DE102006061390B4 - Environment detection system and Umweisfassungsverfahren a motor vehicle - Google Patents

Abstract

Surrounding detection system (31) of a motor vehicle (1; 30) having a sensor system (32) for acquiring measuring signals which contain information about objects (5; 49) in the surroundings (2; 40) (2; 40) of the motor vehicle (1; 30) supply, an evaluation unit (36), which fuses the information of the measurement signals by means of a probability method in a cell environment map, each cell is associated with at least one probability value, which is a measure of a presence of one of the objects (5; 49) in the Cell surrounding area (4; 39) of the environment (2; 40), wherein the surroundings detection system (31) comprises a selection unit (38), wherein the selection unit (38) is adapted to select a selected space area (39 ') of the environment (39; 2, 40), via which preferred information is required, and a control unit (45) which is set up to control the sensor system (32) such that at least one measuring signal can be determined by means of the sensor system (32) is that information about the selected space area (4; 39 '), so that even with limited available measurement resources an information acquisition adapted to the respective information needs takes place, characterized in that the selection unit (38) is further adapted to refer to the environment map itself in order to check over which spatial regions (39) of the environment (40), there is insufficient information to select the spatial areas (39) on this basis.

Description

The invention relates to an environment detection system of a motor vehicle having a sensor system for detecting measurement signals that provide information about objects in the environment of the motor vehicle, an evaluation unit that fuses the information of the measurement signals based on a probabilistic method in a surrounding environment cells card, each cell associated with at least one probability value is that indicates a measure of the presence of an object in the space region of the surrounding area of the motor vehicle corresponding to the cell, as well as a corresponding surroundings detection method.

A knowledge about the environment, in particular about open spaces and obstacles, in an environment of a motor vehicle, for example, when parking the motor vehicle in a parking space of particular importance. Often it is difficult for a driver to estimate whether a parking space at the side of the road is large enough to park his own vehicle. During a parking process in a narrow parking space, it is also advantageous if the driver additional assistance is provided, which tell how far he is away from the edge of the open space, i. how big his distance to an obstacle is. Further, it is advantageous to support the driver, for example, when parking by an active intervention in vehicle systems. In addition to parking assistance functions and systems, modern motor vehicles today include a large number of systems which also support the driver while driving. These include, for example, lane change assistants, adaptive cruise control systems, collision avoidance systems, etc. Many of these driver assistance systems include: rely on information about the environment of the motor vehicle. The required knowledge about the environment is decisively informed about which room areas are free of obstacles and in which areas of the room there are obstacles.

From the prior art, different measuring methods are known, by means of which free surfaces and obstacles in an environment of a motor vehicle can be determined.

Most methods are based on a signal propagation time measurement, which is used to determine a distance to an obstacle based on the signal propagation time. Widely used are measuring methods based on ultrasound signals.

Furthermore, methods are known with which an environment map of a vehicle is created. From the pamphlets DE44 08 328 A1 and DE 44 08 329 A1 For example, methods and an arrangement for constructing a cellular-structured environment map of a self-propelled mobile unit are known which are oriented by means of wave-reflection-based sensors. Here, a signal propagation time measurement is used for determining a distance from an obstacle in the environment of the mobile unit. The determined distance is used to increase an occupancy value in each case in cells, in a cellular environment map of the vehicle, which are located in the measuring environment area at the determined distance from the vehicle. Occupancy values of cells in the measured environmental area whose distance from the vehicle is less than the determined obstacle distance are reduced. The occupancy value of a cell is thus a measure of the probability that there is an obstacle in the space area corresponding to the cell.

From the publication US 5,006,988 A system is known for guiding an autonomous or semi-autonomous vehicle through a working area with obstacles to avoid. Individual areas of the work area are assigned cells of a map. The cells each include a value indicating a likelihood of an obstacle in the corresponding area. The individual cell values are used to calculate rejection vectors that are dependent on the corresponding probability of an obstacle. The sum of the repulsion vectors and an attraction vector affected by a target yields a resultant vector that defines a direction of travel of the vehicle.

From the US 6,163,252A a device for detecting obstacles for use in vehicles is known, which is able to detect obstacles in the environment inexpensively. The apparatus comprises signal processing means for detecting obstacles based on receive signals provided by a plurality of sensors. The signal processing device comprises a detection range setting device which divides an area around the vehicle into a plurality of detection areas. Presence awareness means is provided for determining a probability for the presence of an obstacle for the individual detection areas. Furthermore, a probability distribution device is provided in order to determine presence probability distributions for the areas and an obstacle recognition device is provided which recognizes the presence of objects in these areas on the basis of the presence probability distributions in the individual detection areas. For this purpose, the presence of an obstacle for an area is assumed if the values of the Presence probability distribution in a detection range is greater than a predetermined threshold for the probability distribution.

The DE 10 2004 007 553 A1 describes a detection device for a motor vehicle for detecting an obstacle in an environmental region of the motor vehicle with at least one first environment sensor unit. There, it is proposed to provide a first arithmetic unit for generating a first probability distribution for the presence of the obstacle in the environmental region detected by the first environmental sensor device, wherein the environmental region is divided into a predetermined number of fields and for each predetermined field a probability distribution value as a measure of the presence of the obstacle in the respective field.

From the DE 43 02 527 A1 For example, there is known an obstacle detecting apparatus disposed on a motor vehicle, which comprises an area determining section for setting a detection area extending in front of a running motor vehicle; For detecting an obstacle, an extracting section for dividing the area into a plurality of narrow sub-zones, a detection section for detecting an obstacle in each of the narrow sub-zones, a inference section for deriving a travel of the vehicle in the obstacle detection area, and a decision section for judging a degree of danger an obstacle provided in the detection area. The obstacle can be proved correctly, so that the motor vehicle can park on it and take appropriate measures to pass the obstacle.

From the DE 10 2004 047 121 A1 a method for operating adjustable sensors for obstacle detection by a motor vehicle is known, wherein the sensors by a rotation in each case a plane is detectable, wherein the adjustment of the sensors several levels are sequentially detectable, wherein the sensors are adjusted by a rotational movement, wherein certain operating conditions of the vehicle by an adjustment of the sensors in each case several levels are detected and wherein from the data thus obtained, a 3D image of the environment is determined.

From the DE 198 45 567 A1 Finally, a method for visualizing a rear space in a motor vehicle is known in which a view is made to the rear by means of a camera and displayed in the passenger compartment pictorially. In order to detect obstacles in this process while reversing, which are not directly on the vehicle, but may be expected in the driving path of the same, it is proposed that in the pictorial representation superimposed by means of auxiliary lines and auxiliary signs, a predictive path depending on the determined current steering angle is displayed or marked.

From the publication DE 103 10 214 A1 For example, a method for acquiring environmental information and a method for determining the location of a parking space are known. The method uses pulsed signals of certain frequencies that are sent out. The reflected signals from an object are received in a receiver. In a control unit, the distance of the object from the sensor is determined on the basis of the transit time of the reflected signals. Due to the superimposition of a plurality of measurements, a diagram is created which corresponds to an overlay of the plurality of measurements and, as a result, the position of the objects reflecting the rays with respect to the position of the sensor is closed. According to the invention, a source and a receiver form a sensor. In this case, the at least one sensor executes a movement of known speeds with respect to an observation area. Here, the frequency of the reflected signal is detected. From the frequency shift between the emitted and the received reflected signals, a direction angle for the reflecting object with respect to the direction of movement of the sensor is determined. From the distance and direction of the reflected object is then closed to its position.

The known systems are capable of detecting, at least rudimentarily, the surroundings of the vehicle. With increasing demand for expansion of the area to be monitored, particularly to provide information for driver assistance systems used at high driving speeds, such as adaptive cruise control systems and / or lane change assistants, etc., it is often not possible to fully interact with the entire environment of the vehicle to capture an arbitrarily high resolution. In particular, there is the problem that the sensors used for the measurement often either only detect a certain section of the vehicle environment or must be controlled so that they capture only a certain section or other sensors can not be used simultaneously with the one sensor because the signals used for the measurement may interfere with each other. This is the case, for example, in the case of many ultrasonic sensors which each work in the same frequency range or can not use the frequency information to discriminate signals from other sensor units. That would be true basically possible, but would drastically increase the cost of each sensor. Therefore, it is common in many motor vehicles that they have several arranged at different points of the motor vehicle ultrasonic sensors, but which can not be operated at the same time, as this ambiguous or implausible measurement results would be feared.

The invention is thus based on the problem of optimizing the surroundings detection of a motor vehicle such that an optimum and improved environment detection can be carried out for the corresponding driver assistance function for which the surroundings data are detected.

The technical problem is solved by an environment detecting device with the features of claim 1 and a Umweisfassungsverfahren with the features of claim 9. Advantageous embodiments of the invention will become apparent from the dependent claims.

For this purpose, it is provided in the case of a device mentioned at the outset that the surroundings detection system comprises a selection unit which can determine a selected spatial area of the environment via which information is preferably required, and a control unit is provided which is able to control the sensor system in such a way at least one measuring signal can be determined by means of the sensor system, which comprises information about the selected spatial area. Thus, a selected spatial region of the environment is selected over which information is preferably required, and the sensor system is controlled by means of a control unit in such a way that at least one measurement signal which includes information about the selected spatial region is determined by means of the sensor system. Thus, an information acquisition adapted to the respective information needs is carried out. It can thereby be achieved that, even with limited available measuring resources, which by limiting the detection range of an alignable sensor, a resource shortage due to interference in the measurement of multiple sensors or a limitation in the evaluation options of acquired measurement information, for example, in the evaluation of Information about the spatial area, over which a corresponding driver assistance system requires information, can be detected. As a result, the overall safety of the vehicle is increased, since it is ensured that the required information is preferably made available for the driver assistance functions. As a result, for the areas over which a driver assistance system preferably requires information, it ensures that these are actually available. Subordinately required information is thus also subordinated. This provides a more accurate and accurate indication of obstacles and open spaces in the space areas through which driver assistance systems require information to provide functions with high reliability, accuracy and precision. Likewise, a susceptibility to errors can be reduced, which results from the fact that over a certain area of space not sufficiently good information is available in order to be able to make a reliable statement about the existence of an obstacle. In particular, safety-relevant functions, such as an adaptive cruise control, can only be used if adequate information about the environment is known. Otherwise, the assistance function stops its service.

Since, especially at high speeds, the spatial area over which information is required rises sharply and information is therefore required at high speeds in larger distances of the motor vehicle, in a preferred embodiment of the invention it is provided that a prediction unit is provided for predicting a driving tube and the selected space range is selectable in dependence on the predicted driving route. The selection unit is thus coupled to the prediction unit in such a way that it can take account of the predicted travel route in order to determine over which area information about obstacles and open spaces is preferably needed. In this way, it can be ensured that, in the event of a shortage of resources, the surfaces in the driving tube are first monitored for the presence of objects and not an ambient area which is needed, for example, only for parking, but which is at a high speed in the immediate vicinity when the vehicle is moving Environment of the vehicle is unlikely. Thus, information for a driver assistance system, which will be executed only with a low probability or whose functions are executed only with a subordinate probability, also detected subordinate. For example, it is not necessary in a fast highway driving to detect the objects located on the side of the lane with a high resolution in order to detect possible parking spaces.

A preferred embodiment of the invention provides that the sensor system comprises at least one sensor which can be aligned via an actuator element and which can be aligned by means of the control unit in such a way that a measurement signal detected by the sensor supplies information about the selected region. Such an embodiment thus comprises at least one sensor whose measuring range is adjustable relative to the vehicle via the actuator element. The actuator element can be a mechanical actuator which aligns a measuring sensor or a part of the measuring sensor. Likewise, it is possible for the actuator element to be an active optical and / or electromagnetic and / or acoustic element, which accordingly has an optical signal, an electromagnetic signal in the broader sense and / or an acoustic signal with respect to an emitting direction and / or a receiving direction selectively influenced. In the case of an optically acting sensor, for example a laser emitting in the infrared range, in the visible range and / or in the ultraviolet range, a scanning direction can be preset and set, for example via a controllable mirror. Likewise, other optical elements are known which make an emitting and / or receiving direction of the sensor adjustable. Such elements are also known for acoustic sensors and / or for electromagnetic, for example, working in the radar, sensors. For example, spaced-apart receivers may be collectively operated to preferentially receive reflected signals from a predetermined direction. By means of such activation, targeted data acquisition over the selected area can be easily realized.

An embodiment of the invention has proven to be particularly advantageous in which the environment map can be stored in and stored in a memory, wherein the environment map comprises information about a spatial area that has a greater extent than the spatial area that can be detected by the sensor system. This makes it possible for driving assistance systems to use surroundings information about areas of space that are currently not directly detectable by the sensors of the vehicle.

If an absolute position can be assigned to the individual cells in the environment map, then this acquired information can also be used at a later point in time when the same spatial area is reentered in the surroundings of the vehicle. Therefore, it is preferably provided that data are added to the environment map, via which an absolute position of the spatial regions assigned to the cells in the environment map can be determined in a world coordinate system.

In order to be able to rely on environmental information that has already been acquired at an earlier point in time, it is advantageous if the environment map is configured such that at least one confidence value is associated with the cells, which indicates that the cell assigned to the cell, presence of an object in the corresponding space region indicating probability value is correct. Thus, for example, cells that have been detected at a greater time interval several times and / or, for example, with different sensors than occupied by an object can be provided with a high confidence value. Thus, for example, information in a frequently approached environment, for example in a living environment of a motor vehicle user, which characterize the stationary objects can be used in each case when starting a parking space in the living environment. For example, a coherent object, for example a wall, whose associated cells in the environment map have a high probability value and a high confidence value, since they are identified as occupied each time the living environment is approached, can be used as reliable information. Similarly, it is possible, in order to be able to respond to changes in the living environment, in addition to detect one or more selected measurement signals that capture information about single or multiple cells of such an object. If a high occupancy probability with an object is again determined for one or more of these cells, then it can be concluded that the room areas assigned to the remaining cells are still occupied and, for example, the wall is not torn off or cells that have a room area correspond, in which a tree grows, such a tree has not been felled. This ensures that the available measurement resources can be used meaningfully on the areas in the previously recorded environment in which changes occur regularly. This part of the environment can thus be examined with a higher resolution or with a higher redundancy in order to increase the confidence for the determined probability values. By improving the resolution in these selected areas, for example, a driver assistance system is increased in terms of its capabilities. A Einpärkassistenzsystem can be used, for example, to park and actively support the parking even with smaller parking spaces. If the dimensions of the parking space or of a free space in the surroundings of the vehicle can only be determined inaccurately, these objects, which define the parking space, must comply with greater safety distances than those bordering on a parking space and their dimensions measured with a higher resolution, precision and confidence are. Thus, it becomes possible, for example, to use an active driving assistance system even for small parking spaces that can not be used for an automatic parking operation with the same driving assistance system when the contours of the parking space limiting objects could only be determined with a coarse resolution.

In a preferred embodiment, it is provided that controlling the sensors comprises selecting one of a plurality of sensors. An environment of vehicles which, for example, have a plurality of measuring sensors of the same type distributed around an outer contour of the motor vehicle, whose measurements interfere with one another, can thus be oriented as planned to the information requirements Oriented.

An embodiment of the invention has proven to be particularly advantageous which comprises a warning unit which generates a warning and / or control signal when an approach of the vehicle or a vehicle part to a room area whose corresponding cell of the surroundings map has a probability value for a presence of an object above a threshold, is determined and / or such an approach to such a space area is possible. This makes it possible, for example, to pre-estimate, for example, determined prediction values already in the surroundings detection system in such a way that a warning is provided to the vehicle driver and / or control signals for individual vehicle systems in order to avoid a collision with an object in the surroundings.

For example, opening of doors and / or covers can be restricted and / or prevented by such a control signal. This is advantageous, for example, in the case of an automatic convertible top, the storage space cover of which, when opened, projects beyond a contour of the vehicle in the closed state. Likewise, in the event of an imminent collision, folding or folding in of an exterior mirror can be provided.

In general, the structure of an environment card offers the advantage that environmental sensors can be saved. For example, sensors that can detect the environment to the side of the vehicle, can be saved if these areas are detected before or when passing by sensors that detect the. Laterally ahead environment. Thus, it can be warned against a collision with a side of the motor vehicle when turning or before opening a side door when the side of the vehicle is an obstacle to whose existence the environment map indicates. In order to be able to avoid in particular accidents when turning, also information about a trailer can be included. This information can be included in the prediction of the driving tube and thus have an influence on the selection of the selection unit for the areas to be examined. The signals generated by the warning unit upon a detected or imminent approach to an obstacle may be used to propose or effect a steering intervention or a braking intervention and thereby avoid a collision during turning.

The features of the method according to the invention have the same advantages as the corresponding features of the surroundings detection system according to the invention.

• 1 eine schematische Darstellung zur Erläuterung der Ermittlung einer Umfeldkarte;
• 2 eine schematische Darstellung einer einem Sensor zugeordneten Wahrscheinlichkeitsverteilung;
• 3 eine weitere schematische Darstellung einer Wahrscheinlichkeitsverteilung, die einem weiteren, gerichteten Sensor zugeordnet ist; und
• 4 eine schematische Darstellung eines Kraftfahrzeugs mit einem Umfelderfassungssystem.

The invention will be explained in more detail with reference to a preferred embodiment. Hereby show:

• 1 a schematic representation for explaining the determination of an environment map;
• 2 a schematic representation of a sensor associated with a probability distribution;
• 3 a further schematic representation of a probability distribution, which is associated with another directional sensor; and
• 4 a schematic representation of a motor vehicle with an environment detection system.

In 1 is a section of a motor vehicle 1 by means of a contour 2 in his environment 3 shown. The surrounding 3 is in single square room areas 4 divided. The individual room areas 4 each cell is associated with an environment map (not shown). In the environment 3 of the motor vehicle 1 there is an object 5 , In the environment surrounding those areas 4 to determine the open spaces, and those areas of space 4 to determine where there is an obstacle, such as the object 5 , located, will be the environment 2 measured. The car 2 For this purpose, a sensor system that can comprise one or more sensors is included. At the in 1 illustrated embodiment includes the motor vehicle 1 a sensor 6 , This sensor 6 sends in a space sector an undirected sound signal. Part of the sound signals will be on the object 5 reflects and thus gets back to the sensor 6 , The time that elapses between the transmission of the signal and the reception of the reflected signal is a measure of a distance of the sensor 6 from the object 5 ,

The sensor 6 is assigned a probability distribution that is in 2 is shown schematically. An X-axis of the graph in 2 is parallel to a section 9 the contour of the motor vehicle 1 aligned. To this end, perpendicular to the space, there is a Y-axis 10 , A Z axis 11 indicates probability values. The sensor 6 is located at an origin at position X, Y = 0, 0.

The exact design of the probability distribution 7 depends on the measured transit time (and the sensor). This means that every sensor 6 a predetermined probability distribution is assigned as a function of the measured transit time. This also becomes square subsections with respect to the XY plane 12 divided. Subsections in one area 15 that is a distance from the origin 13 have approximately the determined distance r 14 equals, is in the probability distribution 7 each assigned a probability value greater than ½. Subsections in another area 16 whose subsections are at a distance from the origin 13 which is smaller than the determined distance r 14 is, a probability value less than ½ is assigned. Those subsections in another area 17 , each a greater distance from the origin 13 as the determined distance r 14 each have a probability value of ½ assigned.

When setting up the environment map, the probability values of the individual cells, which originally have a predetermined value, for example 0.5, are incremented or decremented or left unchanged, if the corresponding subsection corresponding to the cell 12 the probability distribution 7 has a probability value greater than 0.5 or less than 0.5 or 0.5. The absolute probability values selected here can be set arbitrarily. The decisive factor is that the probability value is incremented for one part of the cells and the probability value is decremented for another part of the cells, provided that a finite transit time has been determined during the associated transit time measurement, which points to an object in the detection range of the sensor. Incrementing and decrementing can be done by a simple addition or subtraction. Preferably, however, complicated fusing methods are chosen for the probability distribution determined from the measurement and the obstacle probability distribution represented by the probability values in the environment map. It should also be noted that usually the subsections of the probability distribution 7 spatially incompatible with the cells of the environment map. The determination for the subsections 12 the probability distribution 7 has been chosen here to describe the procedure in general. Obviously, it is also possible to use the cell structuring given by the environment map, the probability distribution 7 to divide. The person skilled in the art is familiar with various probability-theoretical methods for fusing the probability distribution determined by the measurement signal and the cell-based obstacle probability distribution of the environment map. An application of Bayes's theorem has proven to be particularly advantageous.

In 3 another probability distribution for a strongly directed measuring sensor is shown. Such a measuring sensor provides information only in a very small area of space. Such a probability distribution corresponds, for example, to a laser sensor measuring in the infrared range. Only the subsections of the probability distribution lying on a laser beam axis provide information about open spaces and objects in the surroundings of the motor vehicle. In contrast to most ultrasonic sensors, however, information about objects at a greater distance from the motor vehicle can usually be determined. In the illustrated embodiment, the coordinate system of the probability distribution is selected vehicle-fixed.

The laser sensor is displaceable relative to the x-axis 8 along the vehicle, that is aligned via an actuator element. Otherwise are in 3 technically identical features with identical reference numerals as in 2 Provided.

In 4 is schematically a motor vehicle 30 with an environment detection system 31 shown. The environment detection system 31 includes a sensor system 32 that have different sensors 33 - 35 includes. With the sensors 33 - 35 they may be different or identically configured sensors, for example ultrasonic sensors, camera systems, radar systems and / or laser-based systems, etc. The sensors 32 is with an evaluation unit 36 connected. This evaluates measurement signals. Here are the individual sensors 33 - 35 assigned probability distributions used to create a cellular environment map, as already explained above. The environment map is preferably in a memory 37 stored.

The environment detection system 31 further comprises a selection unit 38 , which is designed, room areas 39 ' in the environment 40 select over which preferred environment information is needed. The choice 38 can use information provided by driver assistance systems 41 the selection unit 38 to provide. This is the selection unit 38 preferably via a vehicle bus system 42 with the driver assistance systems 41 connected. Furthermore, the selection unit 38 with a prediction unit 43 linked, over which a driving tube of the motor vehicle 30 is predicted. The prediction unit 43 also uses via the vehicle data bus system 42 provided data from other vehicle systems 44 , at an embodiment of the invention takes the Auswahteinheit 38 Reference to the environment map itself to check over what space areas 39 of the environment 40 not enough information is available.

A selection of the room areas 39 ' can be done as follows. For every sensor 33 - 35 the sensor 32 is determined over which areas (which areas 39 ) of the environment 40 a measurement of these sensors 33 - 35 Could provide information. This can be done with a sensor 33 - 35 different measurements can be performed, which are to be considered separately, if they concern different spatial areas, a different resolution, etc. For each of the possible measurements or areas, a value is determined based on the environment map how well the information about this area (or the areas covered thereby 39 ) are already from more advanced measurements, how likely is a use of the information by a driver assistance system, etc .. Furthermore, the expected information gain is determined for each area. From the expected information gain and the value over the already existing information, a score is determined about an expected information gain for each possible measurement. That measurement that receives the highest rating is executed. That is, the space (s) 39 detected by this measurement will become the selected space (s) 39 '.

The selected room areas 39 ' become a control unit 45 provided, in turn, the sensors 32 or the individual sensors 33 - 35 the sensor 32 controls. In this case, the activation follows such that a measurement signal is supplied by the sensor system that surround information about the selected room area or the selected room areas 39 ' provides. The driving may be, for example, selecting one of a plurality of sensors 33 - 35 encompass the different spatial areas in the environment 40 of the motor vehicle 30 but can not be used at the same time as they interfere with their measurement, for example because they emit the same or similar measurement signals. The driving can also be done so that one of the sensors, such as the sensor 35 , which is designed as a laser sensor and comprises an actuator element, is aligned with respect to the selected space area. The actuator element may, for example, be any controllable optical element which is capable of influencing the laser radiation in its direction. In sensor systems that operate on other principles, the actuator element may be designed differently. In a laser system, the actuator element can also be designed as a mechanical element which aligns the entire laser sensor. In order to enable usability of the detected environment information also at a later time, in the illustrated embodiment is a position determination unit 47 provided, which is designed for example as a satellite navigation system. It is also possible that only the information of a satellite navigation system, which is otherwise separate from the surroundings detection system 31 is designed to be used. This information is added to the environment map so that the individual cells of the environment map is an absolute position in a world coordinate system or a spatially fixed coordinate system can be assigned. In addition, it may be provided that the evaluation unit 38 when merging the probability values of the measurement signals into the obstacle probability mapped in the environment map, information that enables a determination of a confidence value, ie a reliability, for the individual probability values in the individual cells is integrated. For example, one or more timing information may be associated with the individual cells indicating an increment or decrement time of the cell's probability value. It is also possible to provide counters for the cells indicating a frequency of incrementing and decrementing. A large difference in the number of increments versus the decrements or vice versa is a measure of a high confidence of the corresponding probability value. In this case, many different embodiments are possible in order to assign a confidence value to the individual probability values in the environment map. The confidence values can be determined by the evaluation unit 38 used to be considered when selecting the space areas.

A warning unit 48 is provided to evaluate information of the environment map and the motor vehicle. The warning unit 48 generates a warning and / or control signal when an approximation of at least a portion of the motor vehicle or an associated item, such as a trailer, to an obstacle is detected or possible. One possible approach is, for example, when the motor vehicle comes to a stop close to an obstacle and a collision with the obstacle could occur when a door is opened. In such a case, a warning can be generated via the warning signal or an opening of the door can be prevented by means of a control signal. It is also possible to restrict only one opening area (swivel area) of the door in order to prevent a collision.

The ones in the store 37 in the form of an environment map stored information about the environment 40 become the driver assistance systems 41 and or other vehicle systems 44 made accessible.

The individual units described, in particular the evaluation unit, the selection unit, the prediction unit, the warning unit and the control unit can be embodied completely or partially in hardware as well as in software. These executed units can be designed in particular in a common control unit with a central processing unit. It is also possible to implement the individual units in a networked system in different control units of the motor vehicle.

The described embodiment merely describes an example of an embodiment of a preferred surround detection system.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

contour

3

environment

4

space area

5

object

6

sensor

7

probability distribution

8th

X axis

9

Section of the contour of the motor vehicle

10

Y-axis

11

Z-axis

12

Subsections

13

origin

14

Distance r

15

area

16

other area

17

another area

30

motor vehicle

31

Environmental detection system

32

sensors

33-35

sensors

36

evaluation

37

Storage

38

selector

39

room areas

39 '

selected room areas

40

environment

41

Driving assistance systems

42

vehicle bus

43

prediction

44

vehicle systems

45

control unit

46

actuator

47

Position determining unit

48

warning unit

Claims (16)

Surrounding detection system (31) of a motor vehicle (1; 30) having a sensor system (32) for acquiring measuring signals which contain information about objects (5; 49) in the surroundings (2; 40) (2; 40) of the motor vehicle (1; 30) supply, an evaluation unit (36), which fuses the information of the measurement signals by means of a probability method in a cell environment map, each cell is associated with at least one probability value, which is a measure of a presence of one of the objects (5; 49) in the Cell surrounding area (4; 39) of the environment (2; 40), wherein the surroundings detection system (31) comprises a selection unit (38), wherein the selection unit (38) is adapted to select a selected space area (39 ') of the environment (39; 2, 40), via which preferred information is required, and a control unit (45) which is set up to control the sensor system (32) in such a way that at least one measuring signal is determined by means of the sensor system (32) ar is that information about the selected space area (4; 39 '), so that even with limited available measurement resources, an information acquisition adapted to the respective information needs ensues, characterized in that the selection unit (38) is further configured to refer to the environment map itself in order to check which ones Room areas (39) of the environment (40) are not sufficient information, and to select the space areas (39) on this basis. Surround detection system (31) according to Claim 1 , characterized in that a prediction unit (43) is provided for predicting a driving route, and the selected space area (39 ') is selected as a function of the predicted driving route. Umfeldfässungssystem (31) after Claim 1 or 2 , characterized in that the sensor system (32) at least one via an actuator element (46) alignable sensor (35), which is alignable by means of the control unit (45) so that a by means of the sensor (35) detected measurement signal provides information about the selected area (39 '). Surrounding detection system (31) according to one of the preceding claims, characterized in that the environment map in a memory (37) is stored and retrievable therefrom, wherein the environment map a greater extent than the means of the sensor (32) directly detectable space area (4 ) having. Umfeld detection system (31) according to any one of the preceding claims, characterized in that the environment map data are added, via which an absolute position of the cells in the environment map in a world coordinate system or a spatially fixed coordinate system can be determined. An environment sensing system (31) according to any one of the preceding claims, characterized in that controlling the sensor (32) comprises selecting one of a plurality of sensors (33-35). Environment detection system (31) according to any one of the preceding claims, characterized in that the environment map is designed so that the cells at least one confidence value is assigned, which indicates a measure that the cell associated with a presence of an object (5; 49) in The probability value indicative of the corresponding space area (4; 39) is correct. An environment detection system (31) according to one of the preceding claims, characterized in that a warning unit (48) generates a warning and / or control signal when an approach of the vehicle (1; 30) or of a vehicle part to a space area (4; 39), whose corresponding cell of the environment map has a probability value for a presence of an object (5; 49) above a threshold value, is determined and / or such an approach to such a spatial area (4; 39) is possible. Surroundings detection method of a motor vehicle (1; 30), comprising the following steps: detecting measurement signals which provide information about objects (5; 49) in the environment (2; 40) of the motor vehicle (1: 30) by means of a sensor system (32), Evaluating the measurement signals by means of an evaluation unit (36) in such a way that, using a probability method, information of the measurement signals is fused into an environment map comprising cells, wherein each cell is assigned at least one probability value which is a measure of a presence of one of the objects (5; 49) in the cell area (4; 39) corresponding to the environment (2; 40) of the motor vehicle, wherein a selected space area (39 ') of the environment (2; 40) is selected over which information is preferably required and by means of a control unit (45), the sensor system (32) is controlled so that at least one measurement signal is determined by means of the sensor system (32), the information over the selected space area (39 '), so that even with limited available measurement resources, an information acquisition adapted to the respective information needs takes place, characterized in that by means of the selection unit (38) reference is made to the environment map itself in order to check which spatial regions (39) of the environment (40) do not have sufficient information, and the spatial regions (39) are selected on this basis. Umfeldfassungsverfahren according to Claim 9 , characterized in that by means of a prediction unit (43) a driving route is predicted and the selected space area (39 ') is selected as a function of the predicted driving route. Umfeldfassungsverfahren according to Claim 9 or 10 , characterized in that the sensor system (32) comprises at least one alignable via an actuator sensor, which is aligned by the control unit (45) so that by means of the sensor, a measurement signal is detected, which provides information about the selected area (39). Umfeldfassungsverfahren according to one of Claims 9 to 11 , characterized in that the environment map is stored in a memory (37) and / or retrieved therefrom, wherein the environment map has a, greater extent than the spatial area (4; 39) directly detectable by means of the sensor system (32). Umfelderfassurigsverfahren after one of Claims 9 to 12 , characterized in that the environment map data are added, via which an absolute position of the cells in the environment map in a world coordinate system or a spatially fixed coordinate system can be determined. Umfeldfassungsverfahren according to one of Claims 9 to 13 , characterized in that when selecting the sensor (32) one of a plurality of sensors (33-35) is selected. Umfeldfassungsverfahren according to one of Claims 9 to 14 characterized in that the environment map is configured to associate with the cells at least one confidence value indicative of the fact that the cell associated with the presence of an object (5; 49) in the corresponding spatial domain (4; 39) is correct. Umfeldfassungsverfahren according to one of Claims 9 to 15 , characterized in that by means of a warning unit (48) a warning and / or control signal is generated when an approach of the vehicle or a vehicle part to a space area (4; 39), the corresponding cell of the environment map a probability value for a presence of an object (5; 49) above a threshold value, is determined and / or determined that such an approach to such a space area (4; 39) is possible.

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