CN107590768A - Method for being handled the position for means of transport and/or the sensing data in direction - Google Patents
Method for being handled the position for means of transport and/or the sensing data in direction Download PDFInfo
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- 230000032258 transport Effects 0.000 description 147
- 230000006870 function Effects 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
Abstract
The present invention relates to one kind to be used for for means of transport（100）Position and/or direction the method that is handled of sensing data, wherein at least detect first sensor as first sensor data（111、112、113、114、115）Sensing data, and detect second sensor as second sensor data（111、112、113、114、115）Sensing data, wherein determine the first attitude information from the first sensor data, first attitude information is described in the means of transport with reference to described in the moment（100）Position and/or direction, and the second attitude information is wherein determined from the second sensor data, second attitude information is described in the means of transport with reference to described in the moment（100）Position and/or direction.
Description
Technical field
It is used for what the position for means of transport and/or the sensing data in direction were handled the present invention relates to a kind of
A kind of method and for a kind of computing unit for implementing methods described and computer program.
Background technology
Traveling assist in functions for means of transport, as such as track keeps assisting, spacing governing speed control, automatically
For longitudinal drive etc., survey can be passed through by means of sensor, as such as picture pick-up device, radar instrument, laser radar instrument etc.
Amount technology detects to the environment of the means of transport.Can be to the sensing data that is detected accordingly with the sensor
Tested and assessed and means of transport is driven on the basis of these sensing datas tested and assessed and implement to intervene, such as method
It is：Correspondingly manipulate the actuator of the means of transport.During so-called autonomous forward travel, means of transport is not having
Itself is automatically controlled in the case of the intervention for having driver.It is similar with traveling assist in functions, pass through the haulagman herein
Tool come automatically to multiple means of transport functions, such as turn to, brake, driving etc. be controlled.
Importantly, sensor number for such traveling assist in functions and for autonomous forward travel
It is complete according to --- drive and intervene to means of transport on the basis of the sensing data ---（integer）, use
In preventing for the occupant of means of transport or the harm of other traffic participant and for the means of transport and in addition
Means of transport damage.Enough data integrities（The degree of belief of data message）It is necessary, for can be to haulagman
Tool drives the intervention of active with high safety.
The data integrity includes different integrality species, especially correct content（In the presence of this integrity kind
Class, if correctly describing the truth of real world）, not modified state（In the presence of this integrity species, if unchangeably
Deliver message and program and process are carried out as intended）With the identification for change（In the presence of this integrity species, such as
Fruit at least identifies the undesirable change that can not be prevented from）.
Such as disclosed from the A1 of DE 10 2,012 215 343 it is a kind of be used for implement means of transport security function, ratio
Such as the method for brake hard assistance or assistance of giving way.To be data transfer necessary to the implementation security function to the fortune
In the control unit of defeated instrument, and the described control unit data transmitted according to these produce control signal.Herein with
It is temporal to be spaced repeatedly to implement diagnostic test, checked with the diagnostic test：It is used to implement at one or more
With the presence or absence of interference in the electrical system of methods described, electronic system and/or the system that can program, the interference may be to described
The implementation of security function produces deleterious effect.For this purpose, the metadata of data is transferred in described control unit, it is described
Metadata includes the information on system for carrying out the method.The data are obtained in the case where using these information
At least one reliability values, the reliability values particularly depend on the possibility for occurring disturbing.According to described at least one
Individual reliability values check：It is whether reliable enough for implementation of the data transmitted for the security function.
The content of the invention
According to the present invention, propose it is a kind of with independent patent claim it is feature, for for means of transport
The method that the sensing data in position and/or direction is handled and a kind of computing unit and one for implementing methods described
Kind computer program.Favourable design is dependent claims and the theme of description below.
The means of transport can be advantageously configured as land conveying tools, be especially configured to motor vehicle, hybrid electric vehicle
Either electric car, passenger vehicle or commercial car, for example it is configured to passenger car, truck, motorcycle, bus, train
Etc..Also it can be considered that, the means of transport is configured to the vehicle away from fixed road operation, for example is configured to cross-country
Car（Multi-functional all-wheel-drive vehicle（Unimog）, duck, snow cart etc.）、ATV（All-terrain vehicle, such as miniature cross-country
Car（Quad））Or crawler type snow vehicle.Especially described means of transport can also be configured to aerial transportation or fortune waterborne
Defeated instrument, for example it is configured to aircraft, helicopter, ship, water borne motorboat etc..The means of transport can be driven by means of transport
Driver controls or also can be the means of transport of nobody remote control, such as unmanned plane person in other words.
In the range of methods described, the sensor number of first sensor is at least detected as first sensor data
According to, and detect the sensing data of second sensor as second sensor data.From the first sensor data
Determine the first attitude information（Poseinformation）, first attitude information, which describes, is referring to haulagman described in the moment
The position and/or direction of tool.Similarly, the second attitude information, second posture are determined from the second sensor data
Information is equally described in the position and/or direction of the means of transport with reference to described in the moment.The attitude information is thus especially
Correspondingly describe：Which it is in the means of transport with reference to described in the moment relative to reference frame on specific position simultaneously
And/or which kind of specific direction person is in.
In the range of methods described, thus especially in time and in position to the sensor number of different sensors
According to being calibrated, that is to say, that it is placed in the situation on temporal and position, or spatially and in time
It is defined into fixed grid（Raster）The inside.Different sensing datas is thus, it is possible to compare and can be typically
And convictively it is compared each other.Ensured by the calibration on position：The sensor is at least in part to identical
Region be monitored and thus detect the sensing data in identical region.Thus, it is possible to realize the sensing data
First is overlapping.In addition, calibration on passage time ensures：This common region is had by the sensor in identical
Detected at the time of body.It is achieved in the another overlapping of the sensing data.
Calibration on passage time, enable in particular to obtain the temporal integrality of the sensing data.Enable in particular to
To sending（It is optical）At the time of information information is detected with by corresponding sensor（Optical-electronic is changed）At the time of between first
Time interval compensates.In addition, enable in particular to the excitation to sensor and the generation of corresponding electric signal（Physics-electricity conversion）
Between the second time interval and the corresponding signal run time of this signal compensate.
Advantageously provided now according to the attitude information or sensor number it is different, how to use institute
State the feasible program that information continues processing.
According to a kind of preferable improvement project, by the first attitude information and the second attitude information from different sensors
Be compared each other, and determine from this comparison the first sensor data and second sensor data integrality or
Person's data integrity.Self-evident, the sensing data that can will be greater than two sensors is compared and can be true each other
The integrality of fixed multiple sensing datas.
Thus, it is possible to examine the sensing data.It is desirable that the means of transport, by from different
The attitude information of sensor should be identical come the position described or direction and reflect the reality of the means of transport
Position or direction.Thus, the attitude information from different sensors is accurately consistent, corresponding sensing
The data integrity of device data is higher.For determining that the feasible program of the integrality is based on the institute in the sensing data
Comprising information degree of overlapping determination.If different sensors identifies identical degree of overlapping over time and space, also
It is if corresponding sensing data is in time and overlapping in position, then these data, which just possess, to be improved
Integrity degree.
For example corresponding integrality numerical value is can determine, the integrality numeric ratio is if in 0（Difference）With 1（It is good）Between
Or between 0% and 100%.Threshold value can be defined, wherein the sensing data be assessed as it is sufficiently complete, if described
Integrality numerical value is not reaching to this threshold value.Thus enable in particular to inaccurate " sensor " data（Such as neutral net,
The output data of Kalman filter, other statistical detected data etc.）Cover within integrality determination.
In addition, it can readily recognize to the means of transport, especially means of transport is driven by methods described
Attack.Means of transport driving is weighed and is influenceed during attack in order to obtain employing for the means of transport, attacker must
Successfully data must be added in the means of transport, the data can be with the sensor number that is detected by the sensor
According to consistent and can be examined with these sensing datas.It is thus necessary to imitate different sensors in each tool by attacker
The information detected at the time of body.Otherwise, it can be one may immediately notice by the comparison of the sensing data, not be to be related to really
Sensing data but be related to attack.But almost exclude：Attacker can accurately imitate each specific at the time of described
Sensing data, thus attack are nearly impossible.
Preferred to the integrality is determined, in addition in view of the first sensor and/or first number of second sensor
According to." metadata " refers in particular to following information in this respect, and described information describes：Corresponding sensor can be with which kind of quality
Or precision by e measurement technology come detection sensor data, and/or can by the means of transport or one control
The device processed sensing data that either its a plurality of controller is detected with which kind of quality or precision to these is tested and assessed.Such as
These metadata can be determined in the manufacturing process or development process of each sensor, method is：Accurately to the biography
Sensor measures.Than if during these metadata are stored in into the sensor in the fabrication process in itself and by described
Sensor is especially notified to corresponding computing unit, and the computing unit determines the integrality in the range of methods described.This
A little metadata can also obtain during product validation as special characteristic parameter.
For example the metadata can describe the fault rate of the sensor, diagnosis coverage（Diagnostic
Coverage DC）And/or measure and its efficiency of bus run time or other realized control failures.It is such as described
Metadata can also describe possibility, such as occur disturbing either failure, as for example hardware fault as caused by system or
The possibility of software fault.It is preferred that the integrality numerical value of the first sensor data and second sensor data can be according to this
A little metadata determine, especially in accordance with it is such, for the possibility that breaks down or disturb and/or according to so
Fault rate determine.
In order to carry out detailed explanation to such metadata, herein with reference to open file DE 10 2,012 215 343
A1.Such as produced for the example of possible failure and corresponding fault rate in the paragraph [0030] of the disclosure.In addition,
Determined on metadata, as such as fault rate, diagnosis coverage, corresponding possibility and on the metadata according to
Explaining in detail for the integrality numerical value of data is especially elucidated in this part of open file in paragraph [0010] in [0040],
Herein comprehensively with reference to the paragraph.
According to a kind of advantageous embodiment, by first attitude information and/or second attitude information and environment
Information is compared, and the environmental information describes the environment in the means of transport with reference to described in the moment.From this comparison
It is preferred that determine the integrality of the first sensor data or second sensor data.Especially thus, it is possible to assess：The biography
Sensor data have more position and environment for reliably describing the means of transport.
For example the environmental information can describe following roads, the means of transport is at the reference moment in the road
Upper motion.Such environmental information ratio is if from the map datum of the navigation system of the means of transport or from internet
In either by wireless data connection or also obtained from other means of transports.
Than if being determined from the sensing data in the environment with reference to the moment relative to the means of transport
Reference point position.Thus it is not only previously given with reference to the moment but also previously given reference point spatially or with reference to space
Point（Significant point in the environment of especially described means of transport）, the sensing data can be with described with reference to moment and sky
Between on reference point or related with reference to spatial point.The sensing data is thus, it is possible to as described above advantageously
It is placed in the situation on specific temporal and position, or spatially and on the time is defined into fixed grid
The inside.Thus the sensing data becomes able to compare, is representative and convincing.
Effectively sensor can be examined particularly by navigation data, so as to can be in the means of transport
It is not dependent on realizing high integrality in the case of other sensing systems.By the comparison of the infrastructure information with safety,
The feelings of current environmental condition, such as current means of transport speed, air pressure, weather condition etc. can be not dependent on
Effectively the sensing data is examined under condition.Such different environmental condition is if necessary due to the sensor
The measuring principle of physics and the sensing data may be influenceed.
As the first attitude information and/or the second attitude information, preferably determine the means of transport relative to the environment
Reference point spacing.This reference point advantageously can be learnt from environmental information.Than if selecting in the environment notable
, the point that can clearly distinguish, as such as bridge, bridge pier, intersection, T-shaped intersection, trees, driveway mark etc.
Deng.
If such as environment before the means of transport is detected by means of sensor, that just can be in such sensing
Corresponding reference point is such as distinguished in the corresponding photo of device by means of object identification program, and between can correspondingly calculating
Away from.Thus, it is possible to be assessed by means of the specific reference point of environment：The sensor can have how accurately and reliably true
The position of the fixed means of transport and environment.
Current situation, such as current weather condition can be automatically considered particularly by this mode, for
Determine the integrality.If such as due to rain, mist, snow etc. and there is difference sight situation, then this point is with regard to automatic
Ground is identified in the range of methods described.If in such poor sight situation such as by it is optical, especially transport
The sensor of instrument itself（Such as picture pick-up device, radar instrument, laser radar instrument）It can not identify before the means of transport
Reference point at 100 meters（As such as bridge）And thus corresponding spacing can not be defined as attitude information, that is just by described in
It is unreliable that sensing data is correspondingly classified as.If for example driveway mark is selected as reference point and if uses optics
, the sensor of especially vehicle itself can only be identified before the means of transport due to the sight situation of difference between 50 meters
Driveway mark away within, then it is unreliable similarly can be evaluated as the sensing data.
As the first attitude information and/or the second attitude information, the position of the means of transport in a coordinate system is preferably determined
Put and/or direction.The coordinate system can be absolute coordinate system, such as world coordinate system herein, or such as relative to
In environment as origin it is reference point, with temporally variable coordinate system.
By means of relative to reference to the moment（As temporal reference）Coordinate system（As reference spatially）, it is described
Sensing data enable in particular to be placed in as described above spatially and in temporal situation or in space
It is defined into above and in time inside fixed grid.
It is preferred that it is described with reference to the moment by the data run of the first sensor data and/or second sensor data when
Between determine.For different sensors, the data run time different, that sensor is exclusive can be applicable（When
Prolong）.That is, the time of different length may be continued for different sensors, until to measured sensor
Data are tested and assessed and determined the information that can correspondingly be utilized." such data run time " especially should in this respect
Refer to the time interval between the first moment and the second moment, wherein advantageously detecting corresponding sensor at this first moment
Data.At first moment, especially encourage（Optical-electronic is changed or physics-electricity conversion）Corresponding sensor, such as because
To produce voltage pulse or current impulse in the sensor.During the time interval, by these sensing datas
Send computing unit to, such as send controller to by bus system and it is tested and assessed.At this second moment,
Advantageously the sensing data is tested and assessed and especially determines corresponding attitude information.
The data run time is such as likely to be dependent on bus run time or depending on data transmission period, herein
Need the data transmission period, for by by the sensor data transmission that sensor is detected into corresponding computing unit,
For example be transferred in controller, the computing unit is tested and assessed to the sensing data.In addition, the data run time
Be likely to be dependent on following run times, for example the program that is performed in the computing unit needs the run time, for pair
The sensing data is tested and assessed and determines corresponding information.
Therefore, for it is different it is sensor, at the sensing data that the moment of identical first is detected simultaneously for,
The second different moment there may be the information tested and assessed accordingly in the computing unit., can be right by methods described
These different data run times of different sensors compensate.Thus it is not to obtained by the moment of identical second
Attitude information be compared each other because these attitude informations perhaps based at the first different moment by corresponding sensor
The sensing data detected.In other words, following attitude informations are compared each other, the attitude information describes described
Means of transport refers to the position/orientation at moment in identical.
It is described with reference to the moment be particularly likely in past, such as at least in it is current at the time of before time interval at,
Maximum data run time of the time interval equivalent to the sensor compared.Thus, it is possible to different sensors
The data run time compensates, and can ensure：Only the sensing data by synchronization is compared each other, the synchronization
Sensing data can to it is common temporal related with reference to the moment.
Also it can be considered that, the reference moment is preferably in the future.Especially for this purpose can be from the sensing data
The position or direction in the middle future as the extrapolated means of transport of attitude information.By believing for these corresponding postures
The comparison of breath, thus, it is possible to assess：Can be had by means of the sensing data and reliably predict inciting somebody to action for the means of transport more
The position and permission come are driven with much degree on the basis of the position that this is extrapolated to means of transport implements to intervene.
Thus methods described provides feasible program, can typically assess：How complete the sensing data detected have.
Especially thus, it is possible to assess：There can be the actual position for being accurately determined the means of transport more by the sensor.Root
According to identified integrality, enable in particular to assess：The sensing data whether sufficiently complete, for means of transport function.
Therefore methods described is particularly suitable for travelling assist in functions（For example track keeps assistance, the control of spacing governing speed, automatically indulged
To driving etc.）And be especially advantageously adapted to the autonomous forward travel of the means of transport, it is described it is autonomous before
Independently self is controlled the means of transport especially in the case of the intervention of no means of transport driver during entering motion
System.
Advantageously implemented automatically to be driven to means of transport according to the first sensor data and second sensor data
Intervention.Particularly preferably this intervention is implemented during autonomous forward travel.Also it can be considered that, the intervention is advantageously
Implemented by driver assistance function.Such as the first sensor data and second sensor data are tested and assessed and after
Continuous processing, for producing input data, determined on the basis of the input data being driven for means of transport or corresponding
The manipulation data for actuator intervention.Than if by means of the sensor during autonomous forward travel
The environment of the means of transport, the specific region before especially described means of transport are detected by e measurement technology.To institute
State corresponding sensing data to be tested and assessed, for than if identification road, road edge, driveway mark and other friendship
Logical participant.In addition, advantageously determine the means of transport relative to such object of environment in this assessment process
Relative position and spacing.Come advantageously to drive means of transport accordingly（Turn to, brake, driving etc.）Implement automatically to intervene,
For making the means of transport safety in road（It is land/waterborne/aerial）Relative to other traffic participants between safety
Away from motion.Thus the means of transport can safely move in every kind of arbitrary or even strange infrastructure.
High safety criterion is applicable herein, because corresponding automatically must not intervene and endanger by what is driven for means of transport
The occupant of the evil means of transport and other traffic participants, building etc..By for the complete of the sensing data
The assessment of whole property can ensure：Safely and it is reliably carried out automatically dry especially during autonomous forward travel
In advance, without jeopardizing occupant and other traffic participant and without the damage means of transport or other haulagman
Tool or environment.Enable in particular to by methods described according to standard ISO 26262 safety standard or according to determining wherein
The automotive safety integrity level of justice（Automotive Safety Integrity Level：ASIL）It is automatically dry to implement
In advance.It is furthermore possible in the sense that product liability confirm correct function.
Advantageously determined according to the identified integrality of the first sensor data and second sensor data：With
Great degree drives the cause implemented automatically intervention, the means of transport is especially influenceed with much degree on means of transport
Dynamic device.Thus, it is possible to carry out the assessment of differentiation and can determine：During autonomous forward travel or performing
Allow to drive means of transport with much degree during traveling assist in functions and intervene.
The sensing data is more complete, allows for carrying out this intervention with bigger degree.Than if definition is different
Threshold value, if wherein identified integrality numerical value reaches one of these threshold values, correspondingly reduce and intervene intensity.Such as
It can be considered that for it is described intervention intensity continuous adjustment, if by the integrality numerical value being especially defined between 0 and 1 with
Corresponding intensity of intervening is multiplied.By the dynamic reduced, risk is significantly decreased in the case where possible intervention by mistake be present.
For the small integrality of the sensing data, do not allow correspondingly or only allow weaker to fortune
Defeated instrument, which drives, is intervened, for example only allows relatively low maximal rate, does not take unexpected steering strategy or braking plan
Slightly, but only very gently longitudinal drive and transverse driving are corrected.
Automatically move slowly and carefully the means of transport when sight situation is poor in journey.
For example the current speed of the means of transport can be also reduced, for realizing potential damage when there is accident
The reduction of degree.Than that if travel speed to be reduced to maximum 20km/h numerical value, can not possibly be produced for the numerical value
The injury being in peril of one's life.It is further possible to realized by the speed reduced：Being capable of the more numbers of per time unit's collection
According to because being improved for the time interval Jing Guo specific distance.Especially thus, it is possible to collect more accurately and more
Add reliable data.Thus also there are more times for used in the verification for the sensing data.
Preferably as autonomous intervention as being driven to means of transport, according to the first sensor data and root
Come according to the second sensor data to the longitudinal drive and/or transverse driving of the means of transport and/or to braking simultaneously
And/or person implements to intervene to driving.In order to during autonomous traveling or during traveling assist in functions is performed
Safely and non-hazardous implement such intervention, it is of particular importance that the sensor can accurately and reliably
Determine the current position of the means of transport and current surrounding environment.
According to a kind of preferable improvement project, by the other attitude information from other sensors and first posture
Information and the second attitude information are compared.Advantageously determine have and the first sensor data and the from this comparison
Two sensing datas compare the sensing data for the data integrity being improved.Pass through preferred to data integrity is improved
The sensing data of the sensor is implemented to decide by vote（So-called " ballot "）.Especially check herein：At least certain number of biography
Either whether its attitude information is consistent or substantially consistent for sensor data.These consistent sensing datas especially have
There is the data integrity being improved compared with the first sensor data and second sensor data.
Than if implementation is described by so-called 3 to take 2 votings（" 3 take 2 ballots ", " 2oo3 "）, during the voting,
At least two sensing datas in three sensing datas must be consistent.Also 100 votings for taking 70 can be implemented（" 100 take
70 ballots ", " 70oo100 "）, during the voting, in 100 sensing datas at least 70 sensing datas must
Must be consistent.Thus, it is possible to the high admissible error for realizing the sensing data and high reliability.Such as can will not yet
Accurate sensing data, the sensing data with the different data run time or the sensor number by noise jamming
According to being added in the voting.
Such as also it can be considered that implementing voting for actuator, especially if different control units or function is only to two
Either actuator system has an impact, such as to for the first of front axle or the wheel braking of rear axle to be activated vertical actuator
Device system and the second actuator system have an impact or it is such as independent to two, with two independent windings pair in motor
Form construction actuating system have an impact.On the basis of the integrality, can advantageously it decide by vote：Which control unit
Or function has an impact to the actuator.
If the means of transport include with multiple sensors security architecture, then also it can be considered that, it is multiple from this
Specific sensor is especially selected in sensor, the sensing data of the specific sensor is compared each other.Such as
Following sensors can be selected, the sensor is under the conditions of current environmental condition and/or forward travel（Good sight feelings
The sight situation of condition-difference, quick forward travel-slow forward travel, highway driving-local road traveling-city
Traveling, bright-dim etc.）It is optimally adapted to detect the sensing data on corresponding attitude information.Each sensor
It can be used to be examined such as orientation sensor and other sensors.Enable in particular to select in the process of running each
Sensor and it can change among different sensors in the process of running.
First sensor and/or second sensor are preferably configured as sensor or the haulagman of means of transport itself respectively
Sensor outside tool." sensor of means of transport itself " refers to a kind of sensor in this respect, and the sensor is the fortune
The part of defeated instrument, such as internal picture pick-up device, radar instrument, laser radar instrument, GPS instrument, navigation system, steering angle pass
Sensor, wheel speed sensor, acceleration transducer, slewing rate sensor, inertial sensor etc..Especially such fortune
The sensing data of the defeated instrument sensor of itself is natively detected in the normal running of the means of transport.Borrow
Help such acceleration transducer, enable in particular to determine the longitudinal acceleration and/or transverse acceleration of the means of transport.Borrow
Yaw speed, rolling rate and/or the pitch rate of the means of transport can advantageously be determined by helping slewing rate sensor.
" sensor outside means of transport " refers to a kind of sensor in this respect, and the sensor is not the haulagman
The part of tool, for example be outside picture pick-up device, radar instrument, laser radar instrument etc..Outside such means of transport
Sensor arrangement is in the outside of the means of transport and is especially regularly installed in other means of transports or is pacified
In the environment of the means of transport, such as it is installed on road, is installed in the tranquil region of traffic or is pacified
It is monitored in parking area or stacking area, and to the part of this environment or the environment.
It is advantageously the first sensor data and is respectively provided with computing unit for the second sensor data
Interface, the computing unit is especially configured to the controller of the means of transport.The first sensor data and described
Two sensing datas are read in and handled by respective interface by the computing unit.It is preferred that the sensing data is complete
Property is determined by the computing unit.It is preferred that metadata described above equally passes through respective interface by the computing unit
To read in.
These interfaces are advantageously able to be configured to conclusive（deterministisch）Interface, or the interface
Conclusive scanning is preferably able to accomplished." conclusive interface " refers to a kind of interface in this respect, by means of the interface
Being capable of fatefully transmission sensor data between sensor and the computing unit.Particular by such conclusive
Interface can ensure：Being capable of transmission sensor data in real time.Pass through such decisive mechanism（Stable fixation in time
Framework, when the sensing data is for used in the calculator）, the compensation for the data run time can be made to become to hold
Easily, because enabling in particular to allow detected sensing data, the sensing data tested and assessed or institute specific at the time of really
Fixed attitude information, maximum data run time and guaranteed presence.
Enable in particular to be set up in program technic by the controller of the computing unit of the present invention, such as described means of transport
For implementing in the present inventive method.
Realize that the scheme of methods described is favourable in the form of a computer program, because this caused cost is special
It is low, especially if the controller of execution is additionally operable to other task and therefore natively existed.It is suitable to be used to provide institute
State the data medium of computer program especially magnetic storage, optical memory and electrical storage, as such as hard disk, flash memory,
EEPROM, DVD and similar more memories.Also computer network can be passed through（Internet, Intranet etc.）To download journey
Sequence.
The additional advantage and design of the present invention produces from specification and drawings.
Brief description of the drawings
The present invention is schematically depicted in the drawings by means of embodiment and is described with reference to the accompanying drawings.Accompanying drawing
In：
Fig. 1 schematically shows a kind of means of transport, and the means of transport is configured for implementing one in the present inventive method
Kind preferred embodiment；
Fig. 2 schematically shows the control unit of means of transport, and the control unit is configured for implementing the side by the present invention
A kind of preferred embodiment of method；
Fig. 3 schematically shows a kind of means of transport on road, and the means of transport is configured for implementing by this hair
A kind of preferred embodiment of bright method；And
Fig. 4 equally schematically shows a kind of means of transport on the road, the means of transport be configured for implementing by
A kind of preferred embodiment of the method for the present invention.
Embodiment
A kind of means of transport 100 is schematically shown in Fig. 1, and the means of transport is such as configured to passenger car.Institute
Stating means of transport 100 has multiple sensors, such as picture pick-up device 111 and radar instrument 112, being capable of phase by means of the sensor
Ground is answered to detect environment or region before the means of transport 100 by e measurement technology.
In addition, means of transport 100 has speed probe 113, for detecting the means of transport by e measurement technology
100 vehicle wheel rotational speed.The current steering angle of the means of transport 100 can be detected by means of steering angle sensor 114, and
Yaw angle, roll angle and the angle of pitch of the means of transport 100 can be detected by means of inertial sensor 115（It is namely square
To）.
In addition, the means of transport 100 includes multiple actuators, such as the brake to the means of transport 100
The horse that brake actuator 121, the rotating speed for the motor to the means of transport 100 or the power manipulated is controlled
Up to actuator 122（Such as fuel distributing system）And steering angle actuator 123, the steering angle actuator are described for changing
The steering angle of means of transport 100 and longitudinal drive or transverse driving for thus influenceing the means of transport 100.
Self-evident, the means of transport 100 can also have other sensor and actuator and other element,
The sensor and actuator and element are for concise reason without clearly showing.
Sensor 111,112,113,114,115 and actuator 121,122,123 pass through the logical of the means of transport 100
Letter system, such as it is connected by bus system, especially CAN with controller 130.In addition navigation system 140 is provided with, this is led
Boat system is connected again by the bus system with the controller 130.
The controller 130 is especially configured for：Form as the autonomous forward travel of the means of transport 100
To implement autonomous traveling.During the autonomous traveling, the means of transport 100 independently passes through the controller
130 are controlled, and driver need not be intervened as means of transport operator.For this purpose, the controller 130 read in by
These sensing datas are tested and assessed by the sensing data that the sensor 111,112,113,114,115 is detected, and
The manipulation data for the actuator 121,122,123 are determined therefrom that, for being controlled according to the sensing data detected
The means of transport 100.
For such autonomous traveling importantly, the sensing data be it is complete or accurate and
Reliably, for preventing the harm for occupant and other traffic participant.Therefore, the controller 130 is especially in program
Technically it is configured for implementing a kind of preferred embodiment in the present inventive method.
The controller 130 is schematically shown in fig. 2.As can be found out in fig. 2, the controller phase
Ground is answered to pass through（It is especially single）Interface 211,212,213,214 or 215 and each sensor 111,112,113,114 or
Person 115 is connected.But multiple sensors can also pass through identical（It is especially serial）Interface, such as LIN, SENT or
Person SPI is connected with the controller.It is corresponding by these interfaces 211,212,213,214 or 215, the controller 130
Read in the sensing data detected by corresponding sensor 111,112,113,114 or 115 in ground.
In addition, metadata is correspondingly saved in single or all the sensors 111,112,113,114,115, it is described
Metadata describes：Corresponding sensor can with which kind of quality or precision by e measurement technology come detection sensor number
According to.For example these metadata can describe the fault rate and diagnosis coverage of corresponding sensor（Diagnostic Coverage
DC）.
Pass through the interface（n）211st, 212,213,214 or 215, the controller 130 correspondingly especially equally from
Corresponding sensor 111,112,113,114 or 115 reads in these metadata.
As described by below by way of Fig. 3, in the logic unit 220 of the controller 130, according to these biographies
Sensor data and these metadata determine during a kind of preferred embodiment described in performing in the present inventive method
The integrality of the sensing data.
Fig. 1 means of transport 100 is schematically shown in figure 3.Figure 1 illustrates element（Sensor, actuator
Etc.）It is not explicitly shown for simplicity in figure 3.
The means of transport 100 moves on road 300 on track 310 herein.The track 310 passes through intermediate strap
321 and the driveway mark 322 of side limit.In shown example, the means of transport 100 moves towards bridge 330.
The inertia system 341 of the means of transport 100 can be advantageously defined herein, transported described in the inertia system
Defeated instrument 100 does not move.This inertia system 341 is consolidated with the means of transport 100 relative to the position of the road 300 herein
The speed of fixed coordinate system 342 is moved, and the coordinate system that the position is fixed is used as reference frame.
Exemplarily to explain below：How in a kind of preferable embodiment party described in execution in the present inventive method
The integrality of the sensing data of the picture pick-up device 111 and radar 112 is determined during formula.
Environment before the means of transport 100 is especially continuously logical by means of the picture pick-up device 111 and radar 112
E measurement technology is crossed to detect, thus is caused with the picture pick-up device 111 and with the radar 112 before the means of transport
The image of environment is especially continuous.The picture pick-up device 111 detects the image as first sensor data herein（Also claimed below
For picture pick-up device data）, and the radar 112 detects the corresponding, photo as second sensor data（Also claimed below
For radar data）.
Corresponding image or sensing data and the metadata are by the picture pick-up device 111 and the radar
112 are transferred to the controller 130 by corresponding interface 211 or 212.
The sensing data is tested and assessed in the controller 130.Here, from these first sensor data and
The first attitude information or the second attitude information are correspondingly determined in second sensor data, the attitude information correspondingly describes
The position of the means of transport 100.
Because by the picture pick-up device 111 and the radar 112 continuously detection sensor data, also advantageously connect
Corresponding attitude information is determined continuously.But the picture pick-up device data and the radar data possess different data runs
Time, that is, the time of different length may be continued, until finally from the picture pick-up device data detected specific at the time of
With corresponding first attitude information or the second attitude information are determined in radar data.
Therefore, the picture pick-up device data and radar data are calibrated in time or makes it with referring to moment phase
Close.For this purpose, the controller 130 correspondingly determines the means of transport from the picture pick-up device data and radar data
Position specific at the time of, it is particularly in at the time of described specific.In order to be compensated to the data run time,
Enable in particular to determine by the data run time at the time of this is specific.Such as this it is specific at the time of be likely to be at work as
0.5 second before at the time of preceding.
In addition, the picture pick-up device data and radar data are calibrated in position or make itself and ginseng spatially
Examination point is related.It is preferred that being capable of the significant point of Environment for this purpose, the significant point easily can especially be taken the photograph with described
Distinguished as equipment 111 and the radar 112.The means of transport 100 can be used as phase relative to the spacing of this reference point
The attitude information answered preferably determines from the picture pick-up device data and radar data.
For example environmental information can be obtained by the navigation system 140, the environmental information describes the haulagman
The environment of tool, the region of the road 300 before especially described means of transport.Such environmental information can be for example as map
Data are stored in the navigation system 140.On the basis of these environmental informations, corresponding reference point can be selected.
Center of the specific point of selection bridge 330, such as bridge pier or the like body is as a reference point in this example.
In order to be used as corresponding attitude information from the picture pick-up device data and radar data to determine the haulagman
Tool 100 can implement object identification, for being set in the shooting relative to the spacing of this reference point by the controller 130
Standby 111 and radar 112 image in bridge pier or the like body is identified as specific point.If by the object identification come
The bridge pier or the like body is identified, then determines the fortune from the first sensor data and second sensor data
Defeated instrument 100 relative to the bridge pier or the like body spacing.
In a word, thus believed by the controller 130 from the picture pick-up device data being continuously detected as the first posture
Cease to determine the means of transport 100 in 0.5s（As with reference to the moment）Before relative to the bridge pier or class of the bridge 330
Like object（Reference point as space）Spacing.Similarly, this is determined from the radar data as the second attitude information
Kind spacing.
Determined by the controller from these first attitude informations and the second attitude information and corresponding metadata
Whole property numerical value, the integrality numeric ratio is if between 0 and 1.
In addition, the controller 130 determines according to this integrality numerical value：Can be with during autonomous traveling
Much degree means of transport is driven intervened and it is possible thereby to much degree manipulate the actuator 121,122,
123.Such as this purpose can be by for the manipulation numerical value of the actuator 121,122,123 and identified integrality numerical value
It is multiplied.
For example if the picture pick-up device is faulty and can not accurately detect before the means of transport 100
Environment and the bridge pier or class that can only can not be partially or even identified the bridge 330 by means of image recognition at all
Like object, then thus just by corresponding sensing data be classified as it is unreliable and only allow for means of transport drive into
The very weak intervention of row.
Thus also advantageously automatically the sight situation of difference can be made a response during autonomous traveling.If
The bridge pier of the bridge 330 or the like body is due to mist and by means of image recognition None- identified, then equally only allows
Driven for the means of transport and carry out very weak intervention.
Such as also it can be considered that, by the use of other sensing data to the picture pick-up device 111 and radar 112, be used as
One sensing data and the photo of second sensor data are examined, and according to a kind of preferable embodiment party of methods described
Formula determines the corresponding integrality of these sensing datas.Exemplarily to explain below：How to be pressed described in execution
Determine that the picture pick-up device 111, radar 112, steering angle pass during a kind of preferred embodiment of the method for the present invention
The integrality of the sensing data of sensor 114 and inertial sensor 115.
The steering angle of the means of transport is in this as 3rd sensor data by means of the steering angle sensor 114
Detection.Roll angle, yaw angle and the angle of pitch of the means of transport are as the 4th sensing data by means of the inertia sensing
Device 115 detects.As environmental information, can be obtained in such an embodiment by the navigator 140 from map datum
The coordinate system 342 that the position of the road 300 is fixed.
By the test and appraisal for the sensing data, it can determine the means of transport 100 relative to the road 300
Direction.Thus, it is possible to preferably correspondingly be determined from the first, second, third and fourth sensing data in reference
Carve, namely in inertia system 341 of 0.5 second foregoing description means of transport in the means of transport 100 relative to the road
The relative position for the coordinate system 342 that 300 position is fixed, the relative position are used as corresponding first, second, third and fourth
Attitude information.Reference point of the coordinate system 342 that the position is fixed thus as space works, and described describe above
It is specific at the time of as being worked with reference to the moment.
By the controller 130 from these first, second, third and fourth attitude informations and corresponding metadata really
The fixed integrality numerical value and the intensity of actuator manipulation.
By the comparison for the attitude information and the determination for the integrality numerical value, can equally prevent：Attack
The person of hitting obtains employing power and intervening means of transport driving for the means of transport 100.Attacker must try to number
According to being added in the means of transport 100, the data are accurately described the sensor 111,112,114 and 115 and detected
Content, and this is almost left out.
The autonomous row is safely implemented to a kind of how to be advantageously on methods described below by way of Fig. 4
The embodiment for making to contribute is sailed to explain.Figure 4 illustrates the means of transport 100 similar with Fig. 3.Here, the transport
Instrument 100 moves on road 400 or on corresponding track 410 as the crow flies during autonomous traveling.
In order to the means of transport 100 during autonomous traveling safely on the road 400 and at it
Moved on track 410 and without departing from its track, than if defining safety area, accompanying drawing is used in the safety area in Fig. 4
Mark 421,422 and 423 represents.
The nominal region of permission is such as defined the area that represents with 421, in this region the means of transport
100 should move for the traveling of safety on the track 410.The area 423 is prohibited area, the means of transport
100 must not move in the prohibited area during autonomous traveling.
It is admissible region with 422 areas represented（Toleranzbereich）, the means of transport 100 is also in its track
Moved on 410 in the admissible region, but close to driveway limitation or intermediate strap and thus especially close to described
Prohibited area 423.If the means of transport 100 is moved in one of these admissible regions 422, in the mistake of autonomous traveling
Control is correspondingly reversed in journey, is moved to for making the means of transport 100 in the region 421 of nominal permission.
For example such area can be by standard and safety criterion, such as be required by ISO 26262.By for
The method for determining the integrality of sensing data, it can ensure：The sensing data of the means of transport 100 be it is reliable and
The means of transport 100 safely moves in the region 421 of permission, wherein by means of the sensing data in autonomous row
The road is detected by e measurement technology during sailing.
Claims (17)
1. for for means of transport（100）Position and/or direction the method that is handled of sensing data,
Wherein at least first sensor is detected as first sensor data（111、112、113、114、115）Sensor number
According to, and it is used as second sensor data to detect second sensor（111、112、113、114、115）Sensing data,
The first attitude information is wherein determined from the first sensor data, first attitude information is described in reference
Carve the means of transport（100）Position and/or direction, and wherein determine the second posture from the second sensor data
Information, second attitude information are described in the means of transport with reference to described in the moment（100）Position and/or direction.
2. the method as described in claim 1, wherein first attitude information and second attitude information are carried out each other
Compare, and the integrality of the first sensor data and the second sensor data is wherein determined from the comparison.
3. the method as described in claim 2, wherein by first attitude information and/or second attitude information and environment
Information is compared, and the environmental information is described in the means of transport with reference to described in the moment（100）Environment（300）, and
And the integrality of the first sensor data or second sensor data is wherein determined from the comparison.
4. the method as described in Claims 2 or 3, wherein in order to determine the integrality, in addition in view of the described first sensing
Device（111、112、113、114、115）And/or the second sensor（111、112、113、114、115）Metadata.
5. the method as any one of preceding claims, wherein as the first attitude information and/or the second attitude information
To determine the means of transport（100）Relative to the environment（300）Reference point（330）Spacing.
6. the method as described in claim 5, wherein determining the fortune as the first attitude information and/or the second attitude information
Defeated instrument（100）In coordinate system（341、342）In position and/or direction.
7. the method as any one of preceding claims, wherein described pass through the first sensor data with reference to the moment
And/or data run time of the second sensor data determines.
8. the method as any one of preceding claims, wherein according to the first sensor data and according to described
Second sensor data, which to drive the means of transport, to be implemented automatically to intervene.
9. as claim 8 at least referring back to the method described in claim 2, wherein according to the first sensor data and
The identified integralities of the second sensor data determines：The means of transport is driven with much degree and implemented automatically
Intervention.
10. the method as described in claim 8 or 9, wherein as the automatic intervention driven to the means of transport, according to institute
State first sensor data and according to the second sensor data come to the means of transport（100）Longitudinal drive and/
Or transverse driving and/or to braking and/or to driving implement intervene.
11. the method as any one of preceding claims, wherein by the other attitude information from other sensors
Implement compared with first attitude information and the second attitude information, and by the sensing data of the sensor
Voting.
12. the method as any one of preceding claims, the first sensor is the sensor of means of transport itself
Sensor either outside means of transport, and/or wherein described second sensor is the sensor of means of transport itself
Sensor either outside means of transport.
13. the method as any one of preceding claims, wherein the first sensor and/or the second sensor
It is respectively configured to steering angle sensor（112）And/or wheel speed sensor（113）And/or acceleration transducer and/or rotation
Rate sensor and/or inertial sensor（115）And/or picture pick-up device（111）And/or radar instrument（112）And/or laser radar
Instrument.
14. the method as any one of preceding claims, wherein for the first sensor data and being described
Two sensing datas are respectively provided with computing unit（130）An interface（211、212、213、214、215）, wherein described
One sensing data and the second sensor data are by the computing unit（130）Pass through respective interface（211、212、
213、214、215）To read in and handle.
15. computing unit（130）, the computing unit is configured for：Implement as any one of preceding claims
Method.
16. computer program, the computer program is at it in computing unit（130）Promote the computing unit during upper execution
（130）Implement the method as any one of claim 1 to 14.
17. machine readable storage medium, the machine readable storage medium have stored thereon by claim 6
Described computer program.
Applications Claiming Priority (2)
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| DE102016212326.2 | 2016-07-06 | ||
| DE102016212326.2A DE102016212326A1 (en) | 2016-07-06 | 2016-07-06 | Method for processing sensor data for a position and / or orientation of a vehicle |
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| CN107590768B CN107590768B (en) | 2024-01-30 |
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| CN113302452A (en) * | 2019-01-16 | 2021-08-24 | 罗伯特·博世有限公司 | Method for providing an integrity range for parameter estimation |
| CN110083150A (en) * | 2019-01-21 | 2019-08-02 | 苏州乐轩科技有限公司 | Robot and robot control method |
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| DE102016212326A1 (en) | 2018-01-11 |
| CN107590768B (en) | 2024-01-30 |
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