WO2016180665A1 - Method for controlling a functional device of a motor vehicle on the basis of merged sensor data, control device, driver assistance system and motor vehicle - Google Patents

Method for controlling a functional device of a motor vehicle on the basis of merged sensor data, control device, driver assistance system and motor vehicle Download PDF

Info

Publication number
WO2016180665A1
WO2016180665A1 PCT/EP2016/059825 EP2016059825W WO2016180665A1 WO 2016180665 A1 WO2016180665 A1 WO 2016180665A1 EP 2016059825 W EP2016059825 W EP 2016059825W WO 2016180665 A1 WO2016180665 A1 WO 2016180665A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor data
motor vehicle
sensors
driver assistance
sensor
Prior art date
Application number
PCT/EP2016/059825
Other languages
German (de)
French (fr)
Inventor
Axel Klekamp
Original Assignee
Valeo Schalter Und Sensoren 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 Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2016180665A1 publication Critical patent/WO2016180665A1/en

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
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • 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
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • G01S2013/9318—Controlling the steering
    • 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
    • G01S2013/93185—Controlling the brakes
    • 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
    • G01S2013/9319—Controlling the accelerator
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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

Definitions

  • the present invention relates to a method for controlling a functional device of a motor vehicle in which sensor data are received by a control device of at least two sensors of a driver assistance system of the motor vehicle, the respective received sensor data are fused by the control device to fused sensor data and based on the fused sensor data a control signal for Controlling the functional device is provided.
  • the invention also relates to a control device for a driver assistance system
  • the present invention relates to a driver assistance system with such a control device.
  • the invention relates to a motor vehicle with such a driver assistance system.
  • a driver assistance system which comprises a plurality of sensors or environmental sensors, with the plurality of sensors, an environment of the motor vehicle can be detected.
  • the sensors can be, for example, radar sensors, laser sensors, cameras and / or ultrasound sensors.
  • safety-critical functions of the driver assistance system for example, can be activated.
  • Such safety-critical functions can be carried out autonomously by the driver assistance system on the basis of the sensor data.
  • the safety-critical functions are defined accordingly and can, for example, cause an intervention in the steering of the motor vehicle and / or the execution of an emergency braking.
  • the safety-critical function is only executed if sensor data from at least two different sensors is available.
  • the linkage can be based on the raw data of the sensors.
  • the linkage can also be performed at characteristic level or at object level. In this way, the accuracy can be increased and the detection probability can be increased.
  • US 2006/0220912 A1 describes a device for detecting a traffic lane for a motor vehicle.
  • the device comprises two sensors with which the roadway in front of the motor vehicle can be detected.
  • the device includes a processor which can estimate the limits of the lane based on the sensor data of the two sensors. It can also be provided that a respective confidence value is determined for the sensor data of the two sensors.
  • US 201 1/0025548 A1 describes a method for tracking objects that are detected by sensors of a motor vehicle. For this purpose, the sensor data from several sensors of the motor vehicle are fused. It can also be provided that an age or a plausibility of the objects which were detected on the basis of the fused sensor data are determined.
  • DE 10 2008 001 672 A1 discloses a method for the fusion of status data of detected sensor objects of several, in particular of different types
  • the status data can
  • Describe sensor object On the basis of the state data, environmental model for a driver assistance system of the motor vehicle can be provided.
  • DE 10 2006 046 843 A1 discloses a method for detecting an environment for a motor vehicle.
  • data for recognizing objects in the environment and data for recognizing free areas in the environment are processed together.
  • a probability that at least one area of the environment is free provided.
  • the sensor data are fused by different sensors.
  • the Dempster-Shafer theory can be used.
  • comfort functions and / or safety function of a driver assistance system are controlled. It is an object of the present invention to provide a solution, such as
  • An inventive method is used to control a functional device of a motor vehicle.
  • sensor data is received by means of a control device from at least two sensors of a driver assistance system of the motor vehicle.
  • the respective received sensor data are fused by means of the control device to fused sensor data, and based on the fused sensor data, a control signal for controlling the functional device is provided.
  • Controllers are in addition to the fused sensor data
  • Sensor information data provided which describe the sensor data of the at least two sensors and the control signal is additionally based on the
  • the driver assistance system of the motor vehicle comprises at least two sensors.
  • the driver assistance system comprises a plurality of sensors with which, for example, the environment or an environmental region of the motor vehicle can be detected.
  • the sensors are based in particular on different sensor principles.
  • the sensors can work on the echosounding principle or be designed as optical sensors.
  • the sensors can be
  • Sensor data can be provided with each of the sensors. These sensor data are supplied to the control device.
  • the sensors for data transmission can be connected to the control device.
  • the control device can be part of the driver assistance system of the motor vehicle.
  • the control device may be an electronic control unit of the motor vehicle.
  • the respective sensor data from two different sensors can be fused by means of the control device.
  • the sensor data fusion can be based on the raw data provided by the sensors be made. Sensor data fusion can also be performed at feature level or object level. As a result of the fusion of the sensor data, the controller provides fused sensor data.
  • This sensor information data describes the sensor data from which the fused sensor data were determined. For example, the surroundings of the motor vehicle can be characterized more reliably on the basis of the fused sensor data.
  • the sensor information data can be any sensor information data provided.
  • the sensor information data can be any sensor information data provided.
  • the sensor information data can be any sensor information data provided.
  • the sensor information data can be any sensor information data provided.
  • the fused sensor data and the sensor information data provide two independent information that is used to drive the
  • Functional device can be used.
  • the presence of at least two independent information on a merged object may be mandatory, for example for security-related and / or autonomous functions. This makes it possible to use the fused sensor data to control the functional device. In addition, the reliability in the control of the
  • Functional device can be increased by the use of the sensor information data.
  • a safety-critical function of the driver assistance system is preferably provided, and the safety-critical function is activated as a function of the fused sensor data and the sensor information data.
  • the safety-critical function can be performed autonomously by the driver assistance system. To perform a safety critical function of the
  • fused sensor data and the sensor information data are provided herein by the fused sensor data and the sensor information data.
  • the fused sensor data and the sensor information data are determined by independent processes. It can also be provided that the fused sensor data and the sensor information data are weighted by means of the control device. Thus, it becomes possible to use fused sensor data to provide safety-critical functions.
  • Longitudinal guide and / or a transverse guide of the motor vehicle influenced.
  • a longitudinal guide and / or a transverse guide of the motor vehicle is changed.
  • the safety-critical function can be performed autonomously by the driver assistance system. In this way, the safety during operation of the motor vehicle can be increased.
  • a brake system, a drive motor and / or a steering of the motor vehicle is controlled as the functional device. In carrying out the safety-critical function can thus engage the brake system of the
  • the sensor information data comprise a number of the at least two sensors, based on which sensor data the fused sensor data were determined. For example, simply store the number of sensors that provide sensor data fusion sensor data. For this purpose, a corresponding counter can be provided. It can thus be determined in a simple manner that the sensor data on which the fused sensor data are based comes from at least two independent or different sensors of the driver assistance system.
  • the sensor information data from which the at least two sensors originate the sensor data preferably describe the sensor data by means of which the fused sensor data were determined.
  • it can be detected, for example, from which sensors of the driver assistance system the sensor data originate, on the basis of which the fused sensor data were determined.
  • This information has opposite one simple counter the advantage that the sensor data from the functional device can be better assessed, for example, by a weighting.
  • the sensor data of the at least two sensors describe an object in an environment of the motor vehicle and the fused ones
  • Sensor data includes a detection probability of the object.
  • the sensor data may be a position of the object, a distance between the object
  • the sensor data can also describe several objects in the environment of the motor vehicle.
  • Probability of detection can also be referred to as existence probability, quality or as confidence. This way, based on the merged
  • the detection probability of the object is determined on the basis of the sensor data of the at least two sensors.
  • Detection probability can be determined by means of the control device on the basis of the sensor data of the at least two sensors. It can be provided that the control device determines the detection probability for each of the sensors themselves, if the sensors can not calculate the respective detection probability itself. In a further step, the detection probability for the respective sensors which have detected the same object can be combined with a corresponding algorithm.
  • the detection probability can be determined, for example, by means of the Dempster-Schafer algorithm.
  • the detection probability or a confidence value for the fused sensor data can also be determined from the sum of the confidence values of the sensor data of the at least two sensors minus the product of the confidence values of the sensor data of the at least two sensors. In principle, other algorithms or formulas can be used which ensure that the value of the
  • Detection probability does not exceed a limit, for example 100%.
  • a control device for a driver assistance system of
  • the control device can be formed for example by an electronic control unit (ECU - Electronic Control Unit) of the motor vehicle.
  • ECU electronice Control Unit
  • An inventive driver assistance system for a motor vehicle comprises a control device according to the invention.
  • the driver assistance system can be
  • the driver assistance system preferably includes as the at least two sensors a radar sensor, a laser sensor, a camera and / or an ultrasound sensor.
  • the driver assistance system can also have at least two identical sensors. This may be, for example, multiple radar sensors or multiple laser sensors.
  • the plurality of sensors can be arranged distributed on the motor vehicle. The respective sensors can be used for data transmission - for example via a
  • Vehicle data bus - be connected to the control device for data transmission.
  • the sensors can have different detection ranges.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • Embodiments and their advantages apply correspondingly to the control device according to the invention, the driver assistance system according to the invention and for the motor vehicle according to the invention.
  • FIG. 1 is a schematic representation of a motor vehicle according to a
  • Embodiment of the present invention which is a
  • Fig. 2 is a schematic representation of a flowchart of a method for
  • Fig. 1 shows a schematic representation of a motor vehicle 1 according to a
  • the motor vehicle 1 is formed in the present case as a passenger car.
  • the motor vehicle 1 comprises a driver assistance system 2, which serves to assist a driver when driving the motor vehicle 1.
  • the driver assistance system 2 can, for example, a
  • the driver assistance system 2 in turn comprises a control device 3, the
  • the driver assistance system 2 comprises a plurality of sensors 4 with which an environment 5 or an environmental region of the
  • Motor vehicle 1 can be detected at least partially.
  • an object 6 in the environment 5 of the motor vehicle 1 can be detected with the sensors 4.
  • the sensors 4 may be distributed, for example, arranged on the motor vehicle 1.
  • the sensors 4 may be radar sensors, laser sensors, lidar sensors, optical sensors, cameras, ultrasonic sensors or the like. With the sensors 4 can each Sensor data are recorded.
  • the sensor data may describe the current position and / or the current speed of the object 6.
  • the driver assistance system 2 includes, as the sensors 4, a radar sensor 8 and a camera 9. With the sensors 4, the object 6 in the environment 5 in the forward direction of travel in front of the motor vehicle 1 can be detected.
  • the selection and arrangement of the sensors 4 is to be understood in the present case purely by way of example.
  • the radar sensor 8 may be a radar signal or
  • the radar signal received again. Based on the duration of the radar signal, the distance between the motor vehicle 1 and the object 6 can be determined.
  • the camera 9 can provide video data or image sequences from the environment 5. With the aid of a corresponding image processing device, the object 6 can then be recognized in the video data.
  • the sensor data provided with the sensors 4 are transmitted from the respective sensors 4 to the control device 3. For this is the
  • Control device 3 via a respective data line 10 connected to the respective sensors 4.
  • the control device 3 is designed to process the sensor data accordingly.
  • the control device 3 can perform a fusion of the sensor data of the individual sensors 4.
  • the control device 3 is designed to determine which sensor data from which sensor 4 was used to perform the sensor data fusion.
  • the motor vehicle 1 further comprises a functional device 1 1, which via a
  • the control device 3 can provide a control signal for driving or controlling the functional device 11.
  • the functional device 11 can serve to provide a safety-critical function of the driver assistance system 2.
  • a longitudinal guide and / or a transverse guide of the motor vehicle 1 can be influenced.
  • the functional device 11 may be a steering, a brake system and / or a drive motor of the motor vehicle 1.
  • the control device 3 is arranged separately.
  • the control device 3 could also be integrated with the sensor electronics in a sensor 4. It is also conceivable that the control device 3 is integrated in the functional unit 1 1.
  • 2 shows a schematic view of a flow chart of a method for controlling the functional device 1 1 of the motor vehicle 1.
  • the sensor data which describe the object 6, are detected with the sensors 4 or with the radar sensor 8 and the camera 9 and transmitted to the control device 3.
  • the sensor data are detected with the sensors 4, in particular at the same time.
  • the sensor data are fused by means of the control device 3.
  • the measurement times at which the sensor data are determined with the two sensors 4 are known.
  • the controller 3 provides fused sensor data.
  • step S3 sensor information data is provided.
  • Sensor information data may include information on how many of the sensors 4 sensor data was used to determine the fused sensor data.
  • the sensor information data may contain information from which the sensor 4 sensor data was used for determining the fused sensor data.
  • the control signal is transmitted from the control device to the functional device 1 1.
  • the functional device 1 1 depending on the fused
  • Driver assistance system 2 are provided.
  • the fused sensor data and the sensor information data are determined independently. Thus, two independent state variables are provided for triggering the safety-critical function. In this way, the fused sensor data can be used to trigger the safety-critical function. Furthermore, the functional safety in the operation of the
  • Driver assistance system 2 and the motor vehicle 1 can be increased.
  • the triggering of the safety-critical function is still based on the sensor data of two independent sensors 4. It can also be provided that the sensor data of more than two sensors 4 are used.

Landscapes

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

Abstract

The invention relates to a method for controlling a functional device (11) of a motor vehicle (1), in which in each case sensor data are received (S1) from at least two sensors (4) of a driver assistance system (2) of the motor vehicle (1) by means of a control device (3), the respective received sensor data are merged (S2) by means of the control device (3) to form merged sensor data, and a control signal for controlling the functional device (11) is made available on the basis of the merged sensor data, wherein, in addition to the merged sensor data, sensor information data which describes (S3) the sensor data of the at least two sensors (4) is made available (S3) by means of the control device (3), and the control signal is additionally made available (S4) on the basis of the sensor information data.

Description

Verfahren zum Steuern einer Funktionseinrichtung eines Kraftfahrzeugs anhand von fusionierten Sensordaten, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug  Method for controlling a functional device of a motor vehicle on the basis of fused sensor data, control device, driver assistance system and motor vehicle
Die vorliegende Erfindung betrifft ein Verfahren zum Steuern einer Funktionseinrichtung eines Kraftfahrzeugs, bei welchem mittels einer Steuereinrichtung von zumindest zwei Sensoren eines Fahrerassistenzsystems des Kraftfahrzeugs Sensordaten empfangen werden, die jeweiligen empfangenen Sensordaten mittels der Steuereinrichtung zu fusionierten Sensordaten fusioniert werden und anhand der fusionierten Sensordaten ein Steuersignal zum Steuern der Funktionseinrichtung bereitgestellt wird. Die Erfindung betrifft außerdem eine Steuereinrichtung für ein Fahrerassistenzsystem eines The present invention relates to a method for controlling a functional device of a motor vehicle in which sensor data are received by a control device of at least two sensors of a driver assistance system of the motor vehicle, the respective received sensor data are fused by the control device to fused sensor data and based on the fused sensor data a control signal for Controlling the functional device is provided. The invention also relates to a control device for a driver assistance system
Kraftfahrzeugs. Zudem betrifft die vorliegende Erfindung ein Fahrerassistenzsystem mit einer derartigen Steuereinrichtung. Schließlich betrifft die Erfindung ein Kraftfahrzeug mit einem solchen Fahrerassistenzsystem. Motor vehicle. In addition, the present invention relates to a driver assistance system with such a control device. Finally, the invention relates to a motor vehicle with such a driver assistance system.
Verfahren zum Steuern von Funktionseinrichtungen eines Kraftfahrzeugs sind aus dem Stand der Technik bekannt. Hierzu wird üblicherweise ein Fahrerassistenzsystem verwendet, das eine Mehrzahl von Sensoren beziehungsweise Umfeldsensoren umfasst, wobei mit der Mehrzahl von Sensoren eine Umgebung des Kraftfahrzeugs erfasst werden kann. Die Sensoren können beispielsweise Radarsensoren, Lasersensoren, Kameras und/oder Ultraschallsensoren sein. Anhand der Sensordaten, die mit den jeweiligen Sensoren bereitgestellt werden, können beispielsweise sicherheitskritische Funktionen des Fahrerassistenzsystems aktiviert werden. Solche sicherheitskritische Funktionen können von dem Fahrerassistenzsystem autonom anhand der Sensordaten durchgeführt werden. Die sicherheitskritischen Funktionen sind entsprechend definiert und können beispielsweise ein Eingriff in die Lenkung des Kraftfahrzeugs und/oder das Durchführen einer Notbremsung bewirken. Methods for controlling functional devices of a motor vehicle are known from the prior art. For this purpose, a driver assistance system is usually used, which comprises a plurality of sensors or environmental sensors, with the plurality of sensors, an environment of the motor vehicle can be detected. The sensors can be, for example, radar sensors, laser sensors, cameras and / or ultrasound sensors. Based on the sensor data provided with the respective sensors, safety-critical functions of the driver assistance system, for example, can be activated. Such safety-critical functions can be carried out autonomously by the driver assistance system on the basis of the sensor data. The safety-critical functions are defined accordingly and can, for example, cause an intervention in the steering of the motor vehicle and / or the execution of an emergency braking.
Um eine Fehlauslösung der sicherheitskritischen Funktionen zu vermeiden, ist es beispielsweise vorgesehen, dass die sicherheitskritische Funktion erst dann ausgeführt wird, falls Sensordaten von zumindest zwei unterschiedlichen Sensoren vorliegen. In order to avoid false triggering of the safety-critical functions, it is provided, for example, that the safety-critical function is only executed if sensor data from at least two different sensors is available.
Beispielsweise ist es bei einer Notbremsung zum Schutz von Fußgängern vorgesehen, dass das Objekt beziehungsweise der Fußgänger unabhängig voneinander von zumindest zwei Sensoren erfasst wird. Dies führt zu dem Erfordernis, dass zumindest zwei Sensordaten bezüglich eines Objekts in der realen Welt von zumindest zwei voneinander unabhängigen Sensoren beziehungsweise von zwei unterschiedlichen Sensoren des Fahrerassistenzsystems bereitgestellt werden. Weiterhin ist es aus dem Stand der Technik bekannt, die Sensordaten von zumindest zwei Sensoren eines Fahrerassistenzsystems zu fusionieren. Dabei werden die For example, it is provided in an emergency braking to protect pedestrians that the object or the pedestrian is independently detected by at least two sensors. This leads to the requirement that at least two sensor data relating to an object in the real world be provided by at least two independent sensors or by two different sensors of the driver assistance system. Furthermore, it is known from the prior art to fuse the sensor data of at least two sensors of a driver assistance system. Here are the
Sensordaten von unterschiedlichen Sensoren, welche die gleiche Information - beispielsweise das gleiche Objekt - beschreiben, miteinander verknüpft. Die Verknüpfung kann anhand der Rohdaten der Sensoren erfolgen. Die Verknüpfung kann auch auf Merkmalsebene oder auf Objektebene durchgeführt werden. Auf diese Weise kann die Genauigkeit erhöht werden und die Detektionswahrscheinlichkeit erhöht werden. Sensor data from different sensors, which describe the same information - for example, the same object - linked together. The linkage can be based on the raw data of the sensors. The linkage can also be performed at characteristic level or at object level. In this way, the accuracy can be increased and the detection probability can be increased.
In diesem Zusammenhang beschreibt die US 2006/0220912 A1 eine Vorrichtung zum Erkennen einer Fahrspur für ein Kraftfahrzeug. Die Vorrichtung umfasst zwei Sensoren, mit denen die Fahrbahn vor dem Kraftfahrzeug erfasst werden kann. Zudem umfasst die Vorrichtung einen Prozessor, welcher die Grenzen der Fahrspur anhand der Sensordaten der zwei Sensoren schätzen kann. Dabei kann es auch vorgesehen sein, dass für die Sensordaten der zwei Sensoren jeweils ein Konfidenz-Wert bestimmt wird. In this context, US 2006/0220912 A1 describes a device for detecting a traffic lane for a motor vehicle. The device comprises two sensors with which the roadway in front of the motor vehicle can be detected. In addition, the device includes a processor which can estimate the limits of the lane based on the sensor data of the two sensors. It can also be provided that a respective confidence value is determined for the sensor data of the two sensors.
Darüber hinaus beschreibt die US 201 1 /0025548 A1 ein Verfahren zur Nachverfolgung von Objekten, die von Sensoren eines Kraftfahrzeugs erfasst werden. Hierzu werden die Sensordaten von mehreren Sensoren des Kraftfahrzeugs fusioniert. Es kann auch vorgesehen sein, dass ein Alter oder eine Plausibilität der Objekte, die anhand der fusionierten Sensordaten erkannt wurden, bestimmt werden. In addition, US 201 1/0025548 A1 describes a method for tracking objects that are detected by sensors of a motor vehicle. For this purpose, the sensor data from several sensors of the motor vehicle are fused. It can also be provided that an age or a plausibility of the objects which were detected on the basis of the fused sensor data are determined.
Ferner ist in der DE 10 2008 001 672 A1 ein Verfahren zur Fusion von Zustandsdaten erfasster Sensorobjekte mehrerer, insbesondere verschiedenartiger Furthermore, DE 10 2008 001 672 A1 discloses a method for the fusion of status data of detected sensor objects of several, in particular of different types
Objektdetektionssensoren eines Kraftfahrzeugs. Die Zustandsdaten können Object detection sensors of a motor vehicle. The status data can
beispielsweise den Ort, die Geschwindigkeit und/oder die Beschleunigung des for example, the location, the speed and / or the acceleration of the
Sensorobjekts beschreiben. Anhand der Zustandsdaten kann Umfeldmodell für ein Fahrerassistenzsystem des Kraftfahrzeugs bereitgestellt werden. Describe sensor object. On the basis of the state data, environmental model for a driver assistance system of the motor vehicle can be provided.
Zudem ist aus der DE 10 2006 046 843 A1 ein Verfahren zum Erkennen eines Umfelds für ein Kraftfahrzeug bekannt. Hierbei werden Daten zum Erkennen von Objekten in dem Umfeld und Daten zum Erkennen von freien Gebieten in dem Umfeld gemeinsam verarbeitet. Zudem wird eine Wahrscheinlichkeit dafür, dass mindestens ein Gebiet des Umfelds frei ist, bereitgestellt. Es kann vorgesehen sein, dass die Sensordaten von unterschiedlichen Sensoren fusioniert werden. Hierzu kann die Dempster-Shafer-Theorie genutzt werden. Dabei kann es auch vorgesehen sein, dass Komfortfunktionen und/oder Sicherheitsfunktion eines Fahrerassistenzsystems angesteuert werden. Es ist Aufgabe der vorliegenden Erfindung, eine Lösung aufzuzeigen, wie In addition, DE 10 2006 046 843 A1 discloses a method for detecting an environment for a motor vehicle. Here, data for recognizing objects in the environment and data for recognizing free areas in the environment are processed together. In addition, a probability that at least one area of the environment is free, provided. It can be provided that the sensor data are fused by different sensors. For this the Dempster-Shafer theory can be used. It can also be provided that comfort functions and / or safety function of a driver assistance system are controlled. It is an object of the present invention to provide a solution, such as
Funktionseinrichtungen eines Kraftfahrzeugs der eingangs genannten Art einfacher und zugleich zuverlässig gesteuert werden können. Functional devices of a motor vehicle of the type mentioned can be controlled easier and at the same time reliable.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren, durch eine Steuereinrichtung, durch ein Fahrerassistenzsystem sowie durch ein Kraftfahrzeug mit den Merkmalen gemäß den jeweiligen unabhängigen Patentansprüchen gelöst. Vorteilhafte This object is achieved by a method by a control device, by a driver assistance system and by a motor vehicle with the features according to the respective independent claims. advantageous
Ausführungen der Erfindung sind Gegenstand der abhängigen Patentansprüche, der Beschreibung und der Figuren. Embodiments of the invention are the subject of the dependent claims, the description and the figures.
Ein erfindungsgemäßes Verfahren dient zum Steuern einer Funktionseinrichtung eines Kraftfahrzeugs. Hierbei werden mittels einer Steuereinrichtung von zumindest zwei Sensoren eines Fahrerassistenzsystems des Kraftfahrzeugs Sensordaten empfangen. Zudem werden die jeweiligen empfangenen Sensordaten mittels der Steuereinrichtung zu fusionierten Sensordaten fusioniert und anhand der fusionierten Sensordaten wird ein Steuersignal zum Steuern der Funktionseinrichtung bereitgestellt. Mittels der An inventive method is used to control a functional device of a motor vehicle. In this case, sensor data is received by means of a control device from at least two sensors of a driver assistance system of the motor vehicle. In addition, the respective received sensor data are fused by means of the control device to fused sensor data, and based on the fused sensor data, a control signal for controlling the functional device is provided. By means of
Steuereinrichtung werden zusätzlich zu den fusionierten Sensordaten Controllers are in addition to the fused sensor data
Sensorinformationsdaten bereitgestellt, welche die Sensordaten der zumindest zwei Sensoren beschreiben und das Steuersignal wird zusätzlich anhand der Sensor information data provided which describe the sensor data of the at least two sensors and the control signal is additionally based on the
Sensorinformationsdaten bereitgestellt. Sensor information data provided.
Das Fahrerassistenzsystem des Kraftfahrzeugs umfasst zumindest zwei Sensoren. The driver assistance system of the motor vehicle comprises at least two sensors.
Insbesondere umfasst das Fahrerassistenzsystem eine Mehrzahl von Sensoren, mit denen beispielsweise die Umgebung beziehungsweise ein Umgebungsbereich des Kraftfahrzeugs erfasst werden kann. Die Sensoren basieren insbesondere auf unterschiedlichen Sensorprinzipien. Die Sensoren können nach dem Echolotprinzip arbeiten oder als optische Sensoren ausgebildet sein. Die Sensoren können In particular, the driver assistance system comprises a plurality of sensors with which, for example, the environment or an environmental region of the motor vehicle can be detected. The sensors are based in particular on different sensor principles. The sensors can work on the echosounding principle or be designed as optical sensors. The sensors can
beispielsweise Radarsensoren, Lasersensoren, Kameras, Ultraschallsensoren oder dergleichen sein. Mit jedem der Sensoren können Sensordaten bereitgestellt werden. Diese Sensordaten werden der Steuereinrichtung zugeführt. Hierzu können die Sensoren zur Datenübertragung mit der Steuereinrichtung verbunden sein. Die Steuereinrichtung kann Teil des Fahrerassistenzsystems des Kraftfahrzeugs sein. Die Steuereinrichtung kann ein elektronisches Steuergerät des Kraftfahrzeugs sein. Die jeweiligen Sensordaten von zwei unterschiedlichen Sensoren können mittels der Steuereinrichtung fusioniert werden. Die Sensordatenfusion kann anhand der Rohdaten, die von den Sensoren bereitgestellt werden, erfolgen. Die Sensordatenfusion kann auch auf Merkmalsebene oder auf Objektebene durchgeführt werden. Als Ergebnis der Fusion der Sensordaten liefert die Steuereinrichtung fusionierte Sensordaten. For example, radar sensors, laser sensors, cameras, ultrasonic sensors or the like. Sensor data can be provided with each of the sensors. These sensor data are supplied to the control device. For this purpose, the sensors for data transmission can be connected to the control device. The control device can be part of the driver assistance system of the motor vehicle. The control device may be an electronic control unit of the motor vehicle. The respective sensor data from two different sensors can be fused by means of the control device. The sensor data fusion can be based on the raw data provided by the sensors be made. Sensor data fusion can also be performed at feature level or object level. As a result of the fusion of the sensor data, the controller provides fused sensor data.
Zusätzlich zu den fusionierten Sensordaten werden mittels der Steuereinrichtung In addition to the fused sensor data are by means of the control device
Sensorinformationsdaten bereitgestellt. Diese Sensorinformationsdaten beschreiben die Sensordaten, aus denen die fusionierten Sensordaten bestimmt wurden. Anhand der fusionierten Sensordaten kann beispielsweise die Umgebung des Kraftfahrzeugs zuverlässiger charakterisiert werden. Die Verwendung der fusionierten Sensordaten alleine würde aber den Nachteil mit sich bringen, dass diese keine Information darüber enthalten, anhand welcher Sensordaten sie bestimmt worden sind und/oder von welchen Sensoren die Sensordaten stammen. Diese Information kann zum Beispiel von der Steuereinrichtung unter dem Gesichtspunkt der funktionalen Sicherheit gefordert werden. Vorliegend werden zusätzlich zu den fusionierten Sensordaten die Sensor information data provided. This sensor information data describes the sensor data from which the fused sensor data were determined. For example, the surroundings of the motor vehicle can be characterized more reliably on the basis of the fused sensor data. The use of the fused sensor data alone, however, would entail the disadvantage that they contain no information about which sensor data they have been determined from and / or from which sensors the sensor data originate. This information may, for example, be requested by the controller from the point of view of functional safety. In the present case, in addition to the fused sensor data
Sensorinformationsdaten bereitgestellt. Die Sensorinformationsdaten können Sensor information data provided. The sensor information data can
insbesondere Informationen umfassen, von welchen der Sensoren der Mehrzahl von Sensoren des Fahrerassistenzsystems die Sensordaten für die Sensordatenfusion verwendet wurden. Die fusionierten Sensordaten und die Sensorinformationsdaten stellen zwei voneinander unabhängige Informationen bereit, die zur Ansteuerung der in particular, information on which of the sensors of the plurality of sensors of the driver assistance system the sensor data for the sensor data fusion were used. The fused sensor data and the sensor information data provide two independent information that is used to drive the
Funktionseinrichtung verwendet werden können. Das Vorhandensein von mindestens zwei unabhängigen Informationen zu einem fusionierten Objekt kann zwingend gefordert sein, zum Beispiel für sicherheitsrelevante und/oder autonome Funktionen. Dies ermöglicht es, die fusionierten Sensordaten zur Ansteuerung der Funktionseinrichtung nutzen zu können. Zudem kann die Zuverlässigkeit bei der Ansteuerung der Functional device can be used. The presence of at least two independent information on a merged object may be mandatory, for example for security-related and / or autonomous functions. This makes it possible to use the fused sensor data to control the functional device. In addition, the reliability in the control of the
Funktionseinrichtung durch das Heranziehen der Sensorinformationsdaten erhöht werden. Functional device can be increased by the use of the sensor information data.
Bevorzugt wird durch das Steuern der Funktionseinrichtung eine sicherheitskritische Funktion des Fahrerassistenzsystems bereitgestellt und die sicherheitskritische Funktion wird in Abhängigkeit von den fusionierten Sensordaten und den Sensorinformationsdaten aktiviert. Die sicherheitskritische Funktion kann von dem Fahrerassistenzsystem autonom durchgeführt werden. Zum Durchführen einer sicherheitskritischen Funktion des By controlling the functional device, a safety-critical function of the driver assistance system is preferably provided, and the safety-critical function is activated as a function of the fused sensor data and the sensor information data. The safety-critical function can be performed autonomously by the driver assistance system. To perform a safety critical function of the
Fahrerassistenzsystems werden üblicherweise zwei voneinander unabhängige Driver assistance systems are usually two independent
Voraussetzungen beziehungsweise Eingangsdaten benötigt. Diese werden vorliegend durch die fusionierten Sensordaten und die Sensorinformationsdaten bereitgestellt. Die fusionierten Sensordaten und die Sensorinformationsdaten sind durch voneinander unabhängige Prozesse bestimmt. Dabei kann es auch vorgesehen sein, dass die fusionierten Sensordaten und die Sensorinformationsdaten mittels der Steuereinrichtung gewichtet werden. Somit wird es möglich, fusionierte Sensordaten zum Bereitstellen von sicherheitskritischen Funktionen zu verwenden. Requirements or input data required. These are provided herein by the fused sensor data and the sensor information data. The fused sensor data and the sensor information data are determined by independent processes. It can also be provided that the fused sensor data and the sensor information data are weighted by means of the control device. Thus, it becomes possible to use fused sensor data to provide safety-critical functions.
In einer Ausführungsform wird durch das Steuern der Funktionseinrichtung eine In one embodiment, by controlling the functional device a
Längsführung und/oder eine Querführung des Kraftfahrzeugs beeinflusst. Mit anderen Worten wird bei dem Ausführen der sicherheitskritischen Funktion eine Längsführung und/oder eine Querführung des Kraftfahrzeugs verändert. Die sicherheitskritische Funktion kann von dem Fahrerassistenzsystem autonom durchgeführt werden. Auf diese Weise kann die Sicherheit beim Betrieb des Kraftfahrzeugs erhöht werden. Longitudinal guide and / or a transverse guide of the motor vehicle influenced. In other words, when carrying out the safety-critical function, a longitudinal guide and / or a transverse guide of the motor vehicle is changed. The safety-critical function can be performed autonomously by the driver assistance system. In this way, the safety during operation of the motor vehicle can be increased.
In einer weiteren Ausgestaltung wird als die Funktionseinrichtung eine Bremsanlage, ein Antriebsmotor und/oder eine Lenkung des Kraftfahrzeugs gesteuert. Bei dem Ausführen der sicherheitskritischen Funktion kann also ein Eingriff in die Bremsanlage des In a further embodiment, a brake system, a drive motor and / or a steering of the motor vehicle is controlled as the functional device. In carrying out the safety-critical function can thus engage the brake system of the
Kraftfahrzeugs erfolgen. Es kann also autonom eine Notbremsung des Kraftfahrzeugs durchgeführt werden. Weiterhin kann ein Antriebsmotor des Kraftfahrzeugs angesteuert werden. Alternativ oder zusätzlich kann ein Eingriff in die Lenkung des Kraftfahrzeugs erfolgen. Motor vehicle done. It can therefore be carried out autonomously emergency braking of the motor vehicle. Furthermore, a drive motor of the motor vehicle can be controlled. Alternatively or additionally, an intervention in the steering of the motor vehicle can take place.
Weiterhin ist es vorteilhaft, wenn die Sensorinformationsdaten eine Anzahl der zumindest zwei Sensoren umfassen, anhand derer Sensordaten die fusionierten Sensordaten bestimmt wurden. Beispielsweise kann einfach die Anzahl der Sensoren gespeichert werden, welche Sensordaten für die Sensordatenfusion bereitstellen. Hierzu kann ein entsprechender Zähler vorgesehen sein. Somit kann auf einfache Weise bestimmt werden, dass die Sensordaten, auf denen die fusionierten Sensordaten basieren, von zumindest zwei unabhängigen beziehungsweise unterschiedlichen Sensoren des Fahrerassistenzsystems stammen. Furthermore, it is advantageous if the sensor information data comprise a number of the at least two sensors, based on which sensor data the fused sensor data were determined. For example, simply store the number of sensors that provide sensor data fusion sensor data. For this purpose, a corresponding counter can be provided. It can thus be determined in a simple manner that the sensor data on which the fused sensor data are based comes from at least two independent or different sensors of the driver assistance system.
Vorzugsweise beschreiben die Sensorinformationsdaten, von welchen der zumindest zwei Sensoren die Sensordaten stammen, anhand derer Sensordaten die fusionierten Sensordaten bestimmt wurden. Hier kann beispielsweise erfasst werden, von welchen Sensoren des Fahrerassistenzsystems die Sensordaten stammen, anhand der die fusionierten Sensordaten bestimmt wurden. Diese Information hat gegenüber einem einfachen Zähler den Vorteil, dass die Sensordaten von der Funktionseinrichtung zum Beispiel durch eine Gewichtung besser beurteilt werden können. The sensor information data from which the at least two sensors originate the sensor data preferably describe the sensor data by means of which the fused sensor data were determined. Here, it can be detected, for example, from which sensors of the driver assistance system the sensor data originate, on the basis of which the fused sensor data were determined. This information has opposite one simple counter the advantage that the sensor data from the functional device can be better assessed, for example, by a weighting.
In einer weiteren Ausführungsform beschreiben die Sensordaten der zumindest zwei Sensoren ein Objekt in einer Umgebung des Kraftfahrzeugs und die fusionierten In a further embodiment, the sensor data of the at least two sensors describe an object in an environment of the motor vehicle and the fused ones
Sensordaten umfassen eine Detektionswahrscheinlichkeit des Objekts. Die Sensordaten können beispielsweise ein Position des Objekts, einen Abstand zwischen dem Sensor data includes a detection probability of the object. For example, the sensor data may be a position of the object, a distance between the object
Kraftfahrzeug und dem Objekt, eine aktuelle Geschwindigkeit und/oder eine aktuelle Beschleunigung des Objekts charakterisieren. Die Sensordaten können auch mehrere Objekte in der Umgebung des Kraftfahrzeugs beschreiben. Die Motor vehicle and the object, a current speed and / or a current acceleration of the object characterize. The sensor data can also describe several objects in the environment of the motor vehicle. The
Detektionswahrscheinlichkeit kann auch als Existenzwahrscheinlichkeit, Güte oder als Konfidenz bezeichnet werden. Auf diese Weise kann anhand der fusionierten Probability of detection can also be referred to as existence probability, quality or as confidence. This way, based on the merged
Sensordaten ein Vorhandensein des Objekts in der Umgebung des Kraftfahrzeugs zuverlässig bestimmt werden. Sensor data a presence of the object in the environment of the motor vehicle can be reliably determined.
Zudem ist es vorteilhaft, wenn die Detektionswahrscheinlichkeit des Objekts anhand der Sensordaten der zumindest zwei Sensoren bestimmt wird. Die In addition, it is advantageous if the detection probability of the object is determined on the basis of the sensor data of the at least two sensors. The
Detektionswahrscheinlichkeit kann mittels der Steuereinrichtung anhand der Sensordaten der zumindest zwei Sensoren bestimmt werden. Dabei kann es vorgesehen sein, dass die Steuereinrichtung die Detektionswahrscheinlichkeit für jeden der Sensoren selbst bestimmt, wenn die Sensoren die jeweilige Detektionswahrscheinlichkeit nicht selbst berechnen können. In einem weiteren Schritt kann die Detektionswahrscheinlichkeit für die jeweiligen Sensoren, welche das gleiche Objekt detektiert haben, mit einem entsprechenden Algorithmus zusammengeführt werden. Somit ist die  Detection probability can be determined by means of the control device on the basis of the sensor data of the at least two sensors. It can be provided that the control device determines the detection probability for each of the sensors themselves, if the sensors can not calculate the respective detection probability itself. In a further step, the detection probability for the respective sensors which have detected the same object can be combined with a corresponding algorithm. Thus, the
Detektionswahrscheinlichkeit für das Objekt anhängig der Anzahl der Sensoren, die das Objekt erfasst haben. Die Detektionswahrscheinlichkeit kann beispielsweise mittels des Dempster-Schafer-Algorithmus bestimmt werden. Die Detektionswahrscheinlichkeit beziehungsweise ein Konfidenz-Wert für die fusionierten Sensordaten kann auch aus der Summe der Konfidenz-Werte der Sensordaten der zumindest zwei Sensoren abzüglich des Produkts der Konfidenz-Werte der Sensordaten der zumindest zwei Sensoren bestimmt werden. Grundsätzlich können auch andere Algorithmen oder Formeln verwendet werden, bei denen gewährleistet wird, dass der Wert der Probability of detection for the object depending on the number of sensors that have detected the object. The detection probability can be determined, for example, by means of the Dempster-Schafer algorithm. The detection probability or a confidence value for the fused sensor data can also be determined from the sum of the confidence values of the sensor data of the at least two sensors minus the product of the confidence values of the sensor data of the at least two sensors. In principle, other algorithms or formulas can be used which ensure that the value of the
Detektionswahrscheinlichkeit einen Grenzwert, beispielsweise 100%, nicht überschreitet. Detection probability does not exceed a limit, for example 100%.
Eine erfindungsgemäße Steuereinrichtung für ein Fahrerassistenzsystem eines A control device according to the invention for a driver assistance system of
Kraftfahrzeugs ist zum Durchführen eines erfindungsgemäßen Verfahrens ausgelegt ist. Die Steuereinrichtung kann beispielsweise durch ein elektronisches Steuergerät (ECU - Electronic Control Unit) des Kraftfahrzeugs gebildet sein. Motor vehicle is designed to carry out a method according to the invention. The control device can be formed for example by an electronic control unit (ECU - Electronic Control Unit) of the motor vehicle.
Ein erfindungsgemäßes Fahrerassistenzsystem für ein Kraftfahrzeug umfasst eine erfindungsgemäße Steuereinrichtung. Das Fahrerassistenzsystem kann ein An inventive driver assistance system for a motor vehicle comprises a control device according to the invention. The driver assistance system can be
Bremsassistent, ein Spurhalteassistent, ein Spurwechselassistent, ein Brake Assist, Lane Keeping Assist, Lane Change Assist, on
Abstandsregeltempomat oder dergleichen sein. Adaptive cruise control or the like.
Bevorzugt umfasst das Fahrerassistenzsystem als die zumindest zwei Sensoren einen Radarsensor, einen Lasersensor, eine Kamera und/oder einen Ultraschallsensor. Das Fahrerassistenzsystem kann auch zumindest zwei gleiche Sensoren aufweisen. Dies können beispielsweise mehrere Radarsensoren oder mehrere Lasersensoren sein. Die Mehrzahl von Sensoren kann verteilt an dem Kraftfahrzeug angeordnet sein. Die jeweiligen Sensoren können zur Datenübertragung - beispielsweise über einen The driver assistance system preferably includes as the at least two sensors a radar sensor, a laser sensor, a camera and / or an ultrasound sensor. The driver assistance system can also have at least two identical sensors. This may be, for example, multiple radar sensors or multiple laser sensors. The plurality of sensors can be arranged distributed on the motor vehicle. The respective sensors can be used for data transmission - for example via a
Fahrzeugdatenbus - mit der Steuereinrichtung zur Datenübertragung verbunden sein. Die Sensoren können unterschiedliche Erfassungsbereiche aufweisen. Vehicle data bus - be connected to the control device for data transmission. The sensors can have different detection ranges.
Ein erfindungsgemäßes Kraftfahrzeug umfasst ein erfindungsgemäßes A motor vehicle according to the invention comprises an inventive
Fahrerassistenzsystem. Das Kraftfahrzeug ist insbesondere als Personenkraftwagen ausgebildet. Driver assistance system. The motor vehicle is designed in particular as a passenger car.
Die mit Bezug auf das erfindungsgemäße Verfahren vorgestellten bevorzugten The preferred embodiments presented with reference to the process according to the invention
Ausführungsformen und deren Vorteile gelten entsprechend für die erfindungsgemäße Steuereinrichtung, das erfindungsgemäße Fahrerassistenzsystem sowie für das erfindungsgemäße Kraftfahrzeug. Embodiments and their advantages apply correspondingly to the control device according to the invention, the driver assistance system according to the invention and for the motor vehicle according to the invention.
Weitere Merkmale der Erfindung ergeben sich aus den Ansprüchen, den Figuren und der Figurenbeschreibung. Die vorstehend in der Beschreibung genannten Merkmale und Merkmalskombinationen, sowie die nachfolgend in der Figurenbeschreibung genannten und/oder in den Figuren alleine gezeigten Merkmale und Merkmalskombinationen sind nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, are not only in the respectively indicated combination but also in others
Kombinationen oder in Alleinstellung verwendbar, ohne den Rahmen der Erfindung zu verlassen. Es sind somit auch Ausführungen von der Erfindung als umfasst und offenbart anzusehen, die in den Figuren nicht explizit gezeigt und erläutert sind, jedoch durch separierte Merkmalskombinationen aus den erläuterten Ausführungen hervorgehen und erzeugbar sind. Es sind auch Ausführungen und Merkmalskombinationen als offenbart anzusehen, die somit nicht alle Merkmale eines ursprünglich formulierten unabhängigen Anspruchs aufweisen. Combinations or alone, without departing from the scope of the invention. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. There are also versions and feature combinations as disclosed therefore do not have all the characteristics of an originally formulated independent claim.
Die Erfindung wird nun anhand von bevorzugten Ausführungsbeispielen sowie unter Bezugnahme auf die beigefügten Zeichnungen näher erläutert. The invention will now be described with reference to preferred embodiments and with reference to the accompanying drawings.
Dabei zeigen: Showing:
Fig. 1 in schematischer Darstellung ein Kraftfahrzeug gemäß einer 1 is a schematic representation of a motor vehicle according to a
Ausführungsform der vorliegenden Erfindung, welches ein  Embodiment of the present invention, which is a
Fahrerassistenzsystem aufweist; und  Driver assistance system has; and
Fig. 2 in schematischer Darstellung ein Ablaufdiagramm eines Verfahrens zum Fig. 2 is a schematic representation of a flowchart of a method for
Steuern einer Funktionseinrichtung des Kraftfahrzeugs.  Controlling a functional device of the motor vehicle.
In den Figuren werden gleiche oder funktionsgleiche Elemente mit den gleichen In the figures, the same or functionally identical elements are the same
Bezugszeichen versehen. Provided with reference numerals.
Fig. 1 zeigt in schematischer Darstellung ein Kraftfahrzeug 1 gemäß einer Fig. 1 shows a schematic representation of a motor vehicle 1 according to a
Ausführungsform der Erfindung in einer Draufsicht. Das Kraftfahrzeug 1 ist in dem vorliegenden Fall als Personenkraftwagen ausgebildet. Das Kraftfahrzeug 1 umfasst ein Fahrerassistenzsystem 2, welches zum Unterstützen eines Fahrers beim Führen des Kraftfahrzeugs 1 dient. Das Fahrerassistenzsystem 2 kann beispielsweise ein Embodiment of the invention in a plan view. The motor vehicle 1 is formed in the present case as a passenger car. The motor vehicle 1 comprises a driver assistance system 2, which serves to assist a driver when driving the motor vehicle 1. The driver assistance system 2 can, for example, a
Notbremsassistent, Spurhalteassistent, Spurwechselassistent, Abstandsregeltempomat oder dergleichen ausgebildet sein. Emergency Brake Assist, lane departure warning, lane change assistant, Adaptive cruise control or the like may be formed.
Das Fahrerassistenzsystem 2 umfasst wiederum eine Steuereinrichtung 3, die The driver assistance system 2 in turn comprises a control device 3, the
beispielsweise durch ein elektronisches Steuergerät des Kraftfahrzeugs 1 gebildet sein kann. Darüber hinaus umfasst das Fahrerassistenzsystem 2 eine Mehrzahl von Sensoren 4 mit denen eine Umgebung 5 beziehungsweise ein Umgebungsbereich des may be formed for example by an electronic control unit of the motor vehicle 1. In addition, the driver assistance system 2 comprises a plurality of sensors 4 with which an environment 5 or an environmental region of the
Kraftfahrzeugs 1 zumindest bereichsweise erfasst werden kann. Mit den Sensoren 4 kann insbesondere ein Objekt 6 in der Umgebung 5 des Kraftfahrzeugs 1 erfasst werden. Die Sensoren 4 können beispielsweise verteilt an dem Kraftfahrzeug 1 angeordnet sein. Die Sensoren 4 können Radarsensoren, Lasersensoren, Lidar-Sensoren, optische Sensoren, Kameras, Ultraschallsensoren oder dergleichen sein. Mit den Sensoren 4 können jeweils Sensordaten erfasst werden. Die Sensordaten können die aktuelle Position und/oder die aktuelle Geschwindigkeit des Objekts 6 beschreiben. Motor vehicle 1 can be detected at least partially. In particular, an object 6 in the environment 5 of the motor vehicle 1 can be detected with the sensors 4. The sensors 4 may be distributed, for example, arranged on the motor vehicle 1. The sensors 4 may be radar sensors, laser sensors, lidar sensors, optical sensors, cameras, ultrasonic sensors or the like. With the sensors 4 can each Sensor data are recorded. The sensor data may describe the current position and / or the current speed of the object 6.
In dem vorliegenden Ausführungsbeispiel umfasst das Fahrerassistenzsystem 2 als die Sensoren 4 einen Radarsensor 8 und eine Kamera 9. Mit den Sensoren 4 kann das Objekt 6 in der Umgebung 5 in Vorwärtsfahrtrichtung vor dem Kraftfahrzeug 1 erfasst werden. Die Auswahl und Anordnung der Sensoren 4 ist vorliegend rein beispielhaft zu verstehen. Der Radarsensor 8 kann ein Radarsignal beziehungsweise In the present exemplary embodiment, the driver assistance system 2 includes, as the sensors 4, a radar sensor 8 and a camera 9. With the sensors 4, the object 6 in the environment 5 in the forward direction of travel in front of the motor vehicle 1 can be detected. The selection and arrangement of the sensors 4 is to be understood in the present case purely by way of example. The radar sensor 8 may be a radar signal or
elektromagnetische Strahlung aussenden und das von dem Objekt 6 reflektierte emit electromagnetic radiation and reflected from the object 6
Radarsignal wieder empfangen. Anhand der Laufzeit des Radarsignals kann der Abstand zwischen dem Kraftfahrzeug 1 und dem Objekt 6 bestimmt werden. Die Kamera 9 kann Videodaten beziehungsweise Bildsequenzen von der Umgebung 5 bereitstellen. Mit Hilfe einer entsprechenden Bildverarbeitungseinrichtung kann dann das Objekt 6 in den Videodaten erkannt werden. Radar signal received again. Based on the duration of the radar signal, the distance between the motor vehicle 1 and the object 6 can be determined. The camera 9 can provide video data or image sequences from the environment 5. With the aid of a corresponding image processing device, the object 6 can then be recognized in the video data.
Die Sensordaten, die mit den Sensoren 4 bereitgestellt werden, werden von den jeweiligen Sensoren 4 an die Steuereinrichtung 3 übertragen. Hierzu ist die The sensor data provided with the sensors 4 are transmitted from the respective sensors 4 to the control device 3. For this is the
Steuereinrichtung 3 über eine jeweilige Datenleitung 10 mit den jeweiligen Sensoren 4 verbunden. Die Steuereinrichtung 3 ist dazu ausgelegt, die Sensordaten entsprechend zu verarbeiten. Insbesondere kann die Steuereinrichtung 3 eine Fusion der Sensordaten der einzelnen Sensoren 4 durchführen. Zudem ist die Steuereinrichtung 3 dazu ausgelegt, zu bestimmen, welche Sensordaten von welchem Sensor 4 dazu verwendet wurden, die Sensordatenfusion durchzuführen. Control device 3 via a respective data line 10 connected to the respective sensors 4. The control device 3 is designed to process the sensor data accordingly. In particular, the control device 3 can perform a fusion of the sensor data of the individual sensors 4. In addition, the control device 3 is designed to determine which sensor data from which sensor 4 was used to perform the sensor data fusion.
Das Kraftfahrzeug 1 umfasst ferner eine Funktionseinrichtung 1 1 , die über eine The motor vehicle 1 further comprises a functional device 1 1, which via a
Datenleitung 10 mit der Steuereinrichtung 3 verbunden ist. Die Steuereinrichtung 3 kann ein Steuersignal zum Ansteuern beziehungsweise Steuern der Funktionseinrichtung 1 1 bereitstellen. Die Funktionseinrichtung 1 1 kann dazu dienen eine sicherheitskritische Funktion des Fahrerassistenzsystems 2 bereitzustellen. Mittels der Funktionseinrichtung 1 1 kann eine Längsführung und/oder eine Querführung des Kraftfahrzeugs 1 beeinflusst werden. Die Funktionseinrichtung 1 1 kann eine Lenkung, eine Bremsanlage und/oder ein Antriebsmotor des Kraftfahrzeugs 1 sein. In Beispiel von Fig. 1 ist die Steuereinrichtung 3 separat angeordnet. Die Steuereinrichtung 3 könnte auch mit der Sensorelektronik in einen Sensor 4 integriert sein. Ebenso ist es denkbar, dass die Steuereinrichtung 3 in die Funktionseinheit 1 1 integriert ist. Fig. 2 zeigt in schematischer Ansicht ein Ablaufdiagramm eines Verfahrens zum Steuern der Funktionseinrichtung 1 1 des Kraftfahrzeugs 1 . In einem Schritt S1 werden mit den Sensoren 4 beziehungsweise mit dem Radarsensor 8 und der Kamera 9 jeweils die Sensordaten, die das Objekt 6 beschreiben, erfasst und an die Steuereinrichtung 3 übertragen. Die Sensordaten werden mit den Sensoren 4 insbesondere zeitgleich erfasst. Data line 10 is connected to the control device 3. The control device 3 can provide a control signal for driving or controlling the functional device 11. The functional device 11 can serve to provide a safety-critical function of the driver assistance system 2. By means of the functional device 1 1, a longitudinal guide and / or a transverse guide of the motor vehicle 1 can be influenced. The functional device 11 may be a steering, a brake system and / or a drive motor of the motor vehicle 1. In the example of FIG. 1, the control device 3 is arranged separately. The control device 3 could also be integrated with the sensor electronics in a sensor 4. It is also conceivable that the control device 3 is integrated in the functional unit 1 1. 2 shows a schematic view of a flow chart of a method for controlling the functional device 1 1 of the motor vehicle 1. In a step S1, the sensor data, which describe the object 6, are detected with the sensors 4 or with the radar sensor 8 and the camera 9 and transmitted to the control device 3. The sensor data are detected with the sensors 4, in particular at the same time.
In einem weiteren Schritt S2 werden die Sensordaten mittels der Steuereinrichtung 3 fusioniert. Dabei sind die Messzeitpunkte, an denen mit den beiden Sensoren 4 die Sensordaten bestimmt werden, bekannt. Als Ergebnis stellt die Steuereinrichtung 3 fusionierte Sensordaten bereit. Hierbei kann auch eine Detektionswahrscheinlichkeit bestimmt werden, die beschreibt, mit welcher Wahrscheinlichkeit das Objekt 6 in der Umgebung 5 des Kraftfahrzeugs 1 detektiert wurde. In a further step S2, the sensor data are fused by means of the control device 3. In this case, the measurement times at which the sensor data are determined with the two sensors 4 are known. As a result, the controller 3 provides fused sensor data. In this case, it is also possible to determine a detection probability which describes the probability with which the object 6 in the environment 5 of the motor vehicle 1 was detected.
In einem Schritt S3 werden Sensorinformationsdaten bereitgestellt. Diese In a step S3, sensor information data is provided. These
Sensorinformationsdaten können eine Information enthalten, von wie vielen der Sensoren 4 Sensordaten zum Bestimmen der fusionierten Sensordaten verwendet wurden. Zudem können die Sensorinformationsdaten eine Information enthalten, von welchem der Sensoren 4 Sensordaten zum Bestimmen der fusionierten Sensordaten genutzt wurden. Sensor information data may include information on how many of the sensors 4 sensor data was used to determine the fused sensor data. In addition, the sensor information data may contain information from which the sensor 4 sensor data was used for determining the fused sensor data.
In einem Schritt S4 wird mittels der Steuereinrichtung 3 anhand der fusionierten In a step S4, by means of the control device 3 on the basis of the fused
Sensordaten und der Sensorinformationsdaten ein Steuersignal für die Sensor data and the sensor information data, a control signal for the
Funktionseinrichtung 1 1 bereitgestellt. Dabei kann die Steuereinrichtung 3 die Functional device 1 1 provided. In this case, the control device 3 the
fusionierten Sensordaten und die Sensorinformationsdaten entsprechend gewichten. Das Steuersignal wird von der Steuereinrichtung an die Funktionseinrichtung 1 1 übertragen. Somit kann die Funktionseinrichtung 1 1 in Abhängigkeit von den fusionierten fused sensor data and the sensor information data weights accordingly. The control signal is transmitted from the control device to the functional device 1 1. Thus, the functional device 1 1 depending on the fused
Sensordaten und den Sensorinformationsdaten betrieben werden. Insbesondere kann mittels der Funktionseinrichtung 1 1 eine sicherheitskritische Funktion des Sensor data and the sensor information data to be operated. In particular, by means of the functional device 1 1 a safety-critical function of
Fahrerassistenzsystems 2 bereitgestellt werden. Driver assistance system 2 are provided.
Die fusionierten Sensordaten und die Sensorinformationsdaten werden unabhängig voneinander bestimmt. Somit werden zwei voneinander unabhängige Zustandsgrößen zum Auslösen der sicherheitskritischen Funktion bereitgestellt. Auf diese Weise können die fusionierten Sensordaten zum Auslösen der sicherheitskritischen Funktion genutzt werden. Des Weiteren kann die funktionelle Sicherheit beim Betrieb des The fused sensor data and the sensor information data are determined independently. Thus, two independent state variables are provided for triggering the safety-critical function. In this way, the fused sensor data can be used to trigger the safety-critical function. Furthermore, the functional safety in the operation of the
Fahrerassistenzsystems 2 beziehungsweise des Kraftfahrzeugs 1 erhöht werden. Dabei basiert das Auslösen der sicherheitskritischen Funktion weiterhin auf den Sensordaten von zwei voneinander unabhängigen Sensoren 4. Es kann auch vorgesehen sein, dass die Sensordaten von mehr als zwei Sensoren 4 genutzt werden. Driver assistance system 2 and the motor vehicle 1 can be increased. The triggering of the safety-critical function is still based on the sensor data of two independent sensors 4. It can also be provided that the sensor data of more than two sensors 4 are used.

Claims

Patentansprüche claims
1 . Verfahren zum Steuern einer Funktionseinrichtung (1 1 ) eines Kraftfahrzeugs (1 ), bei welchem mittels einer Steuereinrichtung (3) von zumindest zwei Sensoren (4) eines Fahrerassistenzsystems (2) des Kraftfahrzeugs (1 ) jeweils Sensordaten empfangen werden (S1 ), die jeweiligen empfangenen Sensordaten mittels der Steuereinrichtung (3) zu fusionierten Sensordaten fusioniert werden (S2) und anhand der fusionierten Sensordaten ein Steuersignal zum Steuern der 1 . Method for controlling a functional device (1 1) of a motor vehicle (1) in which sensor data (S1), respectively, are received by means of a control device (3) from at least two sensors (4) of a driver assistance system (2) of the motor vehicle (1) received sensor data by means of the control device (3) are fused to fused sensor data (S2) and based on the fused sensor data, a control signal for controlling the
Funktionseinrichtung (1 1 ) bereitgestellt wird,  Function device (1 1) is provided,
dadurch gekennzeichnet, dass  characterized in that
mittels der Steuereinrichtung (3) zusätzlich zu den fusionierten Sensordaten Sensorinformationsdaten bereitgestellt werden, welche die Sensordaten der zumindest zwei Sensoren (4) beschreiben (S3), und das Steuersignal zusätzlich anhand der Sensorinformationsdaten bereitgestellt wird (S4).  Sensor information data describing the sensor data of the at least two sensors (4) is provided by the control device (3) in addition to the fused sensor data, and the control signal is additionally provided on the basis of the sensor information data (S4).
2. Verfahren nach Anspruch 1 , 2. The method according to claim 1,
dadurch gekennzeichnet, dass  characterized in that
durch das Steuern der Funktionseinrichtung (1 1 ) eine sicherheitskritische Funktion des Fahrerassistenzsystems (2) bereitgestellt wird und die sicherheitskritische Funktion in Abhängigkeit von den fusionierten Sensordaten und den  by controlling the functional device (1 1) a safety-critical function of the driver assistance system (2) is provided and the safety-critical function in dependence on the fused sensor data and the
Sensorinformationsdaten aktiviert wird.  Sensor information data is activated.
3. Verfahren nach Anspruch 1 oder 2, 3. The method according to claim 1 or 2,
dadurch gekennzeichnet, dass  characterized in that
durch das Steuern der Funktionseinrichtung (1 1 ) eine Längsführung und/oder eine Querführung des Kraftfahrzeugs (1 ) beeinflusst wird.  by controlling the functional device (1 1) a longitudinal guide and / or a transverse guide of the motor vehicle (1) is influenced.
4. Verfahren nach Anspruch 2 oder 3, 4. The method according to claim 2 or 3,
dadurch gekennzeichnet, dass  characterized in that
als die Funktionseinrichtung (1 1 ) eine Bremsanlage, ein Antriebsmotor und/oder eine Lenkung des Kraftfahrzeugs (1 ) gesteuert wird.  as the functional device (1 1) a brake system, a drive motor and / or a steering of the motor vehicle (1) is controlled.
5. Verfahren nach einem der vorhergehenden Ansprüche, 5. Method according to one of the preceding claims,
dadurch gekennzeichnet, dass  characterized in that
die Sensorinformationsdaten eine Anzahl der zumindest zwei Sensoren (4) umfassen, anhand derer Sensordaten die fusionierten Sensordaten bestimmt wurden. the sensor information data comprises a number of the at least two sensors (4) , based on which sensor data the fused sensor data were determined.
6. Verfahren nach einem der vorhergehenden Ansprüche, 6. The method according to any one of the preceding claims,
dadurch gekennzeichnet, dass  characterized in that
die Sensorinformationsdaten beschreiben, von welchen der zumindest zwei Sensoren (4) die Sensordaten stammen, anhand derer Sensordaten die  the sensor information data describe from which of the at least two sensors (4) the sensor data originate, on the basis of which sensor data
fusionierten Sensordaten bestimmt wurden.  fused sensor data were determined.
7. Verfahren nach einem der vorhergehenden Ansprüche, 7. The method according to any one of the preceding claims,
dadurch gekennzeichnet, dass  characterized in that
die Sensordaten der zumindest zwei Sensoren (4) ein Objekt (6) in einer Umgebung (5) des Kraftfahrzeugs (1 ) beschreiben und die fusionierten Sensordaten eine Detektionswahrscheinlichkeit des Objekts (6) umfassen.  the sensor data of the at least two sensors (4) describe an object (6) in an environment (5) of the motor vehicle (1) and the fused sensor data comprise a detection probability of the object (6).
8. Verfahren nach Anspruch 7, 8. The method according to claim 7,
dadurch gekennzeichnet, dass  characterized in that
die Detektionswahrscheinlichkeit des Objekts (6) anhand der Sensordaten der zumindest zwei Sensoren (4) bestimmt wird.  the detection probability of the object (6) is determined on the basis of the sensor data of the at least two sensors (4).
9. Steuereinrichtung (3) für ein Fahrerassistenzsystem (2) eines Kraftfahrzeugs (1 ) welche zum Durchführen eines Verfahrens nach einem der vorhergehenden Ansprüche ausgelegt ist. 9. control device (3) for a driver assistance system (2) of a motor vehicle (1) which is designed to carry out a method according to one of the preceding claims.
10. Fahrerassistenzsystem (2) für ein Kraftfahrzeug (1 ) mit einer Steuereinrichtung (3) nach Anspruch 9. 10. Driver assistance system (2) for a motor vehicle (1) with a control device (3) according to claim 9.
1 1 . Fahrerassistenzsystem (2) nach Anspruch 10, 1 1. Driver assistance system (2) according to claim 10,
dadurch gekennzeichnet, dass  characterized in that
das Fahrerassistenzsystem (2) als die zumindest zwei Sensoren (4) einen  the driver assistance system (2) as the at least two sensors (4) one
Radarsensor (8), einen Lasersensor, eine Kamera (9) und/oder einen  Radar sensor (8), a laser sensor, a camera (9) and / or a
Ultraschallsensor umfasst.  Includes ultrasonic sensor.
12. Kraftfahrzeug (1 ) mit einem Fahrerassistenzsystem (2) nach Anspruch 10 oder 1 1 . 12. Motor vehicle (1) with a driver assistance system (2) according to claim 10 or 1. 1
PCT/EP2016/059825 2015-05-12 2016-05-03 Method for controlling a functional device of a motor vehicle on the basis of merged sensor data, control device, driver assistance system and motor vehicle WO2016180665A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015107391.9A DE102015107391A1 (en) 2015-05-12 2015-05-12 Method for controlling a functional device of a motor vehicle on the basis of fused sensor data, control device, driver assistance system and motor vehicle
DE102015107391.9 2015-05-12

Publications (1)

Publication Number Publication Date
WO2016180665A1 true WO2016180665A1 (en) 2016-11-17

Family

ID=55967233

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/059825 WO2016180665A1 (en) 2015-05-12 2016-05-03 Method for controlling a functional device of a motor vehicle on the basis of merged sensor data, control device, driver assistance system and motor vehicle

Country Status (2)

Country Link
DE (1) DE102015107391A1 (en)
WO (1) WO2016180665A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112572471A (en) * 2020-12-08 2021-03-30 西人马帝言(北京)科技有限公司 Automatic driving method, device, electronic equipment and computer storage medium
WO2023061675A1 (en) * 2021-10-15 2023-04-20 Bayerische Motoren Werke Aktiengesellschaft Method and processing device for controlling a driver assistance function, and driver assistance system

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017113478A1 (en) * 2017-06-20 2018-12-20 Valeo Schalter Und Sensoren Gmbh Method for operating a control device for operation with a redundant sensor device in a motor vehicle
DE102017115475A1 (en) 2017-07-11 2019-01-17 Valeo Schalter Und Sensoren Gmbh Method for detecting an obstacle in an environmental region of a motor vehicle, evaluation device, driver assistance system and motor vehicle
DE102017214611B4 (en) * 2017-08-22 2023-02-02 Audi Ag Method for checking a reaction signal of a vehicle component and checking device and motor vehicle
FR3080344B1 (en) * 2018-04-20 2022-01-21 Psa Automobiles Sa RELIABLE DETECTION OF AN OBJECT BY A VEHICLE
FR3080345A1 (en) * 2018-04-20 2019-10-25 Psa Automobiles Sa IMPROVING DETECTION BY MONITORING A LIGHTING VEHICLE

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19641261C1 (en) * 1996-10-07 1998-02-12 Siemens Ag Distance sensor measuring quality evaluation method
US20060220912A1 (en) 2003-07-31 2006-10-05 Heenan Adam J Sensing apparatus for vehicles
DE102006046843A1 (en) 2006-10-02 2008-04-03 Robert Bosch Gmbh Motor vehicle surrounding detecting method for use in area of driver assistance system, involves processing data for detecting objects and free area in surrounding of motor vehicle, and dividing surrounding into cells with attributes
DE102007018470A1 (en) * 2007-04-19 2008-10-23 Robert Bosch Gmbh Driver assistance system and method for object plausibility
DE102008001672A1 (en) 2008-05-09 2009-11-12 Robert Bosch Gmbh Method for merging of status data detecting sensor objects, particularly different object detection sensors of motor vehicle, involves carrying out direct association and averaging of status data of sensor object
US20110025548A1 (en) 2009-07-31 2011-02-03 Gm Global Technology Operations, Inc. System and method for vehicle sensor fusion

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009006113B4 (en) * 2008-03-03 2019-03-28 Volkswagen Ag Device and method for sensor fusion with dynamic objects
DE102010003375B4 (en) * 2010-03-29 2021-07-22 Bayerische Motoren Werke Aktiengesellschaft Environment evaluation system in a vehicle with sensor means for detecting objects in the vicinity of the vehicle
DE102012211391A1 (en) * 2012-07-02 2014-01-02 Continental Teves Ag & Co. Ohg Method and system for information usage

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19641261C1 (en) * 1996-10-07 1998-02-12 Siemens Ag Distance sensor measuring quality evaluation method
US20060220912A1 (en) 2003-07-31 2006-10-05 Heenan Adam J Sensing apparatus for vehicles
DE102006046843A1 (en) 2006-10-02 2008-04-03 Robert Bosch Gmbh Motor vehicle surrounding detecting method for use in area of driver assistance system, involves processing data for detecting objects and free area in surrounding of motor vehicle, and dividing surrounding into cells with attributes
DE102007018470A1 (en) * 2007-04-19 2008-10-23 Robert Bosch Gmbh Driver assistance system and method for object plausibility
DE102008001672A1 (en) 2008-05-09 2009-11-12 Robert Bosch Gmbh Method for merging of status data detecting sensor objects, particularly different object detection sensors of motor vehicle, involves carrying out direct association and averaging of status data of sensor object
US20110025548A1 (en) 2009-07-31 2011-02-03 Gm Global Technology Operations, Inc. System and method for vehicle sensor fusion

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112572471A (en) * 2020-12-08 2021-03-30 西人马帝言(北京)科技有限公司 Automatic driving method, device, electronic equipment and computer storage medium
WO2023061675A1 (en) * 2021-10-15 2023-04-20 Bayerische Motoren Werke Aktiengesellschaft Method and processing device for controlling a driver assistance function, and driver assistance system

Also Published As

Publication number Publication date
DE102015107391A1 (en) 2016-11-17

Similar Documents

Publication Publication Date Title
EP3663146B1 (en) Driving assistance system for a motor vehicle, motor vehicle and method for operating a motor vehicle
WO2016180665A1 (en) Method for controlling a functional device of a motor vehicle on the basis of merged sensor data, control device, driver assistance system and motor vehicle
EP2242674B1 (en) Method and assistance system for detecting objects in the surrounding area of a vehicle
DE102009017152B4 (en) Method and device for longitudinal and transverse guidance of a motor vehicle
EP2681085B1 (en) Method and device for the prediction and adaptation of movement trajectories of motor vehicles
EP1926647B1 (en) Method and device for predicting a displacement path
EP3386825B1 (en) Method for identifying a possible collision between a motor vehicle and an object by taking into account a spatial uncertainty, control device, driver assistance system and motor vehicle
DE102019130498A1 (en) SYSTEM FOR CHANGING TRACKS AND AVOIDING COLLISION
DE102009020649A1 (en) Method for avoiding collision of motor vehicle towards obstacle, involves producing warning for driver of vehicle optically, acoustically and/or haptically according to different escalation stages when time interval limits are reached
WO2015139864A1 (en) Method and device for operating a vehicle
EP3356203B1 (en) Method for determining a parking surface for parking a motor vehicle, driver assistance system, and motor vehicle
DE102012203673A1 (en) Safety device for a motor vehicle and method for operating a motor vehicle
WO2011018321A1 (en) Collision monitor for a motor vehicle
DE102015107392A1 (en) Method for detecting an object in an environment of a motor vehicle based on fused sensor data, control device, driver assistance system and motor vehicle
EP2838779A1 (en) Method and device for determining a lane adaptation parameter for a lane keeping system of a vehicle and method and device for the lane guidance of a vehicle
WO2017207384A1 (en) Method for avoiding a collision of a motor vehicle with an object on the basis of a maximum prescribable wheel steering angle, driver assistance system and motor vehicle
DE102012218361A1 (en) Method for operation of four-wheel, two-axle motor car, involves determining collision risk of car, and making dominant measure that is high criticality of driving conditions and better signal quality of environment data, by coordinator
DE102016120677A1 (en) Method for operating a driver assistance system for performing an at least semi-autonomous parking maneuver of a motor vehicle taking into account interventions of the driver, driver assistance system and motor vehicle
DE102014214507A1 (en) Method for creating an environment model of a vehicle
DE102014214505A1 (en) Method for creating an environment model of a vehicle
EP3251909B1 (en) Method for operating a driver assistance system of a motor vehicle with provision of a blocked steering angle range, driver assistance system and motor vehicle
DE102017103700A1 (en) Avoiding a collision by a steering intervention in response to a movement of an external vehicle object
EP3256358A1 (en) Method and system for performing automated driving manoeuvers
EP1897785B1 (en) Driver support system, steering system and method for supporting the driver of a vehicle
DE102018215526A1 (en) Assistance system for a motor vehicle and motor vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16722113

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16722113

Country of ref document: EP

Kind code of ref document: A1