Claim 1 , characterized in that the recorded information (11, 12, 13) is divided into at least one of at least two predetermined information levels (E1, E2, E3) depending on at least one object-specific criterion and / or at least one decision criterion. Procedure according to Claim 2 , characterized in that at least three different information levels (E1, E2, E3) are specified. Procedure according to Claim 2 or 3rd , characterized in that at least two different classes (1KL, 2KL, 3KL) are specified in at least one first information level (E1) and the information (11, 12, 13) that is at least in this information level (E1) with the classes (E1) 1KL, 2KL, 3KL) is classified into one of the classes (1KL, 2KL, 3KL). Procedure according to Claim 4 , characterized in that the at least two different classes (1KL, 2KL, 3KL) of the first information level (E1) depend in particular on a distance and / or on a change in the distance of at least one object (9a to 9i) from the motor vehicle (1) object-specific criterion. Procedure according to one of the Claims 2 to 5 , characterized in that at least in a second information level (E2) at least two different classes (1KL, 2KL) are specified and the information (11, 12, 13) that is at least in this information level (E2) with the classes (1KL, 2KL) is divided into one of the classes (1KL, 2KL). Procedure according to one of the Claims 2 to 6 , characterized in that at least in a third information level (E3) at least two different classes (1KL, 2KL, 3KL) are specified and the recorded information (11, 12, 13), which at least in this information level (E3) with the classes ( 1KL, 2KL, 3KL) is classified into one of the classes (1KL, 2KL, 3KL). Procedure according to one of the Claims 2 to 7 , characterized in that recorded information (11, 12, 13) divided into an information level (E1, E2, E3) is prioritized and, depending on this, the frequency of transmission of recorded information (11, 12, 13) of this information level (E1, E2 , E3) to the control unit (3). Procedure according to one of the Claims 2 to 8th , characterized in that for the assessment of the prioritization of recorded information (11, 12, 13) in one information level (E1, E2, E3), the recorded information (11, 12, 13) are taken into account. Procedure according to one of the Claims 2 to 9 , characterized in that recorded information (11, 12, 13) which is divided into the third information level (E3) is dependent on the recorded information (11, 12, 13) of the first and second information levels (E1, E2), and in particular the prioritization of recorded information (I) of the first and / or the second information level (E1, E2) is also taken into account. Procedure according to one of the Claims 4 to 10th , characterized in that recorded information (11, 12, 13) of an object (9a-9i) with a first distance from the motor vehicle (1) is divided into a first class (1KL) of the first information level (E1), a first The value of the first distance is less than a first distance threshold value, and further acquired information (11, 12, 13) of an object (9a to 9i) with a second distance to the motor vehicle (1) is divided into a second class (2KL), whereby a second value of the second distance is greater than the first distance threshold value and less than a second distance threshold value, and yet further information (11, 12, 13) of an object (9a to 9i) with a third distance to the motor vehicle (1) in a third class (3KL) is divided, with a third The value of the third distance is greater than the second distance threshold. Procedure according to Claim 11 , characterized in that acquired information (11, 12, 13) of an object (9a to 9i) in a first class (1KL) is transmitted with the first frequency, and acquired information (11, 12, 13) of another object (9a to 9i) is transmitted in a second class (2KL) with the second frequency and acquired information (11, 12, 13) of yet another object (9a to 9i) in a third class (3KL) with a third, for second frequency lower frequency is transmitted. Procedure according to one of the Claims 2 to 12 , characterized in that in the second information level (E2) the acquired information (11, 12, 13) with respect to a longitudinal position (L1) as an object-specific criterion or a lateral position (L2) as an object-specific criterion of the object (9a to 9i) in one of the classes (1KL, 2KL) of the second information level (E2) is divided. Procedure according to Claim 13 , characterized in that a longitudinal position (L1) is prioritized as an object-specific criterion of an object (9a to 9i) located in front of the motor vehicle (1) compared to a lateral position (L2) as an object-specific criterion of the object (9a to 9i) and / or a lateral position (L2) of an object (9a to 9i) located to the side of the motor vehicle (1) is prioritized over a longitudinal position (L1). Procedure according to one of the Claims 2 to 14 , characterized in that in a third information level (E3) a value of a parameter of the object (9a to 9i) as a decision criterion is divided into at least two classes (1KL, 2KL, 3KL) of the third information level (E3), a static value of the Parameter is divided into a first class (1KL) of at least two classes (1KL, 2KL, 3KL) and a change in a value of the parameter is divided into a second class (2KL) of at least two classes (1KL, 2KL, 3KL). Procedure according to Claim 15 , characterized in that an unexpected change in a value of the parameter is divided into a third class (3KL) of the third information level (E3) as a decision criterion and a predictable change in the value of the parameter is divided into the second class (2KL). Procedure according to Claim 15 or 16 , characterized in that the second class (2KL) of the third information level (E3) is transmitted more often than the first class (1KL) of the third information level (E3) and / or the third class (3KL) of the third information level (E3) more often is sent as the second class (2KL) of the third information level (E3). Method according to one of the preceding claims, characterized in that the transmitted information is evaluated by a control unit (3) of a driver assistance system (2) of the motor vehicle (1). Sensor (4) with a control device (10), which is designed to implement a method according to one of the Claims 1 to 10th perform. Sensor (4) after Claim 19 , characterized in that the sensor (4) is designed as an ultrasonic sensor or as a lidar sensor or as a camera sensor or as a radar sensor. Driver assistance system (2) with a control unit (3), which is designed according to a method Claim 18 perform, and with at least one sensor (4) according to one of the Claims 19 or 20th , which is connected to the control unit (3) via a data connection (11). Motor vehicle (1) with a driver assistance system (2) Claim 21 .

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