DE102011056413A1 - Method for use in driver assistance system for recognizing free space information, particularly for determining maneuver space for motor vehicles, involves recording surrounding information in occupancy grid - Google Patents

Method for use in driver assistance system for recognizing free space information, particularly for determining maneuver space for motor vehicles, involves recording surrounding information in occupancy grid Download PDF

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Publication number
DE102011056413A1
DE102011056413A1 DE102011056413A DE102011056413A DE102011056413A1 DE 102011056413 A1 DE102011056413 A1 DE 102011056413A1 DE 102011056413 A DE102011056413 A DE 102011056413A DE 102011056413 A DE102011056413 A DE 102011056413A DE 102011056413 A1 DE102011056413 A1 DE 102011056413A1
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vehicle
information
occupancy grid
radio
area
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DE102011056413A
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German (de)
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Andree Hohm
Stefan Lüke
Stefan Hegemann
Ralf Grewe
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Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
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Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
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Priority to DE102011056413A priority Critical patent/DE102011056413A1/en
Priority to DE112012005261.7T priority patent/DE112012005261B4/en
Priority to PCT/DE2012/100342 priority patent/WO2013087067A1/en
Publication of DE102011056413A1 publication Critical patent/DE102011056413A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves

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

Abstract

The method involves recording the surrounding information, which is detected by a surrounding detection system, in an occupancy grid. The surrounding information, which is acquired on the basis of radio-based received position data of another vehicle, is recorded in the occupancy grid. A range that is passed over from a vehicle is marked as free in the occupancy grid during radio-based detection of the range. An independent claim is included for a driver assistance system with a data processing unit.

Description

In Fahrerassistenzsystemen werden typischerweise Sensorsysteme wie Radar-, Kamera-, Lidar- und/oder Ultraschallsysteme verwendet um Informationen insbesondere über Objekte, Fahrspur, Fahnbahnrand etc. in einem Fahrzeugumfeld zu gewinnen. Die Umfeldinformationen können z. B. als eine Belegungsinformation über einen definierten Bereich im Umfeld des Fahrzeuges eine Belegungskarte bzw. Belgungsgitter eingetragen werden. Die Belegungsinformation umfasst eine Aussage, ob sich ein Objekt in dem Bereich befindet oder ob der Bereich zu einer Fahrspur gehört oder allgemein, ob ein Bereich überfahrbar oder eingeschränkt überfahrbar oder nicht überfahrbar ist. Eine solche Darstellung erlaubt eine mittelbare Einschätzung des zur Verfügung stehenden Manöverraumes.In driver assistance systems, sensor systems such as radar, camera, lidar and / or ultrasound systems are typically used to obtain information in particular about objects, lane, edge of track, etc. in a vehicle environment. The environment information can z. B. as occupancy information over a defined area in the environment of the vehicle an occupancy card or Belgungsgitter be entered. The occupancy information includes a statement as to whether an object is in the area or whether the area belongs to a traffic lane or, in general, whether an area can be overrun or can be overrun or can not be overrun. Such a representation allows an indirect assessment of the available maneuver space.

Fahrzeug-zu-Fahrzeug Kommunikationslösungen, bei denen zwei oder mehr Fahrzeuge beispielsweise Informationen über ihre jeweilige Position und oder weitere Fahrzeugeigenschaften wie Geschwindigkeit oder Bewegungsrichtung oder Beschleunigung oder Fahrzeugbreite oder geplante Route etc. austauschen sind ebenfalls Stand der Technik.Vehicle-to-vehicle communication solutions in which two or more vehicles, for example, exchange information about their respective position and or other vehicle characteristics such as speed or direction of movement or acceleration or vehicle width or planned route etc. are also prior art.

Es ist die Aufgabe der hier vorliegenden Erfindung eine verbessertes Verfahren zur Bestimmung des zur Verfügung stehenden Manöverraums für Kraftfahrzeuge anzugeben. Die Aufgabe wird gemäß den Merkmalen der unabhängigen Ansprüche gelöst.It is the object of the present invention to provide an improved method for determining the available maneuver space for motor vehicles. The object is solved according to the features of the independent claims.

Erfindungsgemäß wird ein Verfahren zur Freiraumerkennung für ein Fahrerassistenzsystem angegeben. Das Fahrerassistenzsystem umfasst ein Sensorsystem zur Umfelderfassung, wobei das Systemsystem als Radar- und/oder Kamera- und/oder Lidar- und/oder Ultraschallsystem ausgestaltet ist. Umfeldinformationen, die mit dem Umfelderfasungssystem erfasst werden, werden in ein Belegungsgitter eingetragen. Die Belegungsinformation umfasst eine Aussage, ob sich ein Objekt in dem Bereich befindet oder ob der Bereich zu einer eigenen oder benachbarten Fahrspur gehört oder allgemein die Information, ob ein Bereich überfahrbar, ggf. eingeschränkt überfahrbar (z. B. Nachbarspur) oder nicht überfahrbar ist. Eine solche Darstellung erlaubt eine mittelbare Einschätzung des zur Verfügung stehenden Manöverraumes für zukünftige Fahrmanöver.According to the invention, a method for free space recognition for a driver assistance system is specified. The driver assistance system comprises a sensor system for environment detection, wherein the system system is designed as a radar and / or camera and / or lidar and / or ultrasound system. Surrounding information that is recorded with the Umfeldfasungssystem be entered in an occupancy grid. The allocation information includes a statement as to whether an object is located in the area or whether the area belongs to a separate or adjacent lane or, in general, the information as to whether an area can be driven over, possibly overrun (eg adjacent lane) or can not be overrun , Such a representation allows an indirect assessment of the available maneuver space for future maneuvers.

Weiterhin umfasst das Fahrerassistenzsystem Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs, wobei die Umfeldinformationen, die anhand von funkbasiert empfangene Positionsdaten des zumindest einen Fahrzeugs gewonnen werden, auch in das Belegungsgitter eingetragen werden.Furthermore, the driver assistance system comprises means for radio-based reception of information on the position of at least one other vehicle, wherein the environment information obtained on the basis of radio-based received position data of the at least one vehicle, are also entered into the allocation grid.

In einer bevorzugten Ausgestaltung der Erfindung werden bei einer funkbasierten Erkennung von Bereichen, die von zumindest einem Fahrzeug überfahren werden, diese als unbelegt und damit als überfahrbar im Belegungsgitter gekennzeichnet.In a preferred embodiment of the invention, in a radio-based recognition of areas that are run over by at least one vehicle, these are marked as empty and thus as traversable in the occupancy grid.

In einer weiteren positiven Ausgestaltung der Erfindung wird nur wenn die Erkennung von zumindest einem Fahrzeug in einem Bereich in einem vorgegebenen Zeitraum erfolgt, dieser Bereich als unbelegt damit als überfahrbar im Belegungsgitter gekennzeichnet. Der vorgegebene Zeitraum hängt von der Genauigkeit der Positionsbestimmung des zumindest einen anderen Fahrzeugs ab. Da die Genauigkeit der Positionsbestimmung beschränkt ist und die Fehler mit der Zeit zunehmen, führt ein zeitlich unbegrenztes Speichern als „befahrbar” markierter Zellen zu fehlerhaft gekennzeichneten Zellen.In a further advantageous embodiment of the invention, only when the detection of at least one vehicle in an area takes place in a predetermined period, this area is characterized as unoccupied so that it can be moved over in the occupancy grid. The predetermined period of time depends on the accuracy of the position determination of the at least one other vehicle. Since the accuracy of the position determination is limited and the errors increase over time, a time-unlimited storage as "passable" marked cells leads to incorrectly marked cells.

In einer weiteren Ausgestaltung der Erfindung wird eine Breite von zumindest einem anderen Fahrzeugs ebenfalls per Funk empfangen und zusammen mit der Position des anderen Fahrzeugs wird der vom anderen Fahrzeug überfahrene Bereich bestimmt. Diese Information wird im Belegungsgitter hinterlegt.In a further embodiment of the invention, a width of at least one other vehicle is also received by radio, and together with the position of the other vehicle, the area traveled by the other vehicle is determined. This information is stored in the allocation grid.

In einer bevorzugten Ausgestaltung der Erfindung wird die Umfeldinformation, die anhand von funkbasiert empfangene Positionsdaten anderer Fahrzeuge gewonnen wird, In einer weiteren Ausgestaltung der Erfindung wird eine Breite von zumindest einem anderen Fahrzeugs ebenfalls per Funk empfangen und zusammen mit der Position des anderen Fahrzeugs wird der vom anderen Fahrzeug überfahrene Bereich bestimmt. Diese Information wird im Belegungsgitter hinterlegt.In a further embodiment of the invention, a width of at least one other vehicle is likewise received by radio, and together with the position of the other vehicle, the vehicle is received by the other vehicle overrun area determined. This information is stored in the allocation grid.

In einer bevorzugten Ausgestaltung der Erfindung betrifft die Umfeldinformation, die anhand von funkbasiert empfangene Positionsdaten anderer Fahrzeuge gewonnen wird, ein Fahrzeug außerhalb des Erfassungsbereichs des Umfelderfassungssystems.In a preferred embodiment of the invention, the environment information, which is obtained on the basis of radio-based received position data of other vehicles, a vehicle outside the detection range of the surroundings detection system.

Ausführungsbeispiel der ErfindungEmbodiment of the invention

Über eine Fahrzeug-zu-Fahrzeug Kommunikation ist es möglich, die Position eines Fahrzeuges im Umfeld eines EGO-Fahrzeuges zu erfassen und über einen Zeitraum zu verfolgen, so dass sich eine Objektspur ergibt. Die hier vorliegende Erfindung nutzt diese Eingangsdaten, um die entsprechenden Positionen auf einem Belegungsgitter zu adaptieren. Bei Anwendung eines Belegungsgitters, welches beispielsweise die Zellenzustände „belegt” bzw. „unbelegt” unterscheidet, kann der von einem oder mehreren Objekten in einem bestimmten Zeitraum überfahrene Bereich als „unbelegt” gekennzeichnet werden. Diese Situation ist beispielhaft in 1 dargestellt.Via a vehicle-to-vehicle communication, it is possible to detect the position of a vehicle in the vicinity of an EGO vehicle and track it over a period of time, so that an object track results. The present invention utilizes this input data to adapt the corresponding positions on an occupancy grid. When using an occupancy grid which, for example, distinguishes the cell states "occupied" or "unoccupied", the area traveled by one or more objects in a certain period of time can be marked as "unoccupied". This situation is exemplary in 1 shown.

Die Breite der Objektspur, in der realen Entsprechung die Breite des beobachteten Objekts, wird dabei ebenfalls in einer bevorzugten Ausgestaltung über den Fahrzeug-zu-Fahrzeug Kommunikationskanal empfangen. Als Resultat dieses Ansatzes liegen Bereiche in der Belegungsgitterrepräsentation vor, die als Manöverraum gespeichert und beispielsweise für die Berechnung potentieller Ausweichtrajektorien vor statischen Hindernissen genutzt werden können.The width of the object track, in the real equivalent the width of the observed object, is also received in a preferred embodiment via the vehicle-to-vehicle communication channel. As a result of this approach, there are areas in the occupancy grid representation that can be stored as a maneuver space and used, for example, to calculate potential avoidance trajectories from static obstacles.

Neben der Einbindung der durch die Fahrzeug-zu-Fahrzeug Kommunikation gelieferten Informationen in eine objektabstrakte Umfeldrepräsentation wird durch die dargestelle Vorgehensweise auch die Nutzung dieser Daten für dichte Umfeldrepräsentationen wie Belegungsgitter ermöglicht.In addition to integrating the information provided by the vehicle-to-vehicle communication into an object-related environment representation, the dargestelle approach also enables the use of this data for dense environmental representations such as occupancy grids.

Die hier vorgestellte Erfindung ermöglicht die Eintragung von Freirauminformationen in ein Belegungsgitter in Distanzbereichen, die nur durch die verfügbare Fahrzeug-zu-Fahrzeug Kommunikation beschränkt ist. Deren Leistungsfähigkeiten liegen typischerweise signifikant über denen von Strahlsensoren wie Radar-, Lidar- oder Kamerasensoren.The invention presented here allows the registration of clearance information in an occupancy grid in distance ranges, which is limited only by the available vehicle-to-vehicle communication. Their performance levels are typically significantly higher than those of beam sensors such as radar, lidar or camera sensors.

Ein weiterer Vorteil gegenüber Radar-, Lidar- oder Kamerasensorik findet sich bei der Erfassung von Freiflächeninformationen im Fernbereich, da diese Daten durch die hier behandelte Methodik eine hohe Verlässlichkeit und Genauigkeit besitzen, während Strahlsensorkonzepte hier üblicherweise Nachteile bezüglich der Ortsauflösung in großen Distanzen aufweisen.Another advantage over radar, lidar or camera sensors can be found in the detection of open space information in the remote area, since these data have a high reliability and accuracy by the methodology discussed here, while beam sensor concepts here usually have disadvantages in terms of spatial resolution at long distances.

Claims (5)

Verfahren für ein Fahrerassistenzsystem zur Erkennung von Freirauminformationen umfassend ein Umfelderfassungsystem und Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs, wobei die Umfeldinformationen, die mit dem Umfelderfasungssystem erfasst werden in ein Belegungsgitter eingetragen werden dadurch gekennzeichnet, dass Umfeldinformationenen, die anhand von funkbasiert empfangene Positionsdaten eines anderen Fahrzeugs gewonnen wird, auch in das Belegungsgitter eingetragen werden und bei funkbasierten Erkennung eines Bereichs, der von zumindest einem Fahrzeug überfahren wird, dieser Bereich als unbelegt im Belegungsgitter gekennzeichnet wird.Method for a driver assistance system for the recognition of clearance information comprising an environment detection system and means for radio-based reception of information on the position of at least one other vehicle, wherein the environment information that is detected with the Umfeldfasungssystem be entered into an occupancy grid, characterized in that Umweltinformationenenen based on radio received position data of another vehicle is obtained, are also registered in the occupancy grid and radio-based detection of an area that is run over by at least one vehicle, this area is characterized as unoccupied in the occupancy grid. Verfahren für ein Fahrerassistenzsystem nach Anspruch 1, dadurch gekennzeichnet, dass nur wenn die Erkennung von zumindest einem Fahrzeug in einem Bereich in einem vorgegebenen Zeitraum erfolgt, dieser Bereich als unbelegt im Belegungsgitter gekennzeichnet wird.Method for a driver assistance system according to claim 1, characterized in that only if the detection of at least one vehicle in an area in a predetermined period, this area is characterized as unoccupied in the occupancy grid. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass eine Breite des zumindest einen anderen Fahrzeugs ebenfalls per Funk empfangen wird und mit der Position des anderen Fahrzeugs der vom anderen Fahrzeug überfahrene Bereich bestimmt und diese Information im Belegungsgitter hinterlegt wird.Method according to one of the preceding claims, characterized in that a width of the at least one other vehicle is also received by radio and determined with the position of the other vehicle, the area traveled by the other vehicle area and this information is stored in the allocation grid. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Umfeldinformation, die anhand von funkbasiert empfangene Positionsdaten anderer Fahrzeuge gewonnen wird, ein Fahrzeug außerhalb des Erfassungsbereichs des Umfelderfassungssystems betrifft.Method according to one of the preceding claims, characterized in that the environment information, which is obtained on the basis of radio-based received position data of other vehicles, a vehicle outside the detection range of the surroundings detection system relates. Fahrerassistenzsystem umfassend ein Umfelderfassungsystem und Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs und eine Datenverarbeitungseinheit mit Speichermittel, auf dem ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist.Driver assistance system comprising an environment detection system and means for radio-based reception of information on the position of at least one other vehicle and a data processing unit with storage means, on which a method according to any one of the preceding claims is stored.
DE102011056413A 2011-12-14 2011-12-14 Method for use in driver assistance system for recognizing free space information, particularly for determining maneuver space for motor vehicles, involves recording surrounding information in occupancy grid Withdrawn DE102011056413A1 (en)

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DE102011056413A DE102011056413A1 (en) 2011-12-14 2011-12-14 Method for use in driver assistance system for recognizing free space information, particularly for determining maneuver space for motor vehicles, involves recording surrounding information in occupancy grid
DE112012005261.7T DE112012005261B4 (en) 2011-12-14 2012-11-07 Clearance information in an occupancy grid as a basis for determining maneuvering space for a vehicle
PCT/DE2012/100342 WO2013087067A1 (en) 2011-12-14 2012-11-07 Free space information in an occupancy grid as basis for determining a maneuvering space for a vehicle

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DE102014212478A1 (en) * 2014-06-27 2015-12-31 Bayerische Motoren Werke Aktiengesellschaft Method for creating an environment model of a vehicle
DE102016217718A1 (en) 2016-09-16 2018-03-22 Volkswagen Aktiengesellschaft METHOD, DEVICE AND COMPUTER READABLE STORAGE MEDIUM WITH INSTRUCTIONS FOR DETERMINING A POSITION OF A VEHICLE WITHIN A PARK SURFACE
CN111731305A (en) * 2019-03-22 2020-10-02 采埃孚汽车德国有限公司 Method for controlling a system of a motor vehicle and control device

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DE102009014105A1 (en) * 2008-03-21 2009-09-24 Denso Corporation, Kariya-City Detection system for a vehicle
DE102008026274A1 (en) * 2008-06-02 2009-12-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method and device for determining the relative position of moving objects
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Publication number Priority date Publication date Assignee Title
DE102014212478A1 (en) * 2014-06-27 2015-12-31 Bayerische Motoren Werke Aktiengesellschaft Method for creating an environment model of a vehicle
US11884277B2 (en) 2014-06-27 2024-01-30 Bayerische Motoren Werke Aktiengesellschaft Method for producing a model of the surroundings of a vehicle
DE102016217718A1 (en) 2016-09-16 2018-03-22 Volkswagen Aktiengesellschaft METHOD, DEVICE AND COMPUTER READABLE STORAGE MEDIUM WITH INSTRUCTIONS FOR DETERMINING A POSITION OF A VEHICLE WITHIN A PARK SURFACE
CN111731305A (en) * 2019-03-22 2020-10-02 采埃孚汽车德国有限公司 Method for controlling a system of a motor vehicle and control device

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