DE102004010197B4 - Method for checking the function of a position-finding or environment detection device of a vehicle or for controlling a digital map - Google Patents

Abstract

Method for checking the operability of an environment detection device (20, 26) arranged on or in a vehicle (10) for detecting positions of objects (12, 14, 16, 18) in an environment of the vehicle (10), wherein the environment detection device (20 , 26) an image acquisition device (20) for acquiring distance images of at least a portion of the surroundings of the vehicle (10) and a device (26) for recognizing and / or tracking objects which comprise objects (12, 14 , 16, 18) on the basis of distance images acquired by the image capture device (20), wherein in the process - at least one distance image is detected by the image capture device (20) and detected by the object recognition and / or tracking device (26). at least one object detected using the distance image and data at least with respect to the distance and the position of this Objek ts - a current position of the vehicle (10) is determined by means of a position determining device (22), depending on the detected position of the vehicle (10) in a digital map (24) a section of the surroundings of the position of the vehicle ( 10), and the data determined from the distance images are compared with corresponding data from the section of the digital map (24) with respect to the distance and the position of the at least one detected object, whereby if no one is found in the section of the digital map digital map (24) recorded object (14, 16, 18) corresponding object in the respective distance image, a position of the object (14, 16, 18) comprehensive angle sector of a field of view of the image capture device (20) is determined, is checked in successive distance images whether objects are detected in this angle sector, and in the case that there are no objects in the angle sector although, according to the digital map (24), at least one further object corresponding to an object (14, 16, 18) recorded in the section of the digital map (24) should be detectable, an error signal is formed which constitutes a malfunction of the image capture device ( 20).

Description

The present invention relates to a method for checking the operability of an environment detection device arranged on or in a vehicle for determining positions of objects in an environment of the vehicle. Furthermore, the invention relates to a corresponding device for mounting on or in a vehicle with a position determining device for determining a position of the vehicle, an environment detection device for determining positions of objects in an environment of the vehicle and a digital map.

Vehicles are increasingly being equipped with navigation systems that enable a driver of such vehicles, among other things, to determine his position. In particular, the position may be used in conjunction with a digital map to guide the driver to a predetermined destination. In addition, a digital map may contain information about the surroundings of the current position of the vehicle, which may relate to items listed on the card, which may include buildings such as buildings, tunnels or walls within the scope of the invention.

Independently of this, vehicles can be equipped with environmental detection devices which capture by means of suitable image acquisition devices images of the surroundings of the vehicle, which can then be used, for example, to detect and / or track objects detected corresponding to objects. The resulting information about the environment of the vehicle can be used, for example, for driver assistance systems. A driver assistance system can serve, for example, to detect the danger of possible collisions with objects in the surroundings of the vehicle and, if appropriate, to issue appropriate warning signals or to intervene in the vehicle control, for example the brake system.

The prerequisite for a meaningful use of these facilities, however, is that they function reliably.

So revealed the US 6,185,496 B1 a method and apparatus according to the preamble of the independent claims, in which distances to curves are determined by both an image capture device and a position determination device. If the determined distances differ too much, an error signal is output.

The present invention has for its object to provide a method for controlling the operability of an arranged on or in a vehicle environment detection device for determining positions of objects in an environment of the vehicle and a device for mounting on or in a vehicle with a position detection device, an environment detection device and create a digital map whose functionality is easy to control.

The object is achieved by a method having the features of claim 1.

The object is further achieved by a device having the features of claim 20.

In the method according to the invention, the position detection device and the environment detection device are used, which are both arranged on and / or in the same vehicle. Furthermore, the digital map is used, which is preferably also arranged on or in the vehicle.

The position detecting device is used to detect a position of the vehicle. In principle, any position determining devices can be used. In particular, the position determination device can initially only detect its own position, which then takes into account the position of the position determination device or a position-relevant part of the position determination device relative to the vehicle for determining a position of a reference point of the vehicle, for example a geometric center or the center of gravity of the vehicle, can be used. The position preferably refers to an earth-fixed coordinate system, hereinafter also referred to as world coordinate system, which allows an absolute determination of the location of the vehicle.

Furthermore, the digital card is used, which may be a device with a memory in which, depending on position data information or corresponding data on Properties of the corresponding location, for example, there existing buildings and / or roads and / or traffic signs and / or other stationary objects and / or roadways and preferably also road markings can be stored. In particular, a replaceable data carrier, such as a CD or a DVD, may serve as memory, but other non-volatile memories may also be used. The device can furthermore have means for reading out the data from the memory as a function of position data supplied to the device.

The environment detection device serves to detect at least a portion of an environment of the vehicle. For this purpose, it has the image capture device for acquiring distance images of at least a portion of the surroundings of the vehicle. The image capture device can in particular have a sensor for electromagnetic radiation, by means of which distance images of a detection or visual range of the sensor can be detected. A distance image of a sensor for detecting electromagnetic radiation, which is frequently also referred to as a depth-resolved image or distance image, is understood to mean a set of distance image points acquired during a scan of the detection range of the sensor, to which points or, depending on the resolution of the sensor, also areas of a corresponding to the object detected by the sensor or the surface of the object. The distance pixels, which are also referred to below as pixels for the sake of simplicity, comprise at least coordinates of the position of the associated object points or regions for defining a position of these object points or regions at least in a surface, preferably a plane which is not is oriented orthogonal to a viewing direction of the sensor. From the coordinates, in particular the distance of the object points or areas from the sensor can be determined. Depending on the sensor, regions of the coverage area in which no objects are present can nevertheless be assigned distance image points, which can then be identified accordingly. Preferably, the coordinates may be given in a polar coordinate system or a Cartesian coordinate system.

As sensors for electromagnetic radiation, for example, corresponding radar sensors can be used. Preferably, however, sensors are used which operate in the infrared or visible spectral range.

To determine the positions of objects from the distance images, the environment detection device has the object recognition and / or tracking device. On the basis of distance images acquired by the image acquisition device, the latter determines at least the position of objects which correspond to objects which were detected by the image acquisition device and are reproduced accordingly in the distance images. By means of this device, by evaluating at least one distance image, distance image points can be combined to form objects which correspond to objects detected by the image detection device. Methods for recognizing and / or tracking objects on the basis of distance images are known in principle. An example of such a method is in the series Progress Reports, Subject area: Traffic Engineering / Automotive Engineering, Volume 438 published dissertation by Kirchner, Alexander entitled "Sensor data processing of a laser scanner for autonomous driving functions of motor vehicles," Hamburg, 2000, ISBN 3-18-343812-7, ISSN 0178-9449, the contents of which are hereby incorporated by reference. Further, a description of such a method can be found in the publication by Fürstenberg, K. Ch. Et al., "Pedestrian Recognition and Tracking of Vehicles using a Vehicle Based Multilayer Laser Scanner", Proceedings of ITS 2003, 10 ^th World Congress on Intelligent Transport Systems , November 2003, Madrid, Spain, the contents of which are hereby incorporated by reference into the specification.

The position of objects can basically be given relative to the vehicle or relative to an earth-fixed coordinate system. It comprises at least information about the position of a reference point of the object, for example a geometric center of gravity. In addition, however, a position specification may also contain orientation information indicating an orientation of an object or object relative to a predefined reference axis, for example a longitudinal axis of the vehicle.

For performing the object recognition and / or tracking, in particular a data processing device can be used, which is connected to the image capture device and programmed to carry out the object recognition and / or tracking process.

To check the function, it is utilized that, on the one hand, data on stationary objects with the positions and possibly also dimensions of the objects are stored in the digital map. Within the scope of the invention, as mentioned above, objects such as buildings, bridges, walls or tunnels, other fixedly anchored bodies, such as, for example, guide posts, are used in the context of the invention. Lamp posts or other piles and trees, and / or road and / or lane markings understood. The positions are specified in an earth-fixed coordinate system.

On the other hand, objects that correspond to detected objects can be assigned a relative position to the image capture device or to the vehicle. Using the position of the vehicle determined with the position determining device, data relating to at least one object, in particular its position, can then be compared with data from a section of the digital map which reproduces a section of the surroundings of the vehicle or the position of the vehicle in particular at least partially comprises the detection range of the sensor used by the image capture device.

In this case, position or position data from the digital map can be transformed into a coordinate system using the position determined by means of the position determination device, in which the positions of the objects are indicated. However, it is also possible to transform the positions of the objects as a function of the determined position of the vehicle in a coordinate system of the digital map.

In the case of a faultless digital map, error-free position determination and error-free detection of objects in the surroundings of the vehicle, no deviation between the corresponding data within specified tolerances or measuring accuracies of these devices shall occur. In the method according to the invention, therefore, a predetermined error criterion with respect to deviations of the data from each other is checked and depending on whether the criterion is met, generates a corresponding error signal and output.

To carry out these steps, the function control device is provided in the device according to the invention, which may be given in particular by an appropriately programmed processor used in the context of object recognition and / or tracking, the corresponding via hardware and / or software interfaces with the digital card , the environment detection device and the position detection device is connected. However, a separate device connected to the digital map, the environment detection device, and the position detection device may also be used.

In this way, by the comparison according to the invention of data from distance images with data from a digital map, a functional test of the environmental detection device, for which only small additional resources are necessary.

In order to specify a cause of a malfunction more precisely, if an object corresponding to an object recorded in the section of the digital map is not found, an angular sector of a viewing area of the image capturing device is determined, wherein in successive distance images it is checked whether objects are present in this angular sector be determined. In the event that no objects are detected in the angle sector, although according to the digital map at least one object corresponding to an object recorded in the section of the digital map should be detectable, an error signal is formed which indicates a malfunction of the image acquisition device.

Such a test is particularly suitable for laser scanners that use a panned laser beam bundle for distance measurement. If a transparent cover, through which the laser beam is emitted, is contaminated in a certain angle sector, the laser scanner can become "blind" in this angle sector, so that no distance pixels can be detected any more. By checking whether repeatedly detectable objects in the same angle sector are not detected, contamination can be reliably detected. Preferably, this check is used in conjunction with occlusion detection to ensure that objects or objects corresponding to them do not obscure an item recorded in the card.

In particular, the method according to the invention can be carried out in parallel to the normal work of said devices, so that the control of the functionality can be performed permanently during operation.

The error signal formed can be used to inform the driver about the malfunction or to trigger a suitable reaction of a driver assistance system directly or by means of a corresponding warning device.

In the invention, any image capture device may be used to acquire distance images. For example, stereoscopic cameras can be used with at least two video cameras, by means of which distance images can be generated in a known manner from synchronously recorded video images on the basis of the relative arrangement of the video cameras to each other and the imaging properties of these video cameras. However, it is preferred as an embodiment that the image capture device comprises a laser scanner. In this case, a laser scanner is understood in particular to mean a device in which distance image points are determined by emitting a laser pulse and determining its transit time from the sensor to a surface point or region on an object and back to the sensor. Particularly preferred is a laser scanner is used, which scans its detection area with at least one pulsed radiation beam in a scan, which sweeps over a predetermined angular range, preferably with a pivoting movement, and the reflected from a point or area of an object radiation pulses of the radiation beam detected. The scan data acquired for a distance pixel may then include as coordinates the angle at which the reflected pulse was detected and the distance of the object point or range from the laser scanner determined from the transit time of the pulse. The electromagnetic radiation may in particular be visible or preferably infrared light.

In order to enable a simple and as accurate as possible determination of the position of the vehicle, it is preferred in a method according to the invention that a position determining device is used which comprises a receiver of a satellite-supported position detection system. In the device according to the invention, it is preferred that the position-determining device has a receiver of a satellite-supported position detection system. Such satellite-based position detection systems are, for example, the GPS (Global Positioning System) or the planned position detection system GALILEO of the European Union. The position of the receiver essentially detects the position of an antenna which receives the signals from the satellites of the system. In addition to normal receivers, differentially operating receivers can also be used, which in the case of the GPS are also referred to as DGPS receivers. The position detection system may in particular be coupled to vehicle sensors that provide data about the movement of the vehicle. For example, data such as steering angle and / or wheel revolutions and / or yaw rates can be detected. Since satellite-based position detection systems often emit signals only in a fixed time sequence, but not continuously and thus the position can be detected accurately only at the appropriate times, this vehicle motion data can be used in particular to estimate position data at times between the receipt of two signals.

In the method according to the invention, data relating to moving objects can also be compared with data from a corresponding section of the digital map. For example, from a position or a trajectory of a moving object, which may correspond to a vehicle on a road, for example, data relating to the position of the road or a lane can be determined, which can be compared with corresponding data of the digital map. However, in order to enable a quick and / or accurate comparison, it is preferable that the comparison is made only for objects corresponding to stationary objects. It is exploited that in a digital map usually stationary more than movable or stationary objects are listed. Particular preference is given to object classification and / or tracking a classification of the objects is carried out, for example, in the pedestrians in distance images similar appearing firmly connected to the earth and therefore small or narrow stationary objects, such as traffic lights or street lighting masts are distinguished. This facilitates the selection of objects. The detection of stationary objects can be carried out in particular solely on the basis of distance images. A method for determining such stationary objects on the basis of distance images is described in Fürstenberg, Kay Ch. Et al .: "Laser Scanner Innovations for Detection of Obstacles and Road", Proceedings of AMAA 2003, 7th International Conference on Advanced Microsystems for Automotive Applications, May 2003, Berlin, Germany (published in Valldorf, Jürgen; Gessner, Wolfgang (Eds.): "Advanced Microsystems Automotive Applications 2003", in the series VDI book, 2003, ISBN: 3-540-00597-8, pages 223 -247) and the German patent application filed on November 11, 2002 DE 102 52 323 A1 the assignee, the content of which is hereby incorporated by reference into the description.

In order to be able to carry out a comparison with the section of the digital map more quickly, it is preferred that in the comparison only those objects recorded in the digital map are taken into account, which fulfill a predetermined selection criterion. In this way, data relating to items that are not suitable for comparison with captured distance frames due to their location or shape need not be taken into account in the comparison. The selection criterion may be, for example, the Extent of objects whose contour or their type refer. For example, only objects that serve as lane boundaries or are in principle set up on the edge of lanes such as, for example, guide posts, street lights or traffic lights need to be used for the comparison. Furthermore, it can be used as a selection criterion whether the objects can be detected by the image capture device at all and, for example, are not covered by other objects.

By way of example, the detail of the map can be selected so that it fully encompasses the portion of the surroundings of the vehicle detectable by the environment detection device or the detection area of a sensor of the environment detection device. However, this can cause problems when objects in the detection area in the space image obscure other objects. It is therefore preferable that at least one area in the cutout of the digital map is detected which is not visible in the distance images by occlusion, and that data from this area are not taken into account in the comparison. The data may relate in particular to existing objects in the area. In this way, not only is the amount of data to be considered in a comparison reduced, but also misadjustments of objects to objects in the digital map are avoided, which may not be visible in and therefore detectable in a current distance image due to obscuration.

In order to speed up the comparison, it is further preferred that, prior to the comparison, an association is carried out between at least one object and an object used for the comparison, which is recorded in the digital map. With this step it can be achieved that data relating to an object, in particular the position of the object, are compared only with data relating to an object from the digital map which actually corresponds to this object. This significantly increases the security of a malfunction detection. The assignment can be carried out in different ways. Thus, it is possible to search again for objects of a certain predetermined shape, size or even object class or corresponding objects in each distance image, in which case empirical knowledge of typical arrangements of objects can also be used in particular. However, if object tracking is carried out, an existing assignment can also be continued for recognized objects if no contradictions occur. Only for newly recognized objects a new assignment has to be carried out. In particular, an identification or assignment of a new object to a corresponding object of the digital map can take place, taking into account the recognized objects and their positions, which can simplify the assignment and increase their security.

However, the assignment can also be made solely on the basis of the relative arrangements of the objects and corresponding objects to each other.

In the comparison of data relating to an object with data from the section of the digital map, for example, from the location data for an object that corresponds to a vehicle, data relating to the location of lane or lane markings are derived, which then with corresponding Data can be compared from the cutout of the map. However, such indirect action may involve relatively large errors for the purpose of functional testing. It is therefore preferred that a position of at least one item recorded in the digital map is compared with the determined position of the object. Preferably, this comparison is made for objects and objects that are associated with each other. Depending on whether a detected deviation meets a predetermined error criterion, then a corresponding error signal can be output. The layers may be the layers in a reference frame moved with the vehicle or layers in a fixed earth reference system.

To be able to compare the distance images with the corresponding sections of the digital map as simply as possible, the orientation or position is preferably a reference direction used by the environment detection device, for example a direction parallel to the longitudinal axis of the vehicle, to a corresponding reference direction of the digital Map, for example, geographically north, known. The orientation can be determined, for example, by means of a compass or by moving the vehicle by means of the position determining device. Alternatively, it is preferred that a trajectory of the vehicle is determined using the position detection device and / or the environment detection device, and that the trajectory is compared with lane courses in a digital map. In order to achieve the highest possible accuracy, it is preferred that the positions of at least two objects or object regions of the digital map listed in the section of the digital map and the positions of the objects or object regions corresponding to these objects or object regions are determined such that a rotation angle is determined by the determined by means of the digital map layers relative to the corresponding determined from a distance image layers rotated and that this rotation angle is used for determining the orientation of a reference direction in the digital map relative to a reference direction in a distance image. Thus, instead of two objects, it is also possible to use only one object, by which at least two different areas are detected and used separately. In particular, an entire contour of an object may be used. With this embodiment of the method according to the invention, the orientation of the vehicle can be determined with high accuracy, which is not necessarily possible with a position determining device. If the orientation of the distance image relative to the digital map or the reference direction of the digital map is known, a linear displacement between the layers of objects in the digital map and corresponding objects due to errors of the position detection device can be detected with greater certainty and more accurately. If, in addition, a proper movement of the vehicle is determined by means of the environment detection device, the determination of the intrinsic motion of the vehicle and thus a partial function of the environment detection device can be checked on the basis of the determined rotation angle.

When comparing the section of the map with the distance image or the positions of objects, the case may arise that an object recorded in the map can not be found. It is therefore provided that a corresponding error signal is output when no object corresponding to an object recorded in the section of the digital map is found. The error signal generally only needs to indicate the occurrence of an error. However, the error signal preferably simultaneously indicates which of the devices has a malfunction as far as it can be localized.

It is then particularly preferred for the error signal, which indicates a malfunction of the image acquisition device, to output data representing the position and / or size of the angular sector. In this way, in the event of a sudden, partial contamination, the image capture device can be used at least partially, but the restriction of the field of view due to contamination can be taken into account in the evaluation of the images and, in particular, further use of the results of the image evaluation.

If the positions of an object and a corresponding object are compared with one another, it is preferred that, upon detection of a deviation between a position of an object recorded in the section of the digital map and the position of the object, which deviation is determined by the digital map corresponding object, an error signal is formed indicating a malfunction of the position detecting device. It is assumed that the digital map is not faulty and the environment detection device either works without errors or corresponding errors are known. As a criterion for excessive deviation, it can be used, for example, that the average absolute or quadratic distance of the positions determined from the digital map and the positions determined with the environment detection device is greater than a predefined threshold value, which depends, for example, on the tolerances of the position-determining device expected in normal operation , which may be selected from the digital map and the environment detector. The layers can be given in each case in the same reference or coordinate system.

However, if it is not known with certainty that the environment detection device operates correctly and in particular the distance image is not oriented correctly relative to a reference direction in the digital map, it is preferred that the locations of at least two objects recorded in the digital map be selected from the section of the digital map and the positions of objects corresponding to these objects are determined, and it is checked whether the positions determined by means of the digital map are shifted by the same displacement relative to the corresponding positions determined with the environment detection device. The displacements, which include both the direction and the magnitude of the displacement, need only be substantially equal. This criterion can be checked, for example, by determining the size of the difference between the displacements of the two objects or corresponding displacement vectors. If the difference or its size, for example the average absolute or quadratic amount, exceeds a predefined first threshold value, the shifts are regarded as not being equal. If the size of the displacements exceeds a predetermined second threshold value, a corresponding error signal can be output. The threshold values can be selected in particular depending on the expected accuracy of the digital map, the position detection device and the environment detection device in normal operation. In the case of a further development of the method according to the invention, it is utilized that with a misorientation of the image capture device or a distance image relative to the digital map, typically no identical linear displacements that would be significant in the context of the detection accuracy can occur. In the case that the positions determined by means of the digital map are in each case the same shift in relation to those determined Layers are shifted, therefore, may indicate a total displacement of the distance image relative to the digital map, which can be attributed to detection of a wrong position by the position detecting means.

It is then particularly preferred that upon detection of a predetermined threshold exceeding, same shift between the determined by means of the digital map layers and the corresponding determined by the environment detection means an error signal is formed, which reflects the size and direction of the displacement. Particularly preferably, the determined value of the displacement can be used to carry out a corresponding correction of the positions output by the position-determining device, so that overall an increased accuracy of position data can be achieved.

Furthermore, it is preferred that upon determination of a deviation according to a predetermined criterion between the position and / or orientation of an object recorded in the section of the digital map corresponding object and the determined by means of the digital map location and / or orientation of the object Error signal is formed indicating a malfunction of the environment detection device. It is assumed that the position detection device operates correctly and the digital card has no errors. As a criterion for excessive deviation, it can be used, in particular, that the amount of the difference between the layers exceeds a predetermined threshold, which depends on expected measurement accuracies of the position detection device, the environment detection device and the accuracy of the digital map and optionally as a function of the distance Object can be selected by the image capture device.

In particular, when using laser scanners, the case may arise that the detected distances are too large or too small compared to the actual distance by a fixed value or offset. It is therefore preferred that the positions of at least two objects recorded in the digital map from the digital map and the positions of the objects corresponding to these objects are determined, and it is checked whether the positions of the objects determined by means of the digital map correspond to a predetermined criterion the positions of the respective objects in the radial direction are displaced from a distance image sensing sensor of the image detection device, and that upon detection of a shift an error signal is formed indicating a malfunction of the image detection device. By using two objects can be avoided that errors of the position detecting device are detected as errors of the environment detection device. As a criterion for the occurrence of a shift can be used in particular whether the shifts are the same and whether the shifts exceed a predetermined minimum value. For this purpose, it can be checked whether the projections of the position differences on the radial direction from the sensor of the image acquisition device to the object, i. H. a radial displacement exceeds a first threshold value or the difference of the radial displacement falls below a second threshold value. The threshold values may be selected in particular as a function of expected unsystematic measurement errors of the image capture device and in particular of a sensor of the image capture device.

It is then particularly preferred that, when a predetermined threshold value for the displacement in the radial direction is exceeded, together with an error signal which indicates a corresponding error of the image acquisition device, data are output which reflect the size and preferably the direction of the displacement. In this case too, the determined displacement can be used to correct the distance images and thus to achieve an increased accuracy of the distance pixels.

In order to be able to easily determine the deviations between the layers in the distance images and the corresponding layers in the digital map, it is preferred that the layers in the digital map or the layers determined by the environmental detection device are rotated and / or rotated in dependence on a rotation angle Dependence on a displacement vector shifted from each other and / or shifted in response to a constant distance value in the radial direction, so that the average deviations between the layers are minimal. If the distance image and the section of the digital map match, the layers should match and the mean deviations should be very small. Therefore, the error criterion can then be checked as to whether the average size of the minimized deviations exceeds a predetermined threshold value and, if so, a corresponding error signal can be output. In particular, the threshold value can be selected as a function of the expected accuracy of the digital map, the position determination device and the environment detection device. For example, any strictly monotonic function of the differences of the layers, for example the mean of the absolute or quadratic deviations, as a function of the angle of rotation, the linear displacement and / or the distance value are minimized. In this way, together with orientation with respect to the digital map, various errors can be detected simultaneously and separately.

It is further preferred that, when not finding a recorded in the cutout of the digital map object corresponding object or finding a according to a predetermined criterion too strong deviation between the position of the recorded object in the digital map object and the means of the digital Map detected location of the object an error signal is formed, indicating an error in the digital map. It is assumed that the position detection device and the environment detection device operate essentially error-free. An excessively large deviation may be present in particular if the absolute or quadratic amount of the differences of the layers exceeds a predetermined threshold value, which may depend on the measurement accuracies of the position detection device and the environment detection device expected in normal operation and the expected accuracy of the digital map.

If it can not be ruled out that the position determination device and / or the environment detection device have an error, it is preferred that the positions of at least two objects recorded in the digital map are determined from the section of the digital map and the positions of objects corresponding to these objects are It is checked whether the distances of the objects determined by means of the digital map to one another according to a predetermined criterion differ from the corresponding distances of the objects determined from the distance image, and that upon detection of a deviation an error signal is formed which indicates an error in the digital map , It is exploited here that misorientations of reference directions in the distance images relative to a reference direction of the digital map and / or errors in the position determination device do not lead to the distances of objects being falsified. It can be determined position errors in the digital map.

If more than three objects are used, the relative positions can be used instead of the distances.

It is then particularly preferred that a detected deviation for the correction of the digital map is stored in one of the devices or another memory device in the vehicle. Later use of the digital map can use a corrected version.

Alternatively or additionally, it is preferred that data relating to the location of the object is transmitted to a publisher of the digital map.

In order to facilitate the assignment of objects to objects in the digital map, it is preferable that at least in an area in which an object has been detected, a video image is detected, and that in the video image is checked, whether in the digital map recorded item is present. By means of the image capture device, so to speak, an attention control of a video capture is performed. In this way, for example, pedestrians are easily distinguished from lampposts.

Not to the invention belongs another method.

In the other method for controlling the operability of an environment detection device arranged on or in a vehicle for detecting positions of objects in an environment of the vehicle, comprising an image acquisition device for acquiring distance images of at least a portion of the surroundings of the vehicle and a device for detecting and / or Tracking of objects corresponding to objects detected by the image capture device based on distance images acquired by the image capture device, data on movement of the vehicle between two consecutive times is detected, and data is transferred on at least one distance image acquired by the image capture device a movement of stationary objects and / or a reference direction in the digital map relative to a sensor of the image capture device at at least one of the times or between the times determined. The movement of the vehicle given by the data and the motion of the stationary objects determined on the basis of the distance image or the direction given by the movement of the vehicle and the reference direction are compared with each other, and a signal representing the result of the comparison is formed Indicates maladjustment of the image capture device relative to the vehicle.

Not to the invention belongs another device.

The other device for mounting on or in a vehicle comprises a position determination device for determining a position of the vehicle, an environment detection device for detecting positions of objects in an environment of the vehicle, an image detection device for detecting distance images of at least a portion of the surroundings of the vehicle and a Device for detecting and / or tracking objects that correspond to objects detected by the image capture device based on distance images acquired by the image capture device, a digital map and a function control device, by means of which on the basis of at least one distance image acquired by the image capture device data a movement of stationary objects and / or a reference direction in the digital map relative to a sensor of the image capture device at least one of the times or between the Zeitpu nkten determined and the movement with a movement of the vehicle or given by the movement of the vehicle direction with the reference direction between two successive points in time comparable and a result of the comparison reproducing signal can be formed indicating a maladjustment of the image capture device relative to the vehicle.

Both the other method and the other device can be combined with the method according to the invention or the device according to the invention.

The explanations regarding the position detecting device, the environment detecting device, and the digital map as well as the terms used apply equally to the other method and apparatus.

The other method can in particular serve to control an alignment of the sensor of the image capture device with respect to a reference direction of the vehicle, in particular the longitudinal axis of the vehicle. In this case, on the one hand a reference direction predetermined by means of the digital map or a movement of stationary objects caused by a movement of the vehicle relative to the sensor of the image acquisition device and in particular a reference axis can be determined.

On the other hand, an orientation of the vehicle carrying the sensor can be determined by the movement of the vehicle, if it is assumed that the movement takes place at all times substantially parallel to the vehicle longitudinal axis.

By comparing the movement of the vehicle and the determined on the basis of the distance image movement of the stationary objects or given by the movement of the vehicle direction and the reference direction, for example, after transformation into a common coordinate system, a misalignment by twisting or pivoting of the sensor against determined the vehicle.

The movement of the vehicle is determined between two times. The times may correspond to two consecutive cycles, in each of which a distance image is detected and at least partially processed. Preferably, however, the times are farther apart. The movement can be given by corresponding position data of the vehicle or its trajectory or by data for at least one direction, for example, the speed. However, no comprehensive detection of the movement of the vehicle is necessary.

The data about the movement of the stationary objects may in particular comprise data corresponding to the data of the vehicle movement. The determination as to whether objects correspond to stationary objects can be made on the basis of the digital map after a corresponding assignment or with the aforementioned method for determining stationary objects on the basis of distance images. To achieve a high accuracy, stationary objects are preferably used only in the digital map.

If, after a transformation into a common coordinate system, the movement of the vehicle and of the stationary objects deviate from one another, with the exception of the opposite sign of a speed, a sensor misalignment must be assumed.

The same applies when comparing a given by the movement of the vehicle direction, for example, one due to positions or positions at different times or one between two Timings estimated speed given direction, and the reference direction determined by the digital map.

It can then be formed a corresponding signal, in particular an error signal that can be supplied, for example, a driver assistance system.

In the case of the other device, too, it is preferred for the image capture device to have a laser scanner.

To determine the movement of the vehicle, it is preferred according to an alternative that the data about the movement of the vehicle by means of a position detection device are determined. For this purpose, it is preferred that the position determination device has a receiver of a satellite-supported position detection system. This determination has the advantage that the environment detection device is not used and that errors of the position detection in many cases in the determination of the movement, in particular of speeds, cancel by subtraction.

Alternatively or additionally, it is preferred that the data on the direction of movement of the vehicle by means of the object tracking device are determined. For this purpose, for example by means of the digital map, the position of the sensor of the image capture device relative to the digital map at different times can be determined by distance images and in particular layers of objects that correspond to items listed in the digital map, are compared with the digital map.

Furthermore, it is preferred that the reference direction in the digital map is given by at least two objects and / or article regions. The reference direction can thus be determined from only one distance image. It is preferred to use low expansion objects and / or articles with clearly definable and contoured contour features.

The invention will be further explained by way of example with reference to the drawings. Show it:

1 a schematic plan view of a scene with a vehicle with a device according to a preferred embodiment of the invention, another vehicle and three piles, and

2A , B is a flowchart for a method according to a preferred embodiment of the invention.

In 1 are a vehicle 10 , another vehicle 12 and three stationary objects in the form of piles 14 . 16 . 18 shown along a in 1 not shown roadway edge are set up.

The vehicle 10 has a device according to a preferred embodiment of the invention, which is used for navigation and environmental monitoring. This includes an image capture device 20 , a position detecting device 22 , a digital map 24 and one with the image capture device 20 , the position detecting device 22 and the digital map 24 connected data processing device 26 , which embodies a device for object recognition and tracking and a function control device in the sense of the invention.

The image capture device 20 has one on the front of the vehicle 10 arranged sensor for the detection of distance images, in the example a laser scanner, whose reduced shown viewing or detection area 28 in the direction of travel in front of the vehicle 10 lying area, ie a section of the surroundings of the vehicle 10 , includes.

The laser scanner 20 gropes his field of vision 28 with a rotating, pulsed IR laser beam 30 and captures the locations of subject areas on the objects 12 . 14 . 16 . 18 , one of which is a pulse of the laser beam 30 was thrown back. Exemplary are in 1 only representative of all recorded subject areas in a small number of subject areas 32 on the vehicle 12 represented by black circles. The extent of the object regions corresponds essentially to the cross section of the laser radiation beam 30 on the surface of the object.

The detection of the layers takes place on the basis of a reference direction of a sensor coordinate system of the laser scanner 20 relative angle at which the laser radiation pulse was emitted or received, and the distance to the laser scanner 20 , which derives from the duration of the radiation pulse from the Radiation to reception after the remission of an object results. The scanning therefore occurs in a scanning plane that is substantially parallel to a plane in which the vehicle is traveling 10 emotional. When scanning the field of view 28 Thus, a distance image is detected, which comprises the acquired during the scanning distance pixels containing at least the coordinates of the subject areas in a sensor coordinate system, of which the laser beam 30 was reflected. The updating of the complete pictures takes place at a constant time interval T.

The data of the distance images thus include positions of detected object points in the sensor coordinate system that are with the vehicle 10 is moved.

The from the image capture device 20 , or the laser scanner, acquired distance images are, if necessary, after a correction of the coordinates of the pixels to which with the laser scanner 20 connected data processing device 26 transferred, in which a further processing of the images takes place.

The position detection device 22 has a GPS receiver with a corresponding antenna. It is via a data connection with the data processing device 26 which can retrieve position data from the GPS receiver, which includes coordinates of the current position of the GPS receiver. After shifting one vector from the antenna of the GPS receiver to a reference point of the vehicle 10 In the example, the geometric center of gravity, the shifted coordinates can then coordinate the vehicle 10 in a terrestrial world coordinate system. The position detection device 22 Further, it may be connected to vehicle steering angle, wheel revolutions, etc. sensors for coupling vehicle motion data collected therefrom with the position data of the GPS receiver and, for example, vehicle positions in the time intervals between receipt of GPS signals based on the last one of estimate the GPS receiver's position.

The digital map 24 includes means for reading data from a data carrier, such as a DVD, and one for the location area of the vehicle 10 suitable data carrier, in the example a DVD, on the given positions in the world coordinate system data on existing buildings, objects such as piles, traffic lights, signs, etc. or the type of soil surface, such as lanes with lane markings or fields, if necessary stored are.

The data processing device 26 owns, in 1 not shown, a processor and a memory and interfaces for transmitting the data from the image capture device 20 and for data exchange with the position detection device 22 and the digital map 24 , Furthermore, there is an interface for outputting data to other data processing or output devices in the vehicle 10 provided, which are also not shown in the figures.

The data processing device 26 is programmed to carry out a preferred embodiment of the method according to the invention. The program comprises, on the one hand, a module for recognizing and tracking objects that are received by the image capture device 20 detected objects in the field of view 28 correspond. For this purpose, distance images are cyclically read in and processed. As a method, for example, the above-mentioned, published in the series Progress Reports, Subject area: Traffic Engineering / Automotive Technology, Volume No. 438 dissertation Kirchner, Alexander entitled "Sensor data processing of a laser scanner for autonomous driving functions of motor vehicles," Hamburg, 2000, ISBN 3-18-343812-7, ISSN 0178-9449 or the method described in the publication by Fürstenberg, K. Ch. Et al .: "Pedestrian Recognition and Tracking of Vehicles Using a Vehicle-based Mulitlayer Laserscanner", Proceedings of ITS 2003 10 ^th World Congress on Intelligent transport Systems, November 2003, Madrid Spain, methods described are used. The data processing device 26 represents in this respect a device for detecting and tracking objects in the context of the invention. This forms with the image capture device 20 an environment detection device according to the invention.

The program also has a function control module, which is executed in interleaving with the other module, so that the data processing device 26 insofar also represents a functional control device in the context of the invention.

For the preferred embodiment of the invention described below, two reference systems and therein each a Cartesian coordinate system is used, which is substantially parallel to the Plane in which the vehicle is 10 are aligned and aligned with the scanning plane in which positions of objects or subject areas are detectable.

The Cartesian coordinate system, referred to below as the vehicle coordinate system, which in 1 the coordinate axes X _F and Y _F is offset from the sensor coordinate system by only one translation vector, from the origin of the sensor coordinate system to a reference point of the vehicle 10 whose geometric center of gravity leads. The direction of the coordinate axes is equal to that of the coordinate axes of the sensor coordinate system.

With correct adjustment of the image capture device 20 or the laser scanner, the Y _F axis runs parallel to the longitudinal axis L of the vehicle 10 , In 1 is the Y _F axis with respect to the longitudinal axis L of the vehicle 10 shown misaligned by rotation through an angle ψ.

Furthermore, the already mentioned Cartesian world coordinate system is used, which is stationary. It is given by the coordinate axes X and Y.

The method according to a preferred embodiment of the invention is shown schematically as a flowchart in FIG 2A and 2 B shown. The process is carried out cyclically, with the following in each cycle: 2A and 2 B illustrated steps are executed.

In step S10, the laser scanner is used 20 its field of vision 28 scanned, wherein distance pixels are detected with the layers of object areas of detected objects in the sensor coordinate system.

The following steps are performed by means of the data processing device 26 executed.

In step S12, the distance pixels for the object areas in the sensor coordinate system, if necessary after corrections, are shifted by the known distance vector f between the laser scanner 12 and the reference point of the vehicle 10 transformed into Cartesian coordinates in the vehicle coordinate system. Furthermore, on the basis of this transformed sensor data, another cycle of a cyclic, known object recognition and tracking method is executed. Each object is assigned as the reference point of the geometric center of gravity of the object areas defining object or distance pixels. After a segmentation of the images, which are given by object areas corresponding, transformed distance pixels, objects are detected or tracked, corresponding to the entire objects. For each object, positions are assigned in the vehicle coordinate system and, as far as the object has already been tracked for at least two cycles, speeds.

In addition, in this step, stationary objects are detected with respect to the world coordinate system or the earth. For this purpose, for example, the state of motion of the vehicle 10 be determined by appropriate motion sensors. Using the thereby determined intrinsic speed of the vehicle 10 then velocities of the objects in the world coordinate system can be calculated, which results in which objects rest in the world coordinate system. However, the still objects are preferably determined on the basis of distance images. A corresponding method is described, for example, in the conference article by Fürstenberg, K. Ch. Et al., "Laser Scanners Innovations for Detection of Obstacles and Road", Proceedings of AMAA 2003, 7th International Conference on Advanced Microsystems for Automotive Applications, May 2003, Berlin, Germany (published in Valldorf, Jürgen, Gessner, Wolfgang (Eds.): "Advanced Microsystems Automotive Applications 2003", in the series VDI book, 2003, ISBN: 3-540-00597-8, pages 223-247) and in that of the German patent application filed on 11 November 2002 by the Applicant DE 102 52 323 A1 described, the content of which is hereby included in the description.

Furthermore, in this step, an object classification is carried out in which objects are assigned an object class depending on their contour in the distance images, their size, their dynamic data and, if appropriate, positions relative to one another. Examples of such object classes are classes for pedestrians, for trucks, for passenger cars, for bicycles, for piles, traffic lights or lampposts, for guide posts or for traffic signs.

Corresponding data can then be stored and / or output, for example, to a driver assistance system.

In step S14, objects to be used for functional testing are selected. In the method, after a first selection of an object in a cycle, the object is marked accordingly and used further in subsequent cycles, which reduces the effort for the selection. In the method in the embodiment, stationary objects are used only with respect to the world coordinate system to which an object class for objects registered in the digital map is assigned. Unselected objects are checked for these criteria and selected if necessary.

In step S16 is then by means of the position detecting means 22 the position of the vehicle 10 , ie corresponding coordinates, determined and stored in the world coordinate system.

In step S18, a preliminary orientation of the vehicle coordinate system relative to the world coordinate system, and thus a reference direction of the digital map, such as the Y-axis, is determined. The orientation of the X _F or Y _F axis in the world coordinate system or the angle between the Y _F axis and the Y axis used as the reference axis of the digital map, for example, by means of a corresponding, on the vehicle 10 arranged compass or upon movement of the vehicle along the vehicle longitudinal axis by means of the position detecting means 22 be determined. Alternatively and preferably, the orientation in the previous cycle, which was determined by means of the digital map, can be used to a good approximation (compare step S30). To increase the accuracy, the proper motion of the vehicle 10 be used for extrapolation.

In step S20, a current field of view of the image capture device 20 determined. This consists of the sections of the field of view or coverage 28 that are not obscured by objects or objects. In 1 for example, hides the vehicle 12 a sector 34 of the coverage area 28 so that objects lying in this sector, in 1 the stake 14 , are not detectable. The current field of view is stored in parametric form in world coordinates.

In step S22, based on the current position and orientation of the vehicle 10 in the world coordinate system corresponding to the current field of view section of the digital map 24 selected for the current vehicle position. The section is overall stretched with a scaling factor, in the example of about 1.2, compared to the current field of view, but where the position of the laser scanner 20 corresponding point or the origin of the sensor coordinate system remains unchanged.

In step S24, then, an association of selected objects and corresponding objects registered in the cutout in the digital map takes place. This step and the following steps S26 to S34 are executed only when at least two objects have been selected.

A once-in-a-cycle assignment is maintained until the corresponding object is no longer in the current viewport. For reassignment, the object classes of the selected, not yet assigned objects and, if present, their relative positions to other already assigned objects are used. The relative positions need not coincide with high accuracy, but it is sufficient that these layers match up to a predetermined maximum distance from each other. The maximum distance may vary depending on the distance in the digital map 24 listed, from the image capture device 20 be selected and the expected accuracy of the digital map selected in the example to about 10 m.

In step S26, a check is made for errors of the digital map 24 , For this purpose, distances between the objects or between the objects are determined for all pairs of objects which are assigned to objects in the section of the digital map, and the corresponding pairs of objects. In order to check the coincidence of the distances, the distances between the respective positions of the objects of the pairs or the respective positions of the objects of the pairs are calculated for corresponding pairs of objects, whereupon for each pair of objects and the corresponding pair of objects Amount of the difference of the corresponding distances is determined. If this amount falls below a corresponding limit, depending on the expected accuracy of the digital map 24 and the measurements of the image capture device 20 depends, the distances are considered to be consistent. If the relative positions do not coincide for a pair of objects, a corresponding error signal is output which contains the positions of the objects concerned. These positions are still stored in a memory of the data processing device 26 to correct the digital map 24 saved.

In step S28, a first check of the functionality of the image capture device takes place 20 , For this purpose, in the section of the digital map, all objects are determined which are suitable for function control in the context of the method, ie, correspond to the object classes used in step S14. If no corresponding object is found for such an object that could be assigned to it, the corresponding angle sector is marked in the sensor or vehicle coordinate system. In the following cycles, it is checked whether no objects, including objects of other object classes, are still being detected in this angle sector. If this is the case, even though such an object would have been detected according to the digital map, a corresponding error signal is output which, in addition to the type of the error, contains data relating to the position of the angular sector. This angle sector is then no longer used in the context of object recognition and tracking.

In steps S30 to S34, a further check of the functionality of the environment detection device and of the position determination device then takes place 22 with a simultaneous determination of the orientation of the reference direction of the image capture device 20 to the reference direction of the digital map, ie the angle between the Y _F axis and the Y axis.

An attempt is made to bring the positions of the objects with the positions of the corresponding associated objects as best as possible to cover.

For this purpose, in step S30, the positions p _{Si of} the objects i = 1, ... N, (N number of used or selected objects) in the sensor coordinate system in the radial direction along a unit vector e _ri of the laser scanner 20 to the reference point of the object i shifted by a fixed distance or offset R ₀ , then transformed by addition of a fixed vector f in the vehicle coordinate system and finally rotated by the origin of the vehicle coordinate system by an angle φ using a corresponding rotation matrix D (φ). This position vector in the vehicle coordinate system is then transformed into the world coordinate system by a corresponding position vector P for the position of the reference point of the vehicle determined in step S16 10 is added. It is then shifted by a translation vector t.

For all pairs of objects and objects, the sum of the square deviations between the positions of the objects i thus obtained and the positions p _{i of} the corresponding objects is then formed:

This function is minimized by varying the fixed distance R ₀ , the angle φ and the translation vector t, using as start value an angle which corresponds to the provisional orientation determined in step S18.

The determined angle φ at which the function F assumes its minimum gives the current orientation of the Y-axis and thus a reference direction of the digital map 24 to the Y _F axis and thus the sensor. It is stored for use in the following cycle in step S18.

In step S32, a check of the functionality of the position detection device takes place 22 , Exceeds the amount of the translation vector t a predetermined error limit, which depends on the expected accuracy of the position detection device 22 can be specified, then an error of the position detecting device 22 detected and issued a corresponding error signal that reflects the vector t and its coordinates in addition to the type of error. The vector t can subsequently be used to correct the detected position of the vehicle 10 be used.

In step S34, a second check of the functionality of the environment detection device, more precisely of the image capture device, takes place 20 ,

Exceeds the fixed distance R ₀ a predetermined distance threshold is also an error of the image capture device 22 detected and issued a corresponding error signal, which reflects the determined value R _{0 in} addition to the type of error. This value can subsequently be used to correct the acquired position data or distance picture elements.

Furthermore, from the positions of the vehicle 10 in several previous, for example the last five, cycles data on the movement of the vehicle 10 determined. It is first determined by a linear regression with respect to the positions and examination of the dispersion, whether the vehicle 10 has essentially moved in a straight line. Only in this case is the angle determined by the regression-determined straight line with the Y-axis of the world coordinate system included. This angle gives when the vehicle is 10 moved along its longitudinal axis L, the orientation of the vehicle 10 against the Y-axis again.

The determined angle is compared with the angle φ, the orientation of the Y _F axis and thus of the laser scanner 20 relative to the Y-axis. For this purpose, it is checked whether the amount of the difference ψ of the angle a depending on the expected measurement accuracy of the image capture device 20 , the digital card 24 and the position detecting device 22 exceeds the selected threshold. If so, an error signal representing the difference is formed. The error signal indicates that the sensor or laser scanner 20 relative to the vehicle longitudinal axis L by the differential angle ψ is rotated or misaligned.

Instead of the error signal, only another signal can be formed, on the basis of which the difference is stored, in order to correct the alignment of the vehicle longitudinal axis L with the laser scanner in a following cycle 20 to be used.

The process then proceeds to step S10 in a new cycle.

In this way, a continuous control of the functionality of the position detection device 22 , the digital card 24 , and the environment detection device, in particular the image capture device 20 respectively.

In another embodiment, steps S30 through S34 are changed. The device of this other embodiment corresponds to the modification of the method according to changed functional control device of the device of the first embodiment.

First, for the second test, the functionality of the environment detection device or the image detection device 20 for each pair of selected objects and the corresponding pairs of objects associated with the objects recorded in the digital map, relative position vectors between the objects of the pairs are determined.

To determine the orientation of the reference direction of the image capture device 20 or the distance images relative to the reference direction of the digital map 24 For all pairs of objects and corresponding pairs of objects in the digital map, the angles between the relative position vectors in the vehicle coordinate system and those in the world coordinate system are determined. If the deviations of these angles from an average value of the angles are smaller than a predetermined angle, then it is assumed that all angles are substantially equal. If this is not the case, an error in the digital map is accepted and a corresponding error signal is output, which reproduces the positions of the objects which have too great a deviation. These objects are no longer used for the following functional checks.

Otherwise, the determined average angle becomes an angle between the reference directions of the image capturing device 20 or the distance images, ie the Y _F axis, and the digital map 24 , ie the Y-axis, used. The position coordinates of the objects are converted to the coordinate system of the digital map using the mean angle and the vectors f and P 24 , ie the world coordinate system, transformed.

Then, for each of the selected objects and the objects associated with the objects, a difference vector is formed between the position of the respective object and that of the associated object and the radial unit vector of the laser scanner 20 , or a pivot axis of the laser radiation beam 30 projected to the position of the object, whereby difference distance values are formed. It is then checked whether all difference distance values lie within an interval of predetermined width around the mean value of the difference distance values. The width of the interval will depend on the accuracy of the digital map 24 and the expected measurement accuracy of the image capture device 22 specified. If all difference distance values are in this interval, these are considered equal. If this is not the case, a mistake will be made in the digital map 24 assumed and issued a corresponding error signal that the Plays the items that have too large a deviation. These objects are used for the functional check of the position determination device 22 not used anymore.

It is then checked whether the amount of the mean difference distance value exceeds a predetermined limit, which depends on the expected measurement accuracy of the image capture device 20 is selected. If this is the case, a shift in the radial direction is detected and a corresponding error signal is output, which additionally includes the value and the direction of the displacement in the radial direction. In this case, the positions of the objects are corrected with the determined mean radial displacement.

Another check is the verification of the alignment of the laser scanner 20 performed with respect to the vehicle longitudinal axis in the previous embodiment, wherein the angle φ is replaced by the mean angle.

Finally, then the check of the functionality of the position detecting device 22 , For this purpose, difference vectors between the positions of the objects transformed into the world coordinate system and optionally corrected and the positions of the corresponding, associated objects in the section of the digital map are determined for all remaining, selected objects. It is then checked for all difference vectors whether they match. For this purpose, it is checked for each vector component whether the components lie within an interval around an average of the corresponding components. The width of the interval is dependent on the expected accuracy of the environment detection device and the position detection device 22 selected. If all components are not within the appropriate intervals, the digital card will fail 24 assumed and issued a corresponding error signal representing the positions of the objects which have too large a deviation.

Otherwise, it is assumed that the difference vectors are substantially equal. It is then checked whether the magnitude of the average for one of the components exceeds a shift limit that depends on the expected accuracy of the environment detection device and the position detection device 22 is selected. If this is the case, a shift is caused by a malfunction of the position detecting device 22 detected and issued a corresponding error signal, which also indicates the mean difference or displacement vector.

At the following position determinations with the position detection device 22 or position determinations with the environment detection device, the average values determined in each case can be used for the correction. This is also possible if no error signal is output, but only corresponding values are stored.

The in connection with errors of the digital map 24 mentioned objects are no longer used in subsequent cycles of the process.

LIST OF REFERENCE NUMBERS

10

vehicle

12

vehicle

14

stake

16

stake

18

stake

20

Image capture device

22

Position-determining device

24

digital map

26

Data processing device

28

Visual or detection area

30

Laser radiation beam

32

Item points or areas

34

covered area

Claims (22)

Method for controlling the functioning of a vehicle or a vehicle ( 10 ) arranged environment detection device ( 20 . 26 ) for determining positions of objects ( 12 . 14 . 16 . 18 ) in an environment of the vehicle ( 10 ), wherein the environment detection device ( 20 . 26 ) an image capture device ( 20 ) for acquiring distance images of at least a portion of the surroundings of the vehicle ( 10 ) and a facility ( 26 ) for the detection and / or tracking of objects detected by the image capture device ( 20 ) ( 12 . 14 . 16 . 18 ), on the basis of the image capture device ( 20 ), wherein in the method - by means of the image capture device ( 20 ) at least one distance image is detected and by means of the object recognition and / or tracking device ( 26 ) using the distance image, at least one object is detected and data is determined at least in relation to the distance and the position of this object, - by means of a position-determining device ( 22 ) a current position of the vehicle ( 10 ), depending on the detected position of the vehicle ( 10 ) in a digital map ( 24 ) a section of the surroundings of the position of the vehicle ( 10 ), and the data determined from the distance images with respect to the distance and the position of the at least one detected object with corresponding data from the section of the digital map ( 24 ), wherein if one does not find one in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) corresponding object in the respective distance image a the position of the object ( 14 . 16 . 18 ) comprehensive angle sector of a viewing area of the image capture device ( 20 ), it is checked in successive distance images whether objects are detected in this angle sector and in the case that no objects are detected in the angle sector, although according to the digital map ( 24 ) at least one in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) corresponding further object should be detectable, an error signal is formed, which is a malfunction of the image capture device ( 20 ). Method according to Claim 1, characterized in that a position-determining device ( 22 ) comprising a receiver of a satellite-based position sensing system. A method according to claim 1 or 2, characterized in that the comparison only for stationary objects ( 14 . 16 . 18 ) corresponding objects is performed. Method according to one of the preceding claims, characterized in that in the comparison only those in the digital map ( 24 ) listed items ( 14 . 16 . 18 ), which fulfill a given selection criterion. Method according to one of the preceding claims, characterized in that at least one area ( 34 ) in the section of the digital map ( 24 ), which is not visible in the distance images due to occlusion, and that data from this area is not taken into account in the comparison. Method according to one of the preceding claims, characterized in that before the comparison, an association between at least one object and one used for the comparison, in the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) is carried out. Method according to one of the preceding claims, characterized in that a layer of at least one in the digital map ( 24 ) ( 14 . 16 . 18 ) is compared with the determined position of the object. Method according to one of the preceding claims, characterized that the layers of at least two in the section of the digital map ( 24 ) listed items ( 16 . 18 ) or items from the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) or items corresponding object areas or object areas are determined so that a rotation angle is determined by the means of the digital map ( 24 ) are rotated with respect to the corresponding position determined layers, and that this angle of rotation is used to determine the orientation of a reference direction in the digital map relative to a reference direction in a distance image. A method according to claim 1, characterized in that with the error signal that a malfunction of the image capture device ( 20 ), data is output which reflects the position and / or size of the angle sector. Method according to one of the preceding claims, characterized in that upon detection of a deviation in accordance with a predetermined criterion between one by means of the digital map ( 24 ) determined location of a in the section of the digital map ( 24 ) ( 14 . 16 . 18 ) and the location of the object ( 14 . 16 . 18 ) an error signal is formed which causes a malfunction of the position-determining device ( 22 ). Method according to claim 10, characterized in that the layers of at least two in the digital map ( 24 ) recorded items from the excerpt of the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) of corresponding objects, and that it is checked whether by means of the digital map ( 24 ) determined relative to the corresponding with the environment detection device ( 20 . 26 ) determined positions are shifted by the same shift in each case. A method according to claim 11, characterized in that upon detection of a predetermined threshold exceeding, same shift between the determined by means of the digital map layers and the corresponding with the environment detection device ( 20 . 26 ) an error signal is formed which reflects the size and direction of the displacement. Method according to one of the preceding claims, characterized in that upon detection of a deviation according to a predetermined criterion between the position and / or orientation of a in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) and by means of the digital map ( 24 ) determined location and / or orientation of the object ( 14 . 16 . 18 ) an error signal is formed, which is a malfunction of the environment detection device ( 20 . 26 ). Method according to one of the preceding claims, characterized in that the layers of at least two in the digital map ( 24 ) recorded items from the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) corresponding objects are checked, that it is checked whether by means of the digital map ( 24 ) determined positions of the objects according to a predetermined criterion with respect to the positions of the corresponding objects in the radial direction of a distance image sensing sensor of the image capture device ( 20 ) are shifted, and that upon detection of a shift, an error signal is formed, which is a malfunction of the image capture device ( 20 ). A method according to claim 14, characterized in that when exceeding a predetermined threshold value for the displacement in the radial direction together with an error signal which a corresponding error of the image capture device ( 20 ), data is output which reflects the size and preferably direction of the shift. Method according to one of the preceding claims, characterized in that in error-free position detecting device ( 22 ) and in error-free environment detection device ( 20 . 26 ) if a missing one in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) or if, in accordance with a predetermined criterion, the deviation between the position of the object in the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) and by means of the digital map ( 24 ) of the item ( 14 . 16 . 18 ) an error signal is formed, which is an error in the digital map ( 24 ). A method according to claim 16, characterized in that the layers of at least two in the digital map ( 24 ) recorded items from the excerpt of the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) of corresponding objects are determined, that it is checked whether by means of the digital map ( 24 ) distances of the objects to each other according to a predetermined criterion differ from one another by the corresponding distances of the objects determined from the distance image, and in that a deviation signal is formed which detects an error in the digital map ( 24 ). A method according to claim 16 or 17, characterized in that a detected deviation for the correction of the digital map ( 24 ) in one of the devices or other storage device in the vehicle ( 10 ) is stored. Method according to one of Claims 16 to 18, characterized in that data relating to the position of the object ( 14 . 16 . 18 ) to a publisher of the digital map ( 24 ). Device for mounting on or in a vehicle ( 10 ) with a position determining device ( 22 ) for determining a position of the vehicle ( 10 ), with an environment detection device ( 20 . 26 ) for determining positions of objects ( 12 . 14 . 16 . 18 ) in an environment of the vehicle ( 10 ), wherein the environment detection device ( 20 . 26 ) an image capture device ( 20 ) for acquiring distance images of at least a portion of the surroundings of the vehicle ( 10 ) and means for detecting and / or tracking objects detected by the image capture device ( 20 ) ( 12 . 14 . 16 . 18 ), on the basis of the image capture device ( 20 ) captured distance images, with a digital map ( 24 ) and with a function control device, by means of which, depending on the determined position of the vehicle ( 10 ) in the digital map ( 24 ) a section of the surroundings of the position of the vehicle ( 10 ) is determined and by means of which from the distance images determined data with respect to the distance and the location of a detected object with corresponding data from the section of the digital map ( 24 ) are comparable, wherein by means of the function control device in the absence of a one in the section of the digital map ( 24 ) listed subject ( 12 . 14 . 16 . 18 ) corresponding object in the respective distance image a the position of the object ( 12 . 14 . 16 . 18 ) comprehensive angle sector of a viewing area of the image capture device ( 20 ), it is possible to check in successive distance images whether objects are detected in this angle sector and in the case that no objects are detected in the angle sector, although according to the digital map ( 24 ) at least one in the section of the digital map ( 24 ) listed subject ( 12 . 14 . 16 . 18 ) corresponding further object should be ascertainable, an error signal can be formed by means of the function control device, which constitutes a malfunction of the image acquisition device ( 20 ). Apparatus according to claim 20, characterized in that the image capture device ( 20 ) has a laser scanner. Device according to Claim 20 or 21, characterized in that the position-determining device ( 22 ) has a receiver of a satellite-based position detection system.

Images