EP3509924A1 - Method and device for operating a first vehicle - Google Patents

Method and device for operating a first vehicle

Info

Publication number
EP3509924A1
EP3509924A1 EP17748730.3A EP17748730A EP3509924A1 EP 3509924 A1 EP3509924 A1 EP 3509924A1 EP 17748730 A EP17748730 A EP 17748730A EP 3509924 A1 EP3509924 A1 EP 3509924A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
environment sensor
environment
influencing
sensor system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP17748730.3A
Other languages
German (de)
French (fr)
Inventor
Jan Rohde
Holger Mielenz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3509924A1 publication Critical patent/EP3509924A1/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/20—Data confidence level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a method and a device for operating a first vehicle having a step of receiving a signal, a step of influencing an environment sensor system, a step of receiving
  • the inventive method for operating a first vehicle comprises a step of receiving a signal from an external computing unit for
  • Influencing a first environment sensor of the first vehicle a step of influencing the first environment sensor depending on the received signal, a step of receiving environmental data values, which at least partially represent an environment of the first vehicle and were detected by at least one second environment sensors of a second vehicle and a Step of operating the first vehicle depending on the influence of the first environment sensor and the received environmental data values.
  • a possible disturbance of an environment sensor system by another environment sensor system can for example be done by each radar sensors are used to detect the environment and the radar waves overlap each other such that there is a destructive interference of the radar waves and thus both the one and the other environment sensors a worse signal is received.
  • the method comprises a further step of transmitting sensor data values which have an effect of influencing the first
  • Represent environment sensor depending on the received signal to the external processing unit includes.
  • the at least one second environment sensor system is preferably identical to the first environment sensor system.
  • first environment sensor and the second environment sensors are designed such that they are comparable to each other. This can relate both to the sensor type of the respective environmental sensor system, as well as the size and / or the range and / or the power and / or other comparison features.
  • two sensors may be identical if both are a video sensor or they may be identical if they are capable of detecting the same environment according to comparable criteria. Under no circumstances is it to be understood as identical only that it is the same make (manufacturer,
  • the influencing of the first surroundings sensor system takes place by being at least partially switched off. This shows the advantage that the disturbing influence of individual sensors is reduced and / or completely suppressed, which overall allows the best possible detection of the environment.
  • the signal for influencing the first environment sensor system depends on a comparison with the at least one second environment sensor system carried out according to predetermined criteria. This advantageously allows a determination of the signal which is optimally adapted to the respective environment sensor system. As a result, the control of the first and / or the second environmental sensor system can take place with ideal adaptation to the interaction of the respectively used sensors.
  • the comparison is performed according to predetermined criteria such that a quality of the first environment sensor system and the at least one second environment sensor
  • the determination of the quality of the first and the second environmental sensor system is particularly advantageous, since this assessment of the environmental sensor system and the subsequent process dependent thereon make it possible to enable the best possible occupancy detection of the environment of all participating vehicles.
  • the quality of the first environment sensor system and the at least one second environment sensor system are preferably taken into account as a function of the transmitted sensor data values.
  • the inventive device for operating a first vehicle comprises first receiving means for receiving a signal from an external computing unit for influencing a first environment sensor system of the first vehicle. It further comprises influencing means for influencing the first environment sensor system as a function of the received signal and second receiving means for receiving
  • the apparatus further comprises transmission means for transmitting sensor data values which have an effect of influencing the first Represent environment sensors depending on the received signal to the external processing unit (300) are provided.
  • Figure 1 purely by way of example a vehicle which comprises the device according to the invention for carrying out the method according to the invention.
  • Figure 2 purely by way of example an embodiment.
  • FIG. 3 purely by way of example an embodiment in the form of a flow diagram of the method according to the invention using the device according to the invention.
  • FIG. 1 shows a first vehicle 100, which comprises the device 110. Furthermore, the first vehicle 100 includes a first environment sensor 101 which is shown here by way of example as a video sensor with a detection to the front or rear. This may also be, for example, a radar sensor and / or Lidarsensor and / or
  • the first environment sensor 101 may be any number of sensors and each type of sensor that is suitable for detecting the surroundings of the first vehicle 100.
  • the first vehicle 100 comprises the device 1 10, which first
  • Receiving means 1 1 1 for receiving a signal and influencing means 1 12 for influencing the first environment sensor 101 and second receiving means 1 13 for receiving environmental data includes. Furthermore, the first vehicle 100 comprises vehicle means 1 14 for operating the first vehicle 100 and
  • Transmission means 15 for transmitting sensor data values.
  • the first receiving means 1 1 1 are adapted to receive a control signal from an external arithmetic unit 300 and can forward to the influencing means 1 12.
  • the influencing means 1 12 are designed such that they convert a forwarded by the first receiving means 1 1 1 control signal to the first environment sensor 101 of the first vehicle 100 to control and influence.
  • the type of influencing depends on the one hand on the control signal and on the other hand on the environment sensor itself, such as the type and / or performance and / or the sensor type and / or the arrangement of the vehicle and / or size and / or or the condition and / or other sensor-related features.
  • FIG. 2 shows an external computing unit 400, which has a device 410 with
  • Receiving means 41 1, evaluation means 413 and transmission means 414 comprises.
  • receiving means 41 1 can also be formed together with the transmission means 414 as a common transmitting and receiving device. Both the
  • Receiving means 41 1 and the transmission means 414 can be designed such that they - individually or as described above jointly formed - can send and / or receive directly or with a further transmitting and
  • Receiving station 420 which is configured, for example, to send or receive over long distances, are connected by means of connecting means 421.
  • the device 410 further comprises evaluation means 413, which are each designed to evaluate the quality of the first environment sensor system 101 of the first vehicle 100 and the quality of the second environment sensor system 201 of the second vehicle 200.
  • the evaluation means 413 include, for example, a processor and / or a
  • Hard disk and / or a working memory which is designed to perform the evaluation of the quality of the first environment sensor 101 of the first vehicle 100 and the evaluation of the quality of the second environment sensor 201 and the second vehicle 200 by means of at least one computer program.
  • this evaluation is carried out, for example, the way that the first environment data values with the second
  • Environmental data values representing a common environment of the first vehicle 100 and the second vehicle 200 are formed. This can be done, for example, by comparing these third environmental data values with already stored data patterns. From this comparison we then then by means of predetermined comparison criteria an assessment of the quality of the first environment sensor 101 of the first vehicle 100 and the quality of the second
  • Vehicle 200 determined by the first information of the first environment sensor 101 is compared with the second environment sensor 201.
  • technical features can be read from the first and second information that the first environment sensor 101 of the first vehicle 100 or the second environment sensor 201 of the second vehicle 200 is better suited to capture environmental data values.
  • FIG. 3 shows purely by way of example an application example for the invention
  • a first vehicle 100 which detects an environment 150 of the first vehicle 100 by means of its environment sensor system 101.
  • a second vehicle 200 can be seen, which also detects an environment 250 of the second vehicle 200 by means of its environment sensor system 201.
  • a third vehicle 300 that is in close proximity to the first vehicle 100 and the second vehicle 200 is located.
  • a section of the respective trajectories 120, 220 of the first vehicle 100 and of the second vehicle 200 are shown here by arrows by way of example.
  • the external computing unit 400 is shown, which comprises the device 410 according to the invention.
  • both the first vehicle 100 and the second vehicle 200 are each equipped with a transmitting and receiving device in this example, both vehicles transmit ambient data values, which include the first environment 150 of the first vehicle 100 and the second environment 250 of the second Vehicle 200, to the external computing unit 400.
  • the external computing unit 400 Now, by means of the device 410 and the means included in the device 410, the environment data values transmitted from the first vehicle 100 and from the second vehicle 200 can be received and the quality of the first environment sensor 101 and the second environment sensor 201 can be evaluated by means of suitable evaluation means.
  • a signal for influencing the first and / or the second environmental sensor system 101, 201 can be transmitted to the first vehicle 100 and / or second vehicle 200.
  • enhanced environmental data values representing both an environment 150 of the first vehicle 101 and an environment 250 of the second vehicle 200 may be captured and transmitted again to the external computing unit 400.
  • the improved environmental data values can be transmitted to the first vehicle 100 and / or to the second vehicle 200 and / or to the at least one further third vehicle 300.
  • the first vehicle 100 can now be operated, for example, such that for one or more driving functions, the previously insufficiently detected area which is detected both by the first surroundings sensor 101 of the first vehicle 100 and by the second
  • Environment sensor 201 of the second vehicle 200 has been overlapped, is observed accordingly. For example, a necessary evasion maneuver may be initiated because there is an object within the overlapped area.
  • the situation shown here in which a first vehicle 100 approaching a second vehicle 200, with third vehicle 300 behind the second vehicle 201, is selected purely by way of example.
  • Another example where the method disclosed herein is used to advantage is within a location at an intersection.
  • Vehicle 200 can be particularly dramatic when, for example, in this
  • the external computing unit 400 may be part of the traffic infrastructure, such as a traffic light or a street lamp, for example.
  • FIG. 4 shows purely by way of example an exemplary embodiment with reference to a flowchart.
  • step 500 the process begins.
  • step 510 the first vehicle 100 receives a signal to influence - for example, to switch off - the first environment sensor 101.
  • step 520 the first environment sensor 101 of the first vehicle 100 is turned off.
  • step 530 the second vehicle 200 detects environmental data values by means of the second environment sensor system 201, wherein the first environment sensor system 101 can no longer interfere with the detection of the second environment sensor system 201.
  • step 540 the second vehicle 200 transmits the acquired environmental data values to the external computing unit 400.
  • step 550 the external computing unit 400 receives the detected
  • step 560 the external computing unit 400 transmits the detected
  • step 570 the first vehicle 100 receives the acquired environmental data values.
  • step 580 the second vehicle 200 receives the acquired environmental data values.
  • step 590 the at least one other vehicle 300 receives the detected
  • step 600 the first vehicle is dependent on the detected
  • step 610 the method ends.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relate to a method and to a device (110) for operating a first vehicle (100), comprising a step of receiving (510) a signal from an external computing unit (400) for influencing a first environment sensor system (101) of the first vehicle (100), a step of influencing (520) the first environment sensor system (101) in accordance with the received signal, a step of receiving (570) environment data values which at least partly represent the environment of the first vehicle (100) and which were sensed by at least one second environment sensor system (201) of a second vehicle (200), and a step of operating (600) the first vehicle (100) in accordance with the influencing of the first environment sensor system (101) and the received environment data values.

Description

Beschreibung Titel  Description title
Verfahren und Vorrichtung zum Betreiben eines ersten Fahrzeugs  Method and device for operating a first vehicle
Die vorliegende Erfindung betrifft ein Verfahren sowie eine Vorrichtung zum Betreiben eines ersten Fahrzeugs mit einem Schritt des Empfangens eines Signals, einem Schritt der Beeinflussung einer Umfeldsensorik, einem Schritt des Empfangens von The present invention relates to a method and a device for operating a first vehicle having a step of receiving a signal, a step of influencing an environment sensor system, a step of receiving
Umgebungsdatenwerten und einem Schritt des Betreibens des ersten Fahrzeugs abhängig von der Beeinflussung und der empfangenen Umgebungsdatenwerte. Environmental data values and a step of operating the first vehicle depending on the influence and the received environmental data values.
Offenbarung der Erfindung Disclosure of the invention
Das erfindungsgemäße Verfahren zum Betreiben eines ersten Fahrzeugs umfasst einen Schritt des Empfangens eines Signals von einer externen Recheneinheit zur The inventive method for operating a first vehicle comprises a step of receiving a signal from an external computing unit for
Beeinflussung einer ersten Umfeldsensorik des ersten Fahrzeugs, einen Schritt der Beeinflussung der ersten Umfeldsensorik abhängig von dem empfangenen Signal, einen Schritt des Empfangens von Umgebungsdatenwerten, welche wenigstens teilweise eine Umgebung des ersten Fahrzeugs repräsentieren und von wenigstens einer zweiten Umfeldsensorik eines zweiten Fahrzeugs erfasst wurden und einen Schritt des Betreibens des ersten Fahrzeugs abhängig von der Beeinflussung der ersten Umfeldsensorik und der empfangenen Umgebungsdatenwerte.  Influencing a first environment sensor of the first vehicle, a step of influencing the first environment sensor depending on the received signal, a step of receiving environmental data values, which at least partially represent an environment of the first vehicle and were detected by at least one second environment sensors of a second vehicle and a Step of operating the first vehicle depending on the influence of the first environment sensor and the received environmental data values.
Der Vorteil des hier offenbarten Verfahrens liegt darin, dass eine Erfassung der The advantage of the method disclosed here is that detection of the
Umgebung eines Fahrzeugs erfolgt, ohne dass diese durch die Umfeldsensorik anderer Fahrzeugsysteme gestört wird. Weiterhin trägt dieses Verfahren zur Robustheit und Funktionsfähigkeit solcher Fahrzeugsysteme dabei. Daraus resultiert eine vorteilhafte Beeinflussung der Verkehrssicherheit, sowohl für das Fahrzeug dessen Umfeldsensorik entsprechend dem hier vorgestellten Verfahren verändert wird, als auch bei allen anderen Fahrzeuge die an dem Verfahren beteiligt sind. Environment of a vehicle is carried out without being disturbed by the environment sensors of other vehicle systems. Furthermore, this method contributes to the robustness and operability of such vehicle systems. This results in an advantageous effect on traffic safety, both for the vehicle whose environment sensor system is changed according to the method presented here, as well as for all other vehicles involved in the process.
Eine mögliche Störung einer Umfeldsensorik durch eine andere Umfeldsensorik kann beispielsweise erfolgen, indem sich jeweils Radarsensoren zur Detektion des Umfelds verwendet werden und sich die Radarwellen gegenseitig derart überlagern, dass es zu einer destruktivem Interferenz der Radarwellen kommt und somit sowohl die eine als auch die andere Umfeldsensorik ein schlechteres Signal empfängt. Vorzugsweise umfasst das Verfahren einen weiteren Schritt des Übertragens von Sensordatenwerten, welche eine Auswirkung der Beeinflussung der ersten A possible disturbance of an environment sensor system by another environment sensor system can for example be done by each radar sensors are used to detect the environment and the radar waves overlap each other such that there is a destructive interference of the radar waves and thus both the one and the other environment sensors a worse signal is received. Preferably, the method comprises a further step of transmitting sensor data values which have an effect of influencing the first
Umfeldsensorik abhängig von dem empfangenen Signal repräsentieren, an die externe Recheneinheit umfasst. Represent environment sensor depending on the received signal to the external processing unit includes.
Dies erlaubt in vorteilhafter Weise eine bessere und/oder vollständigere und/oder weitreichendere und/oder schnellere Umgebungserfassung. Vorzugsweise ist die wenigstens eine zweite Umfeldsensorik baugleich zu der ersten Umfeldsensorik. This advantageously allows a better and / or more complete and / or more extensive and / or faster environment detection. The at least one second environment sensor system is preferably identical to the first environment sensor system.
Unter baugleich ist hier zu verstehen, dass die erste Umfeldsensorik und die zweite Umfeldsensorik derart ausgebildet sind, das sie miteinander vergleichbar sind. Dies kann sowohl den Sensortyp der jeweiligen Umfeldsensorik betreffen, als auch die Größe und/oder die Reichweite und/oder die Leistung und/oder andere Vergleichsmerkmale. Beispielsweise können zwei Sensoren baugleich sein, wenn es sich bei beiden um einen Videosensor handelt oder sie können baugleich sein, wenn sie in der Lage sind, dieselbe Umgebung nach vergleichbaren Kriterien zu erfassen. Auf keinen Fall ist unter baugleich ausschließlich zu verstehen, dass es sich um dasselbe Fabrikat (Hersteller, Under identical here is to be understood that the first environment sensor and the second environment sensors are designed such that they are comparable to each other. This can relate both to the sensor type of the respective environmental sensor system, as well as the size and / or the range and / or the power and / or other comparison features. For example, two sensors may be identical if both are a video sensor or they may be identical if they are capable of detecting the same environment according to comparable criteria. Under no circumstances is it to be understood as identical only that it is the same make (manufacturer,
Seriennummer, etc.) handeln muss. Serial number, etc.) must act.
Hierin zeigt sich der Vorteil, dass die erste Umfeldsensorik und die zweite Umfeldsensorik schnell und zuverlässig miteinander verglichen werden können, wovon das gesamte Verfahren profitiert, da es dessen Zuverlässigkeit und Aussagekraft erhöht. This shows the advantage that the first environment sensor and the second environment sensors can be quickly and reliably compared with each other, which benefits the entire process, as it increases its reliability and validity.
In einer besonders bevorzugten Ausführungsform erfolgt die Beeinflussung der ersten Umfeldsensorik, indem diese wenigstens teilweise abgeschaltet wird. Hierin zeigt sich der Vorteil, dass der störende Einfluss einzelner Sensoren reduziert und/oder komplett unterdrückt wird, was insgesamt eine bestmögliche Erfassung der Umgebung erlaubt. In a particularly preferred embodiment, the influencing of the first surroundings sensor system takes place by being at least partially switched off. This shows the advantage that the disturbing influence of individual sensors is reduced and / or completely suppressed, which overall allows the best possible detection of the environment.
In einer besonders bevorzugten Ausführungsform hängt das Signal zur Beeinflussung der ersten Umfeldsensorik von einem nach vorgegebenen Kriterien durchgeführten Vergleich mit der wenigstens einen zweiten Umfeldsensorik ab. Dies erlaubt in vorteilhafter Weise ein Bestimmen des Signals, welches bestmöglich an die jeweilige Umfeldsensorik angepasst ist. Dadurch kann die Steuerung der ersten und/oder der zweiten Umfeldsensorik unter idealer Anpassung an das Zusammenspiel der jeweils verwendeten Sensoren erfolgen. In a particularly preferred embodiment, the signal for influencing the first environment sensor system depends on a comparison with the at least one second environment sensor system carried out according to predetermined criteria. This advantageously allows a determination of the signal which is optimally adapted to the respective environment sensor system. As a result, the control of the first and / or the second environmental sensor system can take place with ideal adaptation to the interaction of the respectively used sensors.
Besonders bevorzugt wird der Vergleich derart nach vorgegebenen Kriterien durchgeführt, dass eine Güte der ersten Umfeldsensorik und der wenigstens einen zweiten Particularly preferably, the comparison is performed according to predetermined criteria such that a quality of the first environment sensor system and the at least one second environment sensor
Umfeldsensorik berücksichtigt wird. Environment sensor technology is taken into account.
Die Bestimmung der Güte der ersten und der zweiten Umfeldsensorik ist besonders vorteilhaft, da diese Einschätzung der Umfeldsensorik und das anschließend davon abhängige ausgeführte Verfahren es erlaubt, eine bestmögliche Umgangserfassung der Umgebung aller beteiligten Fahrzeuge zu ermöglichen. The determination of the quality of the first and the second environmental sensor system is particularly advantageous, since this assessment of the environmental sensor system and the subsequent process dependent thereon make it possible to enable the best possible occupancy detection of the environment of all participating vehicles.
Vorzugsweise wird die Güte der ersten Umfeldsensorik und der wenigstens einen zweiten Umfeldsensorik abhängig von den übertragenen Sensordatenwerten berücksichtigt. The quality of the first environment sensor system and the at least one second environment sensor system are preferably taken into account as a function of the transmitted sensor data values.
Die erfindungsgemäße Vorrichtung zum Betreiben eines ersten Fahrzeugs umfasst erste Empfangsmittel zum Empfangen eines Signals von einer externen Recheneinheit zur Beeinflussung einer ersten Umfeldsensorik des ersten Fahrzeugs. Sie umfasst weiterhin Beeinflussungsmittel zum Beeinflussen der ersten Umfeldsensorik abhängig von dem empfangenen Signal und zweite Empfangsmittel zum Empfangen von The inventive device for operating a first vehicle comprises first receiving means for receiving a signal from an external computing unit for influencing a first environment sensor system of the first vehicle. It further comprises influencing means for influencing the first environment sensor system as a function of the received signal and second receiving means for receiving
Umgebungsdatenwerten, welche wenigstens teilweise eine Umgebung des ersten Environmental data values which at least partially represent an environment of the first
Fahrzeugs repräsentieren und von wenigstens einer zweiten Umfeldsensorik eines zweiten Fahrzeugs erfasst wurden. Weiterhin werden Fahrzeugmittel zum Betreiben des Fahrzeugs abhängig von der Beeinflussung der ersten Umfeldsensorik und der empfangenen Umgebungsdatenwerte umfasst. In einer besonders bevorzugten Ausführungsform sind die ersten Empfangsmittel und/oder die Beeinflussungsmittel und/oder die zweiten Empfangsmittel und/oder die Fahrzeugmittel derart ausgebildet sind, ein Verfahren gemäß wenigstens einem der Verfahrensansprüche auszuführen. Vorzugsweise umfasst die Vorrichtung weiterhin Übertragungsmittel zum Übertragen von Sensordatenwerten, welche eine Auswirkung der Beeinflussung der ersten Umfeldsensorik abhängig von dem empfangenen Signal repräsentieren, an die externe Recheneinheit (300) vorgesehen sind. Represent vehicle and have been detected by at least one second environment sensors of a second vehicle. Furthermore, vehicle means for operating the vehicle are included as a function of the influencing of the first surroundings sensor system and of the received ambient data values. In a particularly preferred embodiment, the first receiving means and / or the influencing means and / or the second receiving means and / or the vehicle means are designed to carry out a method according to at least one of the method claims. Preferably, the apparatus further comprises transmission means for transmitting sensor data values which have an effect of influencing the first Represent environment sensors depending on the received signal to the external processing unit (300) are provided.
Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben und in der Beschreibung aufgeführt. Advantageous developments of the invention are specified in the subclaims and listed in the description.
Zeichnungen drawings
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden in den nachfolgenden Beschreibungen näher erläutert. Es zeigen: Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following descriptions. Show it:
Figur 1 rein beispielhaft ein Fahrzeug, welches die erfindungsgemäße Vorrichtung zum Ausführen des erfindungsgemäßen Verfahrens umfasst. Figur 2 rein beispielhaft ein Ausführungsbeispiel. Figure 1 purely by way of example a vehicle which comprises the device according to the invention for carrying out the method according to the invention. Figure 2 purely by way of example an embodiment.
Figur 3 rein beispielhaft ein Ausführungsbeispiel in Form eines Ablaufdiagramms des erfindungsgemäßen Verfahrens unter Verwendung der erfindungsgemäßen Vorrichtung. Ausführungsformen der Erfindung FIG. 3 purely by way of example an embodiment in the form of a flow diagram of the method according to the invention using the device according to the invention. Embodiments of the invention
Figur 1 zeigt ein erstes Fahrzeug 100, welches die Vorrichtung 1 10 umfasst. Weiterhin umfasst das erste Fahrzeug 100 eine erste Umfeldsensorik 101 welche hier beispielhaft als Videosensor mit einer Erfassung nach vorne bzw. hinten gezeigt ist. Dabei kann es sich beispielsweise auch um einen Radarsensor und/oder Lidarsensor und/oder FIG. 1 shows a first vehicle 100, which comprises the device 110. Furthermore, the first vehicle 100 includes a first environment sensor 101 which is shown here by way of example as a video sensor with a detection to the front or rear. This may also be, for example, a radar sensor and / or Lidarsensor and / or
Ultraschallsensor handeln. Generell kann es sich bei der ersten Umfeldsensorik 101 um jede Anzahl an Sensoren und jede Art von Sensortyp handeln, welche dazu geeignet sind die Umgebung des ersten Fahrzeugs 100 zu erfassen. Weiterhin umfasst das erste Fahrzeug 100 die Vorrichtung 1 10, welche erste  Acting ultrasonic sensor. In general, the first environment sensor 101 may be any number of sensors and each type of sensor that is suitable for detecting the surroundings of the first vehicle 100. Furthermore, the first vehicle 100 comprises the device 1 10, which first
Empfangsmittel 1 1 1 zum empfangen eines Signals sowie Beeinflussungsmittel 1 12 zum Beeinflussen der ersten Umfeldsensorik 101 und zweite Empfangsmittel 1 13 zum empfangen von Umgebungsdatenwerten umfasst. Weiterhin umfasst das erste Fahrzeug 100 Fahrzeugmitteln 1 14 zum Betreiben des ersten Fahrzeugs 100 und  Receiving means 1 1 1 for receiving a signal and influencing means 1 12 for influencing the first environment sensor 101 and second receiving means 1 13 for receiving environmental data includes. Furthermore, the first vehicle 100 comprises vehicle means 1 14 for operating the first vehicle 100 and
Übertragungsmittel 1 15 zum Übertragen von Sensordatenwerten. Die ersten Empfangsmittel 1 1 1 sind ausgebildet, um ein Steuersignal von einer externen Recheneinheit 300 empfangen und an die Beeinflussungsmittel 1 12 weiterleiten können. Transmission means 15 for transmitting sensor data values. The first receiving means 1 1 1 are adapted to receive a control signal from an external arithmetic unit 300 and can forward to the influencing means 1 12.
Die Beeinflussungsmittel 1 12 sind derart ausgebildet, dass diese ein von den ersten Empfangsmittel 1 1 1 weitergeleitetes Steuersignal umsetzen, um die erste Umfeldsensorik 101 des ersten Fahrzeugs 100 anzusteuern und zu beeinflussen. Dabei hängt die Art und Weise der Beeinflussung zum einen von dem Steuersignal und zum anderen von der Umfeldsensorik selbst, wie beispielsweise von der Bauart und/oder der Leistungsfähigkeit und/oder dem Sensortyp und/oder der Anordnung am Fahrzeug und/oder der Größe und/oder dem Zustand und/oder weiteren sensorbedingten Merkmalen, ab. The influencing means 1 12 are designed such that they convert a forwarded by the first receiving means 1 1 1 control signal to the first environment sensor 101 of the first vehicle 100 to control and influence. The type of influencing depends on the one hand on the control signal and on the other hand on the environment sensor itself, such as the type and / or performance and / or the sensor type and / or the arrangement of the vehicle and / or size and / or or the condition and / or other sensor-related features.
Figur 2 zeigt eine externe Recheneinheit 400, welche eine Vorrichtung 410 mit FIG. 2 shows an external computing unit 400, which has a device 410 with
Empfangsmittel 41 1 , Bewertungsmittel 413 und Übertragungsmittel 414 umfasst. Dabei können Empfangsmittel 41 1 auch zusammen mit den Übertragungsmittel 414 als gemeinsame Sende- und Empfangsvorrichtung ausgebildet sein. Sowohl die Receiving means 41 1, evaluation means 413 and transmission means 414 comprises. In this case, receiving means 41 1 can also be formed together with the transmission means 414 as a common transmitting and receiving device. Both the
Empfangsmittel 41 1 als auch die Übertragungsmittel 414 können dabei derart ausgebildet sein, dass diese - einzelnen oder wie oben beschrieben gemeinsam ausgebildet - direkt senden und/oder empfangen können oder auch mit einer weiteren Sende- und  Receiving means 41 1 and the transmission means 414 can be designed such that they - individually or as described above jointly formed - can send and / or receive directly or with a further transmitting and
Empfangsstation 420, welche beispielsweise dazu ausgebildet ist über große Strecken zusenden bzw. zu empfangen, mittels Verbindungsmittel 421 verbunden sind. Receiving station 420, which is configured, for example, to send or receive over long distances, are connected by means of connecting means 421.
Die Vorrichtung 410 umfasst weiterhin Bewertungsmittel 413, welche dazu ausgebildet sind jeweils die Güte der ersten Umfeldsensorik 101 des ersten Fahrzeugs 100 und die Güte der zweiten Umfeldsensorik 201 des zweiten Fahrzeugs 200 zu bewerten. Dabei umfassen die Bewertungsmittel 413 beispielsweise einen Prozessor und oder eineThe device 410 further comprises evaluation means 413, which are each designed to evaluate the quality of the first environment sensor system 101 of the first vehicle 100 and the quality of the second environment sensor system 201 of the second vehicle 200. The evaluation means 413 include, for example, a processor and / or a
Festplatte und oder einen Arbeitsspeicher, welche dazu ausgebildet mittels wenigstens einem Computerprogramm die Bewertung der Güte der ersten Umfeldsensorik 101 des ersten Fahrzeugs 100 und die Bewertung der Güte der zweiten Umfeldsensorik 201 und des zweiten Fahrzeugs 200 durchzuführen. Dabei wird diese Bewertung beispielsweise der Art durchgeführt, dass die ersten Umgebungsdatenwerte mit den zweiten Hard disk and / or a working memory, which is designed to perform the evaluation of the quality of the first environment sensor 101 of the first vehicle 100 and the evaluation of the quality of the second environment sensor 201 and the second vehicle 200 by means of at least one computer program. In this case, this evaluation is carried out, for example, the way that the first environment data values with the second
Umgebungsdatenwerten zusammengeführt werden und daraus neue dritte Environment data values are brought together and from this new third
Umgebungsdatenwerte gebildet werden, welche eine gemeinsame Umgebung des ersten Fahrzeugs 100 und des zweiten Fahrzeugs 200 repräsentieren. Dies kann beispielsweise erfolgen, indem diese dritten Umgebungsdatenwerte mit bereits hinterlegten Datenmustern verglichen werden. Aus diesem Vergleich wir dann anschließend mittels vorgegebener Vergleichskriterien eine Bewertung der Güte der ersten Umfeldsensorik 101 des ersten Fahrzeugs 100 und der Güte der zweiten Environmental data values representing a common environment of the first vehicle 100 and the second vehicle 200 are formed. This can be done, for example, by comparing these third environmental data values with already stored data patterns. From this comparison we then then by means of predetermined comparison criteria an assessment of the quality of the first environment sensor 101 of the first vehicle 100 and the quality of the second
Umfeldsensorik 201 des zweiten Fahrzeugs 200 durchgeführt. Environment sensor 201 of the second vehicle 200 performed.
In einer weiteren Ausführungsform wird die Güte der ersten Umfeldsensorik 101 des ersten Fahrzeugs 100 und die Güte der zweiten Umfeldsensorik 201 des zweiten In a further embodiment, the quality of the first environment sensor 101 of the first vehicle 100 and the quality of the second environment sensor 201 of the second
Fahrzeugs 200 bestimmt, indem die erste Information der ersten Umfeldsensorik 101 mit der zweiten Umfeldsensorik 201 verglichen wird. Hierbei kann beispielswiese aus den ersten und zweiten Information technische Merkmale ausgelesen werden, dass die erste Umfeldsensorik 101 des ersten Fahrzeugs 100 oder die zweite Umfeldsensorik 201 des zweiten Fahrzeugs 200 besser geeignet ist, Umgebungsdatenwerte zu erfassen. Vehicle 200 determined by the first information of the first environment sensor 101 is compared with the second environment sensor 201. Here, for example, technical features can be read from the first and second information that the first environment sensor 101 of the first vehicle 100 or the second environment sensor 201 of the second vehicle 200 is better suited to capture environmental data values.
Figur 3 zeigt rein beispielhaft ein Anwendungsbeispiel für das erfindungsgemäße FIG. 3 shows purely by way of example an application example for the invention
Verfahren, indem eine Situation gezeigt wird - stellvertretend für weitere Beispiele - in der dieses Verfahren zum Einsatz kommt. Dabei ist ein erstes Fahrzeug 100 gezeigt, welches mittels seiner Umfeldsensorik 101 eine Umgebung 150 des ersten Fahrzeugs 100 erfasst. Weiterhin ist ein zweites Fahrzeug 200 zu sehen, welches ebenfalls mittels seiner Umfeldsensorik 201 eine Umgebung 250 des zweiten Fahrzeugs 200 erfasst. In dem hier gezeigten Beispiel gibt es einen Überlapp zwischen der erfassten Umgebung 150 des ersten Fahrzeugs 100 und der umfassten Umgebung 250 des zweiten Fahrzeugs 200. Zudem ist ein drittes Fahrzeug 300 gezeigt, welches sich in räumlicher Nähe zu dem ersten Fahrzeug 100 und dem zweiten Fahrzeug 200 befindet. Ein Ausschnitt der jeweiligen Trajektorien 120, 220 des ersten Fahrzeugs 100 und des zweiten Fahrzeugs 200 sind hier beispielhaft durch Pfeile gezeigt. Weiterhin ist die externe Recheneinheit 400 gezeigt, welche die erfindungsgemäße Vorrichtung 410 umfasst. Method by showing a situation - representative of other examples - in which this method is used. In this case, a first vehicle 100 is shown, which detects an environment 150 of the first vehicle 100 by means of its environment sensor system 101. Furthermore, a second vehicle 200 can be seen, which also detects an environment 250 of the second vehicle 200 by means of its environment sensor system 201. In the example shown here, there is an overlap between the detected environment 150 of the first vehicle 100 and the encompassed environment 250 of the second vehicle 200. Also shown is a third vehicle 300 that is in close proximity to the first vehicle 100 and the second vehicle 200 is located. A section of the respective trajectories 120, 220 of the first vehicle 100 and of the second vehicle 200 are shown here by arrows by way of example. Furthermore, the external computing unit 400 is shown, which comprises the device 410 according to the invention.
Aufgrund des Überlappens der Umgebungen 120, 220, welche von dem ersten Fahrzeug 100 und dem zweiten Fahrzeug 200 erfasst werden, kann es für beide Fahrzeuge 100, 200 innerhalb des überlappten Bereichs zu einem verschlechterten Erfassen der Due to the overlapping of the environments 120, 220 detected by the first vehicle 100 and the second vehicle 200, it may be difficult for both vehicles 100, 200 within the overlapped area to detect
Umgebung kommen, dass sich die Umfeldsensorik 101 des ersten Fahrzeugs 100 und die Umfeldsensorik 201 des zweiten Fahrzeugs 200 diesem Bereich störend beeinflussen. Da nun sowohl das erste Fahrzeug 100 als auch das zweite Fahrzeug 200 in diesem Beispiel jeweils mit einer Sende- und Empfangsvorrichtung ausgestattet sind, übertragen beide Fahrzeuge Umgebungsdatenwerte, welche zum einen die erste Umgebung 150 des ersten Fahrzeugs 100 zum anderen die zweite Umgebung 250 des zweiten Fahrzeugs 200 repräsentieren, an die externe Recheneinheit 400. Die externe Recheneinheit 400 kann nun mittels der Vorrichtung 410 und denen von der Vorrichtung 410 umfassten Mittel die vom ersten Fahrzeug 100 und vom zweiten Fahrzeug 200 übertragenen Umgebungsdatenwerte empfangen und mittels geeigneter Bewertungsmittel ein Bewerten der Güte der ersten Umfeldsensorik 101 und der zweiten Umfeld Sensorik 201 durchzuführen. Environment come that the environment sensor 101 of the first vehicle 100 and the environment sensor 201 of the second vehicle 200 interfere with this area. Since both the first vehicle 100 and the second vehicle 200 are each equipped with a transmitting and receiving device in this example, both vehicles transmit ambient data values, which include the first environment 150 of the first vehicle 100 and the second environment 250 of the second Vehicle 200, to the external computing unit 400. The external computing unit 400 Now, by means of the device 410 and the means included in the device 410, the environment data values transmitted from the first vehicle 100 and from the second vehicle 200 can be received and the quality of the first environment sensor 101 and the second environment sensor 201 can be evaluated by means of suitable evaluation means.
Nach der Bewertung der ersten und der zweiten Umfeldsensorik kann ein Signal zu Beeinflussung der ersten und/oder der zweiten Umfeldsensorik 101 , 201 an das erste Fahrzeug 100 und/oder zweite Fahrzeug 200 übertragen werden. Daraufhin können verbesserte Umgebungsdatenwerte, welche sowohl eine Umgebung 150 des ersten Fahrzeugs 101 und eine Umgebung 250 des zweiten Fahrzeugs 200 repräsentieren, erfasst und erneut an die externe Recheneinheit 400 übertragen werden. After the evaluation of the first and the second environmental sensor system, a signal for influencing the first and / or the second environmental sensor system 101, 201 can be transmitted to the first vehicle 100 and / or second vehicle 200. Thereupon, enhanced environmental data values representing both an environment 150 of the first vehicle 101 and an environment 250 of the second vehicle 200 may be captured and transmitted again to the external computing unit 400.
Anschließend können ausgehend von der externen Recheneinheit 400 die verbesserten Umgebungsdatenwerte an das erste Fahrzeug 100 und/oder an das zweite Fahrzeug 200 und/oder an das wenigstens eine weitere dritte Fahrzeug 300 übertragen werden. Subsequently, based on the external computing unit 400, the improved environmental data values can be transmitted to the first vehicle 100 and / or to the second vehicle 200 and / or to the at least one further third vehicle 300.
Aufgrund der übertragenen verbessersten Umgebungsdatenwerte kann nun das erste Fahrzeug 100 beispielsweise derart betrieben werden, dass für eine oder mehrere Fahrfunktionen auch der vorher unzureichend erfasste Bereich, welcher sowohl von der ersten Umfeldsensorik 101 des ersten Fahrzeugs 100 als auch von der zweiten On the basis of the transmitted most improved ambient data values, the first vehicle 100 can now be operated, for example, such that for one or more driving functions, the previously insufficiently detected area which is detected both by the first surroundings sensor 101 of the first vehicle 100 and by the second
Umfeldsensorik 201 des zweiten Fahrzeugs 200 überlappt wurde, entsprechend beachtet wird. Beispielsweise kann ein notwendiges Ausweichmanöver eingeleitet werden, da sich innerhalb des überlappten Bereichs ein Objekt befindet. Die hier gezeigte Situation, in der sich ein erstes Fahrzeug 100 einem zweiten Fahrzeug 200 entgegenkommend nähert, wobei sich hinter dem zweiten Fahrzeug 201 drittes Fahrzeug 300 befindet, ist rein beispielhaft ausgewählt. Ein weiteres Beispiel, bei dem das hier offenbarte Verfahren vorteilhaft zum Einsatz kommt, ist innerhalb eines Ortes an einer Kreuzung. Hier kann das störende Überlappen einer ersten Umfeldsensorik 101 eines ersten Fahrzeugs 100 und einer zweiten Umfeldsensorik 201 eines zweiten  Environment sensor 201 of the second vehicle 200 has been overlapped, is observed accordingly. For example, a necessary evasion maneuver may be initiated because there is an object within the overlapped area. The situation shown here, in which a first vehicle 100 approaching a second vehicle 200, with third vehicle 300 behind the second vehicle 201, is selected purely by way of example. Another example where the method disclosed herein is used to advantage is within a location at an intersection. Here, the disturbing overlapping of a first environment sensor 101 of a first vehicle 100 and a second environment sensor 201 of a second
Fahrzeugs 200 besonders dramatisch sein, wenn sich beispielsweise in diesem Vehicle 200 can be particularly dramatic when, for example, in this
überlappten Bereich ein Objekt - wie beispielsweise ein Fußgänger oder ein Radfahrerbefindet, welche aufgrund des Überlappens nicht erkannt wird. Die externe Recheneinheit 400 kann hier beispielsweise Bestandteil der Verkehrsinfrastruktur - wie eine Ampel oder einer Straßenlaterne - sein. Figur 4 zeigt rein beispielhaft ein Ausführungsbeispiel anhand eines Ablaufdiagramms. overlapped area an object - such as a pedestrian or a Radfahrerbefindet, which is not recognized due to the overlap. The external computing unit 400 may be part of the traffic infrastructure, such as a traffic light or a street lamp, for example. FIG. 4 shows purely by way of example an exemplary embodiment with reference to a flowchart.
In Schritt 500 beginnt das Verfahren. In Schritt 510 empfängt das erste Fahrzeug 100 ein Signal zur Beeinflussung - beispielsweise zum Abschalten - der ersten Umfeldsensorik 101 . In step 500, the process begins. In step 510, the first vehicle 100 receives a signal to influence - for example, to switch off - the first environment sensor 101.
In Schritt 520 wird die erste Umfeldsensorik 101 des ersten Fahrzeugs 100 abgeschaltet. In Schritt 530 erfasst das zweite Fahrzeug 200 mittels der zweiten Umfeldsensorik 201 Umgebungsdatenwerte, wobei sich die erste Umfeldsensorik 101 nicht mehr störend auf die Erfassung der zweiten Umfeldsensorik 201 auswirken kann. In step 520, the first environment sensor 101 of the first vehicle 100 is turned off. In step 530, the second vehicle 200 detects environmental data values by means of the second environment sensor system 201, wherein the first environment sensor system 101 can no longer interfere with the detection of the second environment sensor system 201.
In Schritt 540 überträgt das zweite Fahrzeug 200 die erfassten Umgebungsdatenwerte an die externe Recheneinheit 400. In step 540, the second vehicle 200 transmits the acquired environmental data values to the external computing unit 400.
In Schritt 550 empfängt die externe Recheneinheit 400 die erfassten In step 550, the external computing unit 400 receives the detected
Umgebungsdatenwerte. In Schritt 560 überträgt die externe Recheneinheit 400 die erfassten Environmental data values. In step 560, the external computing unit 400 transmits the detected
Umgebungsdatenwerte an das erste Fahrzeug 100, an das zweite Fahrzeug 200 und an wenigstens ein weiteres Fahrzeug 300.  Environmental data values to the first vehicle 100, to the second vehicle 200, and to at least one other vehicle 300.
In Schritt 570 empfängt das erste Fahrzeug 100 die erfassten Umgebungsdatenwerte. In step 570, the first vehicle 100 receives the acquired environmental data values.
In Schritt 580 empfängt das zweite Fahrzeug 200 die erfassten Umgebungsdatenwerte. In step 580, the second vehicle 200 receives the acquired environmental data values.
In Schritt 590 empfängt das wenigstens eine weitere Fahrzeug 300 die erfassten In step 590, the at least one other vehicle 300 receives the detected
Umgebungsdatenwerte. Environmental data values.
In Schritt 600 wird das erste Fahrzeug abhängig von den erfassten In step 600, the first vehicle is dependent on the detected
Umgebungsdatenwerten betrieben. Environmental data values operated.
In Schritt 610 endet das Verfahren. In step 610, the method ends.

Claims

Ansprüche claims
1 . Verfahren zum Betreiben eines ersten Fahrzeugs (100) mit folgenden Schritten: 1 . Method for operating a first vehicle (100) with the following steps:
- Empfangen (510) eines Signals von einer externen Recheneinheit (400) zur Beeinflussung einer ersten Umfeldsensorik (101 ) des ersten Fahrzeugs (100);  - Receiving (510) a signal from an external computing unit (400) for influencing a first environment sensor system (101) of the first vehicle (100);
- Beeinflussung (520) der ersten Umfeldsensorik (101 ) abhängig von dem empfangenen Signal;  - Influencing (520) of the first environment sensor (101) depending on the received signal;
- Empfangen (570) von Umgebungsdatenwerten,  Receiving (570) environmental data values,
o welche wenigstens teilweise eine Umgebung des ersten Fahrzeugs (100) repräsentieren und  o which at least partially represent an environment of the first vehicle (100) and
o von wenigstens einer zweiten Umfeldsensorik (201 ) eines zweiten Fahrzeugs (200) erfasst wurden; und  o have been detected by at least one second environment sensor system (201) of a second vehicle (200); and
- Betreiben (600) des ersten Fahrzeugs (100) abhängig von der  - Operating (600) of the first vehicle (100) depending on the
Beeinflussung der ersten Umfeldsensorik (101 ) und der empfangenen Umgebungsdatenwerte.  Influencing the first environment sensor (101) and the received environmental data values.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass 2. The method according to claim 1, characterized in that
• das Verfahren einen weiteren Schritt des Übertragens (525) von Sensordatenwerten,  The method comprises a further step of transmitting (525) sensor data values,
o welche eine Auswirkung der Beeinflussung der ersten  o which has an effect of influencing the first
Umfeldsensorik (101 ) abhängig von dem empfangenen Signal repräsentieren,  Environment sensor (101) depending on the received signal,
an die externe Recheneinheit (400) umfasst.  to the external computing unit (400).
3. Verfahren nach wenigstens einem der vorhergehenden Ansprüche, dadurch 3. The method according to at least one of the preceding claims, characterized
gekennzeichnet, dass  marked that
• die wenigstens eine zweite Umfeldsensorik (201 ) baugleich zu der ersten Umfeldsensorik (101 ) ist. • The at least one second environment sensor (201) is identical to the first environment sensor (101).
4. Verfahren nach wenigstens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass 4. The method according to at least one of the preceding claims, characterized in that
• die Beeinflussung der ersten Umfeldsensorik (101 ) erfolgt, indem diese wenigstens teilweise abgeschaltet wird.  • The influence of the first environment sensor (101) is effected by these at least partially turned off.
5. Verfahren nach wenigstens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass 5. The method according to at least one of the preceding claims, characterized in that
• das Signal zur Beeinflussung der ersten Umfeldsensorik (101 ) von einem nach vorgegebenen Kriterien durchgeführten Vergleich mit der wenigstens einen zweiten Umfeldsensorik (201 ) abhängt.  • the signal for influencing the first environment sensor system (101) depends on a comparison with the at least one second environment sensor system (201) carried out according to predetermined criteria.
6. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass 6. The method according to claim 4, characterized in that
• der Vergleich derart nach vorgegebenen Kriterien durchgeführt wird, dass eine Güte der ersten Umfeldsensorik (101 ) und der wenigstens einen zweiten Umfeldsensorik (201 ) berücksichtigt wird.  The comparison is carried out according to predetermined criteria in such a way that a quality of the first environment sensor system (101) and of the at least one second environment sensor system (201) is taken into account.
7. Verfahren nach wenigstens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass 7. The method according to at least one of the preceding claims, characterized in that
• die Güte der ersten Umfeldsensorik (101 ) und der wenigstens einen  • The quality of the first environment sensor (101) and the at least one
zweiten Umfeldsensorik (201 ) abhängig von den übertragenen Sensordatenwerten berücksichtigt wird. second environment sensor (201) is taken into account as a function of the transmitted sensor data.
8. Vorrichtung (1 10) zum Betreiben eines ersten Fahrzeugs (100) mit folgenden Mitteln: 8. Device (1 10) for operating a first vehicle (100) by the following means:
- Erste Empfangsmittel (1 1 1 ) zum Empfangen eines Signals von einer externen Recheneinheit (400) zur Beeinflussung einer ersten Umfeldsensorik (101 ) des ersten Fahrzeugs (100);  - First receiving means (1 1 1) for receiving a signal from an external computing unit (400) for influencing a first environment sensor system (101) of the first vehicle (100);
- Beeinflussungsmittel (1 12) zum Beeinflussen der ersten Umfeldsensorik (101 ) abhängig von dem empfangenen Signal;  - influencing means (1 12) for influencing the first environment sensor (101) depending on the received signal;
- Zweite Empfangsmittel (1 13) zum Empfangen von  Second receiving means (1 13) for receiving
U mgebungsdatenwerten ,  Ambient data values,
o welche wenigstens teilweise eine Umgebung des ersten Fahrzeugs o which at least partially an environment of the first vehicle
(100) repräsentieren und Represent (100) and
o von wenigstens einer zweiten Umfeldsensorik (201 ) eines zweiten Fahrzeugs (200) erfasst wurden; und  o have been detected by at least one second environment sensor system (201) of a second vehicle (200); and
- Fahrzeugmittel (1 14) zum Betreiben des ersten Fahrzeugs (100) abhängig von der Beeinflussung der ersten Umfeldsensorik (101 ) und der empfangenen Umgebungsdatenwerte.  - Vehicle means (1 14) for operating the first vehicle (100) depending on the influence of the first environment sensor (101) and the received environmental data values.
9. Vorrichtung (1 10) nach Anspruch 8, dadurch gekennzeichnet, dass 9. Device (1 10) according to claim 8, characterized in that
• die ersten Empfangsmittel (1 1 1 ) und/oder die Beeinflussungsmittel (1 12) und/oder die zweiten Empfangsmittel (1 13) und/oder die Fahrzeugmittel • the first receiving means (1 1 1) and / or the influencing means (1 12) and / or the second receiving means (1 13) and / or the vehicle means
(1 14) derart ausgebildet sind, ein Verfahren gemäß den Ansprüchen 2 - 7 auszuführen. (1 14) are designed to carry out a method according to claims 2-7.
10. Vorrichtung (1 10) nach Anspruch 8 und/oder 9, dadurch gekennzeichnet, dass · weiterhin Übertragungsmittel (1 15) zum Übertragen von 10. Device (1 10) according to claim 8 and / or 9, characterized in that further comprises transmission means (1 15) for transmitting
Sensordatenwerten,  Sensor data values
o welche eine Auswirkung der Beeinflussung der ersten  o which has an effect of influencing the first
Umfeldsensorik (101 ) abhängig von dem empfangenen Signal repräsentieren,  Environment sensor (101) depending on the received signal,
an die externe Recheneinheit (400) vorgesehen sind.  are provided to the external computing unit (400).
EP17748730.3A 2016-09-08 2017-08-02 Method and device for operating a first vehicle Ceased EP3509924A1 (en)

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