DE102019211382A1 - System and method for processing environmental sensor data - Google Patents

Abstract

The invention relates to a system for processing environment sensor data and / or environment information, which system has a first environment sensor (11) for capturing first environment sensor data and a first communication unit (10) for receiving environment information. In addition, the system has a first (21) and a second processing unit (20) for detecting a state of the surroundings of a vehicle as a function of the recorded first surroundings sensor data and as a function of the received surroundings information. In addition, the system has a first (30) and second transmission unit (31) for forwarding the environmental status at first and second time intervals to a central control unit (40). Depending on a first interference signal determined by the first computing unit (21) within the captured first environment sensor data or as a function of a second interference signal determined by the second computing unit (20) within the received environment information, the first transmission unit (31) is designed to transmit the first time intervals to lengthen or shorten. Alternatively or additionally, the second transmission unit (30) is designed to lengthen the second time intervals as a function of the detected second interference signal or to shorten them as a function of the detected first interference signal.

Description

State of the art

The invention relates to a system for processing environment sensor data and / or environment information which, for example, can represent environment sensor data and / or environment information of a vehicle. In addition, the invention relates to a driver assistance system which comprises the system according to the invention for processing environment sensor data and / or environment information. The invention also relates to a method for processing environment sensor data and / or environment information.

From the document DE 10 2017 200 562 it is known to use several sensors with mutually overlapping detection areas for object detection. The sensors work with different measuring principles in order to be able to detect different object classes.

On the basis of this prior art, the object of the present invention is to develop a system and a method for processing environment sensor data and / or environment information, as well as a driver assistance system that enables higher redundancy in the event of sensor malfunctions.

Disclosure of the invention

In order to achieve the object, a system for processing environment sensor data and / or environment information according to claim 1 is proposed. In addition, a driver assistance system according to claim 10 is proposed which comprises the system according to the invention. In addition, a method for processing environment sensor data and / or environment information according to claim 12 is proposed.

The system for processing environment sensor data and / or environment information, in particular environment sensor data and / or environment information of a vehicle, has a first environment sensor which is designed to acquire first environment sensor data within a first detection area. Environment sensor data can mean, for example, distance values and / or image data of objects in the environment of the vehicle. In this context, the first detection area denotes the area within which the first environment sensor can detect first environment sensor data. In the case of a camera as the environment sensor, this is, for example, the field of view of the camera; in the case of an ultrasonic sensor as the environment sensor, it is the sound cone of the ultrasonic sensor. In addition, the system has a first communication unit, which is designed in particular as a first wireless car-to-X communication unit and serves to receive information on the surroundings at least in a partial area of the first detection area of the first surroundings sensor. A first communication unit can be understood to mean, for example, a communication unit that communicates wirelessly as a transmitter / receiver unit by means of LTE and / or WiFi with other communication units in the vicinity of the vehicle. Environment information can also be understood to mean environment sensor data, which are recorded, for example, from sensors arranged externally to the vehicle. Environment information can, however, also represent general information about the environment of the vehicle. This can mean, for example, the condition of the road, in particular the condition of the road, in the vicinity of the vehicle. However, this can mean the states of objects in the vicinity of the vehicle. An object state can be understood to mean, for example, the switching of a traffic light. Environment information can also mean information about a position of an object in the environment of the vehicle relative to the vehicle and / or information about the object class. Object classes are, for example, traffic signs and pedestrians. The additional reception of the information about the surroundings in the at least partial area of the first detection area results in a higher level of redundancy in the system. In addition, the system has at least one first computing unit which is designed to detect a state of the surroundings of the vehicle within the first detection area as a function of the captured first environment sensor data. In addition, the system has a second processing unit which is designed to detect the state of the environment within at least the partial area of the first detection area as a function of the received environment information. The first and / or second computing unit can be, for example, a microprocessor of an environment sensor and / or a communication unit. In addition, the system has a first transmission unit, which is designed to forward the environmental status detected by means of the first computing unit to a central control unit, in particular the central control unit of a driver assistance system of the vehicle, at successive, first time intervals. A second transmission unit of the system is used to forward the state of the surroundings detected by the second processing unit to the central control unit, in particular the central control unit of the driver assistance system of the vehicle, at least in the sub-area of the first detection area at successive, second time intervals. The first transmission unit and the second transmission unit therefore transmit the detected environmental status to the central control unit at a defined time cycle continue. The communication between the first and / or second transmission unit and the central control unit takes place via bus communication. The first processing unit of the system is designed to detect at least one first interference signal within the recorded first environment sensor data. Alternatively or additionally, the second processing unit is designed to detect at least one second interference signal within the received information about the surroundings. Such interfering signals can be, for example, flickering of camera images, interference from third party sensors, or the opening of the sensor being covered by foreign particles. Another example could be fog, smoke and / or exhaust gases with a lidar sensor as an environment sensor. In traffic jams or at traffic lights, the lidar sensor detects the vehicle in front. If the vehicle in front then drives off, an exhaust gas cloud usually arises in winter, which means that the lidar sensor detects a vehicle that is still stationary, since no or too few lidar beams pass through the exhaust gas cloud. However, an interference signal can also be an interference signal that affects the sensor unit itself, such as incorrect calibration and / or software errors and / or hardware defects. In this context, ultrasonic sensors can be, for example, a strong noise signal. However, interference signals can also be, for example, interference signals within electrical received signals which represent a state of the surroundings, such as the current traffic light phase. A disturbed communication connection of the first communication unit also leads to a corresponding interference signal. In the event of a fault, the first transmission unit is designed to lengthen the first time intervals if a first interference signal is detected. Alternatively, the first transmission unit is also designed to shorten the first time intervals if a second interference signal is detected. Additionally or alternatively, the second transmission unit is designed to lengthen the second time intervals if a second interference signal is detected. Alternatively, the second transmission unit is designed to shorten the second time intervals if a first interference signal is detected. There is also a bus connection between the first and the second transmission unit, so that the information can be exchanged via the first or second interference signal. An environment sensor or a communication unit which is currently malfunctioning communicates correspondingly less often with the central control unit. Conversely, an environment sensor or a communication unit that is currently free of interference communicates more frequently with the central control unit. The system thus compensates for the lack of a faulty sensor or communication unit.

The first communication unit is preferably designed to receive, as environment information, second environment sensor data that was detected by means of a second environment sensor within a second detection area at least partially overlapping the first detection area. In this context, the first and / or second detection area means the area within which the first and / or second environment sensor can detect first and / or second environment sensor data. Furthermore, the first computing unit is preferably designed in this context to detect at least one object as the environmental state of the vehicle within the first detection area as a function of the captured first environment sensor data. In addition, the second computing unit is preferably designed to detect the at least one object within the first detection area as a function of the detected second environment sensor data. The recorded first and received second environment sensor data preferably differ physically from one another, since the first and second environment sensors use different measurement principles. This makes it possible, for example, to detect objects of different object classes. For example, if the first environment sensor is not suitable for detecting a specific object as an object class, the second environment sensor is suitable for detecting this object as an object class. The two environment sensors thus complement each other in their detection. The captured first environment sensor data preferably represent ultrasound sensor data and / or radar sensor data and the received second environment sensor data represent camera sensor data and / or lidar sensor data. In fog or heavy rain, optical sensors have interference signals, for example, and have problems capturing the environment. In contrast, electromagnetic environment sensors have no problems with detecting the environment in fog or heavy rain. Accordingly, there is the advantage of increased reliability in such ambient conditions.

The first processing unit is preferably designed to detect objects with assigned first and / or second object classes and, depending on the detected second interference signal, to detect objects with the assigned first object class prioritized over objects with the assigned second object class. Alternatively, the second processing unit is designed to detect objects with assigned third and / or fourth object classes and, depending on the detected first interference signal, to detect second objects with the assigned third object class prioritized over second objects with the assigned fourth object class. One object class can be animals, for example, which are recognized, while another object class can be people, for example. The object class " People ”can, for example, be subdivided into further object classes“ pedestrians ”or“ cyclists ”. The first object class and the third object class can be the same object class, but different object classes can also be meant. The second object class and the fourth object class can be the same object class, but different object classes can also be meant. For example, when a first interference signal from a camera unit is detected as the first environment sensor, the person identification by means of radar sensor data received from the first communication unit can be treated with priority over the animal identification. In this case, the second arithmetic unit prioritizes the person recognition and thus takes over the person recognition of the first arithmetic unit. In this way, the security of the system can be ensured despite the failure of the camera unit. In this case, the person identification can be carried out, for example, for every image of the surroundings received by means of the first communication unit, but the animal identification can only be carried out for every fourth image of the surroundings. Which object class is prioritized is preferably dependent on a current position of the vehicle. For example, if the vehicle is currently in a town in front of a pedestrian crossing, in this case the “pedestrian” object class is prioritized over the “cyclist” object class.

The first arithmetic unit is preferably designed to detect a state of the road as the state of the surroundings of the vehicle within the first detection area as a function of the captured first environment sensor data. In this context, the second processing unit is designed to detect the state of the road as a state of the surroundings of the vehicle within the at least partial area of the first detection area as a function of the received information about the surroundings. The condition of the road surface means in particular the condition of the road surface. In this context, for example, the coefficient of friction of the road surface can be detected. A first ultrasound sensor as the first environment sensor can be designed, for example, through a corresponding alignment in the direction of the road surface, to detect the road surface and its condition. Likewise, for example, a first camera unit as the first environment sensor can detect the condition of the road. In this context, the first communication unit can receive information about the road condition in at least a partial area of the first detection area from an external server, for example.

The first communication unit is preferably designed to receive information on the surroundings of the vehicle from a second communication unit. The second communication unit means, for example, a second wireless car-to-X communication unit which is arranged external to the vehicle. This second external communication unit is arranged, for example, in the infrastructure or on other vehicles in the vicinity of the vehicle. For example, a second environment sensor, which is arranged in the infrastructure and / or the further vehicle, can thus acquire second environment sensor data, which are then received by the first communication unit by means of the second communication unit. The second external communication unit can also be arranged, for example, in an external server on which information on the surroundings is stored about at least a partial area of the first detection area.

The first and second transmission units are preferably designed to forward the detected environmental status by means of serial data transmission. Such a serial data transmission can take place via a classic CAN network, for example. In the case of serial data transmission, the data transmission from the first and / or second processing unit to the central control unit takes place one after the other. If transmission is to take place at the same time, one of the two processing units must wait for the time of the data transmission.

The first arithmetic unit is preferably designed to detect the at least one object detected as a function of the recorded first environment sensor data in a defined first period of time. The first time period can correspond to the first time interval, for example. If the first transmission unit forwards the detected object to the central control unit every 40 milliseconds, for example, the first processing unit also needs 40 milliseconds. However, it is also possible that the period of time which the first computing unit needs to detect the object is longer than the first time interval. For example, if the first transmission unit forwards the object to the central control unit every 40 milliseconds, but the first processing unit needs 50 milliseconds to fully detect the object, then there is a longer period of time before the object information is passed on to the central control unit. In the case described, the object is only forwarded to the central control unit after a total of 80 milliseconds. It is also possible for the period of time which the first computing unit needs to detect the object to be shorter than the first time interval. If, for example, the first transmission unit forwards the detected object to the central control unit every 40 milliseconds, but the first processing unit needs 20 milliseconds to completely detect the object, then in this case two detected objects or one updated object can be sent to the central control unit are forwarded. The same applies in connection with the detected objects to the second transmission unit and the second processing unit. The first arithmetic unit is additionally designed to extend the defined first time period as a function of the detected first interference signal or to shorten the defined first time period as a function of the detected second interference signal. As an alternative or in addition, the second computing unit is designed to detect the at least one object detected as a function of the recorded second environment sensor data in a defined second period of time. In this context, the second arithmetic unit is additionally designed to lengthen the defined second time period as a function of the detected second interference signal or to shorten the defined second time period as a function of the detected first interference signal. The minimum amount of time in which the first processing unit can detect the object and / or the second processing unit can detect the object depends in particular on the maximum computing power of the first processing unit and / or the second processing unit. Alternatively, the first computing unit can also be designed to be overclocked for a certain period of time. Overclocking increases the heat generation and power consumption, which is why this state can only be maintained for a certain period of time without causing permanent damage to the first and / or second processing unit. In this context, the certain period of time is, for example, the period of time it takes to bring the vehicle into a safe state. This can be one minute, for example. Since faster data processing by the computing units also requires more frequent data forwarding, the first transmission unit is designed in this context to also shorten the first time intervals when the first time period is shortened. Conversely, the first transmission unit is preferably designed to also extend the first time intervals when the first time period is extended. Alternatively or additionally, the second transmission unit is designed to also shorten the second time intervals when the second time period is shortened. Conversely, the second transmission unit is preferably designed to also extend the second time intervals when the second time period is extended. This offers the advantage that, depending on the current functionality of a sensor and / or a communication unit, the detected object can reach the central control unit even more quickly.

Another object of the invention is a driver assistance system which, in addition to the previously described system for processing environment sensor data, has a central control unit which, as an alternative to the first and / or second transmission unit, is designed to extend the first time intervals as a function of the detected first interference signal or to shorten the first time intervals as a function of the detected second interference signal and / or to lengthen the second time intervals as a function of the detected second interference signal or to shorten the second time intervals as a function of the detected first interference signal. For this purpose, the central control unit can receive information about the first and / or second interference signal from the first and / or second transmission unit, for example.

The central control unit is preferably designed to trigger a function of the driver assistance system as a function of the detected environmental status forwarded by the first transmission unit and / or as a function of the detected environmental status forwarded by the second transmission unit. The function of the driver assistance system is, for example, braking and / or controlling a transverse drive of the vehicle and / or speed regulation of the vehicle. A vehicle with the driver assistance system is also preferably provided.

Another object of the invention is a method for processing environment sensor data and / or environment information, which is carried out by the previously described system for processing environment sensor data and / or environment information. First of all, first environment sensor data are recorded within a first detection area by means of a first environment sensor. In addition, information on the surroundings of the vehicle is received at least in a partial area of the first detection area by means of a first communication unit, in particular a first wireless car-to-X communication unit. Subsequently, a state of the surroundings of the vehicle within the first detection area is detected as a function of the detected first surroundings sensor data by means of a first computing unit. In addition, an environmental status of the vehicle is detected at least in the sub-area of the first detection area as a function of the received environmental information by means of a second computing unit. The environmental status detected by means of the first processing unit is then forwarded at successive, first time intervals to a central control unit, in particular the central control unit of a driver assistance system of the vehicle, by means of a first transmission unit. In addition, the state of the surroundings detected by means of the second computing unit is forwarded at successive, second time intervals to the central control unit, in particular the central control unit of the driver assistance system of the vehicle, by means of a second transmission unit. In one In a further method step, a first interference signal is detected within the captured first environment sensor data by means of the first computing unit. Alternatively or additionally, a second interference signal is detected within the recorded second environment sensor data by means of the second processing unit. The first time intervals are then lengthened as a function of the detected first interference signal by means of the first transmission unit or shortened as a function of the detected second interference signal. Alternatively or additionally, the second time intervals are lengthened or shortened as a function of the detected first interference signal by means of the second transmission unit.

The state of the surroundings is preferably detected as a function of the recorded first environment sensor data in a defined first period of time by means of the first arithmetic unit and, as a function of the detected first interference signal, the defined first period of time is extended or, as a function of the detected second interference signal, the defined first time period is shortened by means of the first arithmetic unit. Alternatively or additionally, the environmental status is detected depending on the received environmental information in a defined second time period by means of the second processing unit and depending on the detected second interference signal, the defined second time period is extended or depending on the detected first interference signal, the defined second time period is shortened by means of the second processing unit.

At least one object is preferably detected as a state of the surroundings of the vehicle within the first detection area by means of the first computing unit as a function of the detected first environment sensor data. In addition, it is preferably provided in this context that the at least one object is detected as the environmental state of the vehicle at least in the sub-area of the first detection area by means of the second processing unit as a function of the received information about the surroundings.

Objects with assigned first and / or second object classes, in particular animals or people, are preferably detected by means of the first computing unit. Depending on the detected second interference signal, objects with the assigned first object class, in particular animals or people, are detected with priority over first objects with the assigned second object class, in particular animals or people. Alternatively or additionally, objects with assigned third and / or fourth object classes, in particular animals or people, are preferably detected by means of the second processing unit. Depending on the detected first interference signal, objects with the assigned third object class, in particular animals or people, are detected with priority over second objects with the assigned fourth object class, in particular animals or people.

Figure list

• 1 shows schematically an embodiment of the system for processing environment sensor data and / or environment information.
• 2 shows schematically an embodiment of the method for processing environment sensor data and / or environment information.
• 3 shows an exemplary situation with a vehicle that has the system for processing environment sensor data.

Embodiments of the invention

1 shows schematically an embodiment of the system for processing environment sensor data and / or environment information. The system has a first environment sensor 11 which is designed to capture first environment sensor data within a first detection area. In this embodiment is in the first ultrasonic sensor 11 a first computing unit 21st integrated, which is designed to process the captured first environment sensor data and to detect a state of the environment of the vehicle within the first detection area. There is also a first transmission unit 31 in the first environment sensor 11 integrated, which is designed to use the first computing unit 21st detected environmental status in successive, first time intervals to a central control unit 40 , in particular the central control unit of a driver assistance system of the vehicle, via bus communication 35a and 35c forward. So can the first transmission unit 31 for example, forward information about an environmental status every 40 milliseconds.

The system also has a first communication unit 10 which is designed to receive information on the surroundings at least in a partial area of the first detection area of the first surroundings sensor. The first communication unit is designed here, for example, as a first wireless car-to-X communication unit and is used, for example, to receive information on the surroundings from a second communication unit arranged externally to the vehicle 4th to recieve. This second communication unit 4th can for example in a second environment sensor 5 for the acquisition of second environment sensor data and / or in an infrastructure 5 the vehicle environment be arranged. There is also a second processing unit here 20th into the first communication unit 10 integrated. The second arithmetic unit 20th serves to depend to detect the environmental status of the vehicle from the received environmental information at least in the partial area of the first detection area. In this embodiment there is a second transmission unit 30th into the first communication unit 10 integrated, which is designed to send the environmental status detected by means of the second processing unit to the central control unit at successive, second time intervals 40 , in particular the central control unit of the driver assistance system of the vehicle, via bus communication 35b and 35c forward. So can the second communication unit 30th for example, every 40 milliseconds forward information about a detected environmental status.

The first arithmetic unit 21st is designed to detect at least one first interference signal within the captured first environment sensor data. As an alternative or in addition, the second computing unit is used 20th to detect at least one second interference signal within the received environmental information. If a first interference signal is detected, the first transmission unit is used 31 to extend the first time intervals. For example, the first time interval can be extended from the previous 40 milliseconds to 60 milliseconds. If a second interference signal is detected, the first transmission unit is 31 trained to shorten the first time intervals. For example, the first time interval can be shortened from 40 milliseconds to 20 milliseconds. Alternatively or additionally, the second transmission unit is used 30th to lengthen the second time intervals if a second interference signal is detected. If a first interference signal is detected, the second transmission unit is used 30th to shorten the second time intervals. In order to mutually receive information about the first and / or second interference signal, the first 31 and the second transmission unit communicate 30th together. Optionally, the information is sent to the central control unit 40 communicated and the central control unit 40 then decides on the extension and / or shortening of the first and / or second time intervals depending on the information communicated.

The central control unit 40 can be an alternative to the first 31 and / or second transmission unit 30th serve to lengthen the first time intervals as a function of the detected first interference signal or to shorten the first time intervals as a function of the detected second interference signal. Alternatively or in addition to this, the central control unit 40 lengthen the second time intervals as a function of the detected second interference signal or shorten the second time intervals as a function of the detected first interference signal. The central control unit 40 can depend on the first transmission unit 31 transmitted, detected environmental status braking by means of a brake 50 trigger and / or the transverse drive 60 of the vehicle. Alternatively or additionally, the central control unit 40 as a function of the second transmission unit 30th transmitted, detected environmental status, braking by means of the brake 50 trigger and / or the transverse drive 60 of the vehicle.

The detected environmental status is also optionally forwarded to the central control unit 40 via serial data transmission, such as a classic CAN bus network. Alternatively, FlexRay and BroadR-Reach can be used.

The first processing unit is optional 21st designed to detect the state of the surroundings as a function of the recorded first surroundings sensor data in a defined first time period. The first arithmetic unit 21st In this context, it also serves to extend the defined first time period as a function of the detected first interference signal or to shorten the defined first time period as a function of the detected second interference signal. The second arithmetic unit is alternatively or additionally 20th designed to detect the environmental state detected as a function of the received environmental information in a defined second time period. The second computing unit is used in this context 20th in addition to extending the defined second time period as a function of the detected second interference signal or to shorten the defined second period as a function of the detected first interference signal.

2 shows an embodiment of the method for processing environment sensor data and / or environment information in the form of a flowchart. In a first process step 100 captured first environment sensor data within a first detection area by means of a first environment sensor. In a subsequent process step 110 Surrounding information of the vehicle is received in at least a partial area of the first detection area by means of a first communication unit. In a subsequent process step 120 the captured first environment sensor data is processed by means of a first computing unit and a state of the environment of the vehicle is detected from this within the first detection area. In a subsequent process step 130 the received information about the surroundings is processed by means of a second processing unit and a state of the surroundings is detected from this at least in the sub-area of the first detection area. In a subsequent process step 140 the state of the surroundings detected by means of the first arithmetic unit becomes at successive, first time intervals forwarded to a central control unit by means of a first transmission unit. In a subsequent process step 145 the environmental status detected by means of the second processing unit is forwarded to the central control unit at successive, second time intervals by means of a second transmission unit. In a subsequent process step 150 it is checked whether at least one first interference signal can be detected by means of the first arithmetic unit within the recorded first environment sensor data. If no first interference signal can be detected within the first environment sensor data, the following method step is followed 200 proceeded. If a first interference signal is detected in this process, step 160 continued and the first time intervals extended by means of the first transmission unit. Alternatively, the central control unit can also extend the first time intervals if a first interference signal is detected. In a subsequent process step 170 the second time intervals are shortened by means of the second transmission unit. Alternatively, the central control unit can also shorten the second time intervals if a first interference signal is detected. This is followed by a procedural step 200 , which checks whether at least one second interference signal can be detected within the received information about the surroundings by means of the second processing unit. If no second interference signal can be detected within the information on the surroundings, the method is ended. However, if a second interference signal is detected, then in the following method step 210 the second time intervals are extended by means of the second transmission unit. Alternatively, the central control unit can also lengthen the second time intervals if a second interference signal is detected. In a subsequent process step 220 the first time intervals are shortened by means of the first transmission unit. Alternatively, the central control unit can also shorten the first time intervals if a second interference signal is detected. The procedure is then ended.

Optionally, in process step 125 at least one object is detected as a state of the surroundings of the vehicle by means of the first arithmetic unit as a function of the recorded first environment sensor data. In a subsequent process step 128 the detected object is assigned to a first and / or second object class, in particular animals or people. Optionally, in process step 110 receive second environment sensor data as environment information by means of the first communication unit. The second environment sensor data were recorded by means of a second environment sensor within a second detection area which at least partially overlaps the first detection area. In a subsequent optional process step 135 the at least one object is detected as a state of the surroundings within the at least partial area of the first detection area as a function of the received second surroundings sensor data by means of the second computing unit. In a subsequent process step 136 the object detected by means of the second processing unit is assigned to third and / or fourth object classes. If in process step 150 If a first interference signal is detected, the following optional method step 190 Objects with the assigned third object class are detected with priority over objects with the assigned fourth object class. Will be in process step 200 If a second interference signal is detected, the following optional method step 250 Objects with an assigned, first object class prioritized over objects with an assigned second object class detected.

It is also optional in process step 120 the at least one object is detected as a state of the surroundings in a defined first period of time by means of the first computing unit. If in process step 150 a first interference signal is detected in the following process step 175 the defined first time period is extended by means of the first arithmetic unit. Furthermore, in process step 180 the second time period is shortened by means of the second computing unit. In addition, in process step 130 the object is detected in a defined second period of time by means of the second computing unit. If in process step 200 a second interference signal is detected in the following process step 230 the defined first period of time is shortened by means of the first computing unit. Furthermore, in process step 240 the second time period is extended by means of the second computing unit.

3 shows a schematic top view of a situation with a vehicle 400 , which is located in town on a two-lane carriageway 300a and 300b emotional. The vehicle 400 has a first environment sensor 320 with a first detection area. The lines are the first detection area 310a and 310b stretched. The first environment sensor is in this illustrated situation 320 designed as a camera unit. The vehicle also has 400 a first communication unit 330 on, which is designed as a wireless car-to-X communication unit in this embodiment. The first communication unit is suitable for this with a second communication unit 405 another vehicle 380 in the direction of travel 315 in front of the vehicle 400 to communicate. This other vehicle 380 has a second environment sensor 390 on, which is designed as an ultrasonic sensor. The second environment sensor 390 has a second detection area defined by the lines 420a and 420b is spanned and which partially overlaps with the first detection area. In this exemplary embodiment, there is a within the first and second detection area Traffic signs 370 . The first arithmetic unit, not shown in this figure, of the first environment sensor 320 is designed to use the captured first environment sensor data to identify objects as the environment state in the environment of the vehicle 400 to detect. The second computing unit of the first communication unit, also not shown 330 is designed to use the received second environment sensor data as environment information to use objects as environment status in the environment of the vehicle 400 to detect. In this case the first is the environment sensor 320 due to fog 530 unable to grasp the traffic sign and its meaning. The recorded first environment sensor data thus have first interference signals. The second environment sensor 390 however is capable of doing the road sign 370 and grasp its meaning.

The first transmission unit of the first environment sensor, also not shown in this figure 320 can now the first time intervals in which the detected objects to a central control unit 500 forwarded, extend. Alternatively, the second transmission unit, also not shown, of the first communication unit 330 the second time intervals in which the objects are sent to the central control unit 500 be forwarded, shorten. Thus, the disturbance of the first environment sensor 320 through increased car-to-car communication with the other vehicle 380 compensated.

Alternatively or additionally, there is a traffic light in this display 350 in the left lane 300a , where the environment sensor 320 due to the presence of interference signals whose traffic light phase cannot be recognized. The first communication unit 330 is designed in this connection with a further second communication unit 360 the traffic light 350 to communicate and from the further second communication unit 360 Receive information about the current traffic light phase as environment information. A first received signal can stand for a green traffic light, a second received signal for a yellow and a third received signal for a red traffic light.

In this case, the first transmission unit, not shown, of the first environment sensor can now 320 the first time intervals in which the detected traffic light phase is sent to a central control unit as an environmental status 500 is forwarded, extend. Alternatively, the second transmission unit, also not shown, of the first communication unit 330 the second time intervals in which the detected traffic light phase is sent to the central control unit 500 is forwarded, shorten. Thus, the disturbance of the first environment sensor 320 through the increased car-to-infrastructure communication with the traffic light 350 compensated.

In the case shown, both are the first environment sensor 320 as well as the second environment sensor 390 able to be a cyclist 510 as well as a pedestrian 520 as objects in the vicinity of the vehicle 400 to detect. However, in the situation shown, it prevails in the area of the cyclist 510 and the foot catcher 520 fog 530 so that the camera unit is the first environment sensor 320 having first interfering signals. The ultrasonic sensor as a second environment sensor 390 In contrast, the surroundings of the vehicle can be disturbed in this area 400 to capture. The one on this 3 first transmission unit, not shown, of the first environment sensor 320 the first time intervals in which the object detected by means of the first processing unit 510 and 520 to the central control unit 500 forwarded, extend. Alternatively, the second transmission unit, not shown, can be the first communication unit 330 the second time intervals in which the detected objects 510 and 520 to the central control unit 500 be forwarded, shorten.

The second processing unit of the communication unit 330 in this example is designed to handle the pedestrian 520 a third object class and the cyclist 510 to be assigned to a fourth object class. As the vehicle 400 is currently in town and is in the direction of travel 315 in front of the vehicle 400 a pedestrian crossing 351 there is a higher risk of an accident due to a person using the pedestrian crossing than by someone standing to the side on the right-hand lane 300b existing cyclists 510 . Correspondingly, the second computing unit is designed to handle the pedestrian 520 prioritized over the cyclist 510 to detect. For example, with each generated and received image of the surroundings of the camera unit 390 trying to be a pedestrian 520 to detect. However, only for every fourth image of the environment generated by the ultrasonic sensor 320 is also trying a cyclist 510 to detect. In this way, when a second interference signal is detected, the security of the system can be additionally guaranteed by increasing the sensor communication with the central control unit compared to the car-to-x communication, as in the case described.

In all the cases described, the communication of the first communication unit 330 with the surroundings of the vehicle 400 also via an external server 340 run away. In this case, store the traffic light 350 and the second environment sensor 390 the captured environmental information on the server 340 , on which in turn by means of the first communication unit 330 can be accessed.

QUOTES INCLUDED IN THE DESCRIPTION

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Patent literature cited

• DE 102017200562 [0002]

Claims (15)

A system for processing environment sensor data and / or environment information, in particular environment sensor data and / or environment information of a vehicle (400), comprising at least - A first environment sensor (11, 320) designed to record first environment sensor data within a first detection area (310a, 310b), and - A first communication unit (10, 330), in particular a first wireless car-to-X communication unit, designed to receive information on the surroundings at least in a partial area of the first detection area (310a, 310b) of the first surroundings sensor (11, 320), and - At least one first computing unit (21) designed to detect a state of the surroundings of the vehicle (400) within the first detection area (310a, 310b) as a function of the detected first environment sensor data, and - At least one second computing unit (20) designed to detect the state of the surroundings within the first detection area (310a, 310b) as a function of the received surroundings information, and - A first transmission unit (31) designed to forward the environmental status detected by means of the first arithmetic unit (21) at successive, first time intervals to a central control unit (40), in particular the central control unit of a driver assistance system of the vehicle (40), and - and a second transmission unit (30) designed to forward the environmental status detected by means of the second computing unit (20) to the central control unit (40), in particular the central control unit of the driver assistance system of the vehicle (400), at successive, second time intervals, whereby the first computing unit (21) is designed to detect at least one first interference signal within the captured first environment sensor data, and / or the second computing unit (20) is designed to detect at least one second interference signal within the received environment information, wherein the first transmission unit (31) is designed to lengthen the first time intervals as a function of the detected first interference signal or to shorten the first time intervals as a function of the detected second interference signal, and / or the second transmission unit (30) is designed to lengthen the second time intervals as a function of the detected second interference signal or to shorten the second time intervals as a function of the detected first interference signal. System according to Claim 1 characterized in that the first communication unit (11, 330) is designed to receive second environment sensor data as environment information from a second environment sensor (390) within a second detection area (420a, 420b) which at least partially overlaps the first detection area (310a, 310b) to recieve. System according to Claim 2 , characterized in that the first arithmetic unit (21) is designed to detect at least one object as the environment state of the vehicle (400) within the first detection area (410a, 410b) as a function of the recorded first environment sensor data, the second arithmetic unit (20) is designed to detect the at least one object as the environmental status of the vehicle (400) within the first detection area (310a, 310b) as a function of the received second environment sensor data. System according to Claim 3 , characterized in that the first computing unit (21) is designed to detect objects with assigned, first and / or second object classes, in particular animals or people, and, depending on the detected second interference signal, objects with the assigned, first object class, in particular To detect animals or people, prioritized over first objects with the assigned second object class, in particular animals or people, and / or the second computing unit (20) is designed to detect objects with assigned third and / or fourth object classes, in particular animals or people to detect and, depending on the detected first interference signal, to detect objects with the assigned third object class, in particular animals or people, prioritized over second objects with the assigned fourth object class, in particular animals or people. System according to one of the Claims 2 to 4th , characterized in that the first and second environment sensor data differ from one another as a function of a different measuring principle of the first (320) and second environment sensor (390). System according to one of the Claims 1 to 5 , characterized in that the first arithmetic unit (21) is designed to detect a roadway condition as the environment condition of the vehicle (400) within the first detection area (410a, 410b) as a function of the recorded first environment sensor data, the second arithmetic unit (20) for this purpose is designed to detect the state of the road as a state of the surroundings of the vehicle (400) within the first detection area (310a, 310b) as a function of the received environmental information. System according to one of the Claims 1 to 6 , characterized in that the first communication unit (10, 330) is designed to receive the information about the surroundings of the vehicle (400) from a second communication unit (360, 405), in particular a second wireless car-to-X communication unit. System according to one of the Claims 1 to 7th , characterized in that the first (31) and second transmission unit (30) are designed to forward the detected environmental status by means of a serial data transmission. System according to one of the Claims 1 to 8th , characterized in that the first arithmetic unit (21) is designed to detect the state of the environment detected as a function of the recorded first environment sensor data in a defined first period of time, the first arithmetic unit (21) additionally being designed as a function of the detected first interference signal to lengthen the defined first period of time or to shorten the defined first period of time as a function of the detected second interference signal, and / or the second arithmetic unit (20) is designed to detect the state of the environment as a function of the received information about the environment in a defined second period of time, wherein the second arithmetic unit (20) is additionally designed to extend the defined second time period as a function of the detected second interference signal or to shorten the defined second time period as a function of the detected first interference signal. A driver assistance system of a vehicle (400), comprising - a system for processing environment sensor data and / or environment information according to one of the Claims 1 to 9 and - a central control unit (40), wherein a first transmission unit (31) of the system for processing environment sensor data and / or environment information is designed to detect one by means of a first computing unit (21) of the system for processing environment sensor data and / or environment information To forward the environmental status of the vehicle (400) at successive, first time intervals to the central control unit (40) of the driver assistance system of the vehicle (400), and wherein a second transmission unit (30) of the system is designed to process surroundings sensor data and / or surroundings information using a second computing unit (20) of the system for processing environment sensor data and / or environment information to forward the state of the environment detected at successive, second time intervals to the central control unit (40) of the driver assistance system of the vehicle (400), the first transmission unit (31) being designed for this purpose et is to lengthen the first time intervals as a function of a detected first interference signal or to shorten the first time intervals as a function of a detected second interference signal, and / or wherein the second transmission unit (30) is designed to provide the second time intervals as a function of the detected second interference signal to lengthen or shorten the second time intervals as a function of the detected first interference signal, or wherein the central control unit (40) is designed to lengthen the first time intervals as a function of the detected first interference signal or to shorten the first time intervals as a function of the detected second interference signal and / or to lengthen the second time intervals as a function of the detected second interference signal or to shorten the second time intervals as a function of the detected first interference signal. Driver assistance system according to Claim 10 , characterized in that the central control unit (40) is designed to - depending on the detected environmental status forwarded by the first transmission unit (31), and / or - depending on the detected environmental status forwarded by the second transmission unit (30) a Function of the driver assistance system, in particular to initiate braking by means of a brake (50) and / or to control a lateral control (60) of the vehicle (400). Method for processing environment sensor data and / or environment information, carried out by a system according to one of the Claims 1 to 9 , characterized in that the method has the following method steps: - acquisition (100) of first environment sensor data within a first detection area (310a, 310b) by means of a first environment sensor (11, 320), and - reception (110) of environment information of the vehicle ( 400) at least in a partial area of the first detection area (310a, 310b) by means of a first communication unit (10, 330), in particular a first wireless car-to-X communication unit, and - detection (120) of a state of the surroundings of the vehicle (400) within the first detection area (310a, 310b) depending on the detected first environment sensor data by means of a first computing unit (21), and - detection (130) of a state of the surroundings of the vehicle (400) within the first detection area (310a, 310b) depending on the received environment information by means of a second computing unit (20), and - Forwarding (140) of the environmental status detected by means of the first computing unit (21) at successive, first time intervals to a central control unit (40), in particular the central control unit of a driver assistance system of the vehicle (400), by means of a first transmission unit (31), and forwarding (145) to the central control unit (40), in particular the central control unit (40) of the driver assistance system of the vehicle (400), by means of a second transmission unit (30), of the environmental status detected by means of the second computing unit (20) at successive, second time intervals, and - Detecting (150) a first interference signal within the captured first environment sensor data by means of the first computing unit (21), and / or - Detecting (200) a second interference signal within the received environment information by means of the second computing unit (20), and - Extending (160) the first time intervals as a function of the detected first interference signal s by means of the first transmission unit (31), or - shortening (175) the first time intervals depending on the detected second interference signal by means of the first transmission unit, and / or - lengthening (210) the second time intervals depending on the detected second interference signal by means of the second transmission unit (30), or shortening (220) the second time intervals as a function of the detected first interference signal by means of the second transmission unit (30). Procedure according to Claim 12 , characterized in that the state of the environment is detected as a function of the recorded first environment sensor data in a defined first period of time by means of the first arithmetic unit (21), and as a function of the detected first interference signal, the defined first period of time is extended (175) or as a function of the detected second interference signal the defined first time period is shortened (180) by means of the first arithmetic unit (21), and / or that the state of the surroundings is detected as a function of the received environment information in a defined second time period by means of the second arithmetic unit (20) and as a function of the detected second interference signal the defined second time period is extended (230) or, depending on the detected first interference signal, the defined second time period is shortened (240) by means of the second computing unit (20). Method according to one of the Claims 12 or 13 , characterized in that as a function of the captured first environment sensor data, at least one object is detected as the environment state of the vehicle (400) within the first detection area (310a, 310b) by means of the first computing unit (20), and that as a function of the received environment information the at least one Object is detected as the state of the surroundings of the vehicle (400) by means of the second computing unit (200). Procedure according to Claim 14 , characterized in that objects with assigned first and / or second object classes, in particular animals or people, are detected by means of the first computing unit (21), and depending on the detected second interference signal, objects with the assigned first object class, in particular animals or people, prioritized over first objects with the assigned second object class, in particular animals or people, are detected (190), and / or that objects with assigned third and / or fourth object classes, in particular animals or people, are detected by means of the second processing unit (20) , and depending on the detected first interference signal, objects with the assigned third object class, in particular animals or people, prioritized over second objects with the assigned fourth object class, in particular animals or people, are detected (250).

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