DE102014216018A1 - CONTROL DEVICE, VEHICLE AND METHOD - Google Patents

Abstract

The present invention discloses a control device for a vehicle having at least two environment sensors, with a computing device which is coupled to the environment sensors and which is designed to plausibilize sensor data of the environment sensors against each other and to create an environment model of the environment of the vehicle based on the sensor data the computing device is designed to output an error signal if the plausibility of the sensor data is negative. Further, the present invention discloses a corresponding vehicle and a corresponding method.

Description

The present invention relates to a control device for a vehicle having at least two environmental sensors, a corresponding vehicle and a corresponding method.

State of the art

Modern vehicles today have a variety of electronic systems that assist the driver in handling the vehicle. The so-called driver assistance systems can inform the driver, e.g. Assist in keeping the lane when the driver is distracted, or initiate an automatic braking for this.

There exist first driver assistance systems which remove the driver from controlling the vehicle. These driver assistance systems enable a so-called autonomous or highly automated driving of the vehicle, i. without intervention of a driver.

Typically, such driver assistance systems use satellite navigation systems installed in the vehicle and appropriate sensors to determine the position of the vehicle and control the vehicle. In this case, a destination can be e.g. be specified via the navigation system.

In such situations, the driver assistance system takes over the violence on the transverse and longitudinal guidance of the vehicle. However, if required, the driver is requested to take on the driving task.

The sensors installed in the vehicle usually consist of e.g. from a radar sensor, a camera and the like. With the aid of the sensors, a model of the vehicle environment is created in a control device of the vehicle, which serves as the basis for controlling the vehicle.

Since the control of the vehicle is based on this environmental model, errors of the sensors and thus errors in the environmental model can lead to faulty control of the vehicle.

For this reason, appropriate monitoring of the sensors is desirable.

Disclosure of the invention

It is therefore an object of the present invention to provide monitoring for sensors in vehicles.

This object is solved by the features of the independent claims.

Accordingly, it is provided:
A control device for a vehicle having at least two environment sensors, with a computing device which is coupled to the environmental sensors and which is designed to plausibility of plausibility of sensor data of environment sensors and to create an environment model of the environment of the vehicle based on the sensor data, wherein the computing device is formed to output an error signal if the plausibility of the sensor data is negative.

It is also provided:
A vehicle with a control device according to the invention, and with at least one driver assistance system, which is designed to receive at least one error signal from the control device and to switch off its function after receiving the error signal.

Finally, it is planned:
A method of operating a vehicle having at least two environmental sensors that receive sensor data, comprising creating an environmental model of the environment of the vehicle based on the sensor data, plausibility of sensor data of the environmental sensors against each other, and outputting an error signal if the plausibility of the sensor data is negative.

Advantages of the invention

The underlying insight of the present invention is that sensors in vehicles today are only insufficiently monitored.

The idea on which the present invention is based now consists in taking this knowledge into account and providing a possibility in which environmental sensors in a vehicle are monitored by a mutual plausibility check of different sensors.

If the plausibility check reveals that at least one of the sensors is defective, the computing device according to the invention outputs an error signal which can be used to initiate suitable countermeasures.

In the context of this patent application, a plausibility check can be understood as meaning any type of adjustment of the sensor data that allows a conclusion as to whether or not one of the sensors is defective.

If, for example, sensor data of two ultrasonic sensors are made plausible, it can be compared whether the ultrasonic sensors are in the same position and at the same distance from the vehicle recognize an object or not. A similar comparison may be made, for example, with two radar sensors, two cameras or the like.

If the sensor data of two different environmental sensors are made plausible, it is also possible here to check whether the different sensors, e.g. recognize an object at the same position opposite the vehicle.

The plausibility of the sensor data makes it possible to perform the function of an environment sensor not only in the environment sensor itself, e.g. at the electrical level. Rather, the environmental sensor using the present invention can be checked on a functional level.

Advantageous embodiments and further developments emerge from the dependent claims and from the description with reference to the figures.

In one embodiment, the control device has a first communication interface, in particular a wireless communication interface, which is designed to couple the control device with a card memory. Furthermore, the computing device is designed to retrieve a map, which has map data relating to an environment of the vehicle, from the map memory. If a map of the environment of the vehicle is provided, the plausibility check may also include the data of the map.

In one embodiment, the computing device is designed to plausibilize the map data and the environment model, wherein the computing device is designed to output the error signal if the plausibility of the map data and of the environment model is negative. Since the environment model has features that are also stored in the map, e.g. Road courses, the environment model can be plausibilized using the map or vice versa.

In one embodiment, the control device has a position determination unit, in particular a satellite-based position determination unit, which is designed to determine and output a current position of the vehicle. Furthermore, the computing device is designed to make the determined current position of the vehicle plausible based on landmarks detected by the environmental sensors and / or the map. Finally, the computing device is designed to output the error signal if the plausibility check of the determined current position of the vehicle is negative. The landmarks may e.g. be distinctive buildings or roads that allow the computing device to determine a position of the vehicle in the environmental model and / or the map. In this way, the position of the vehicle can be determined in two different ways, and the two positions obtained can be compared with each other for plausibility.

In one embodiment, the control device has a second communication interface, which is configured to directly or indirectly couple the control device to at least one further control device. Furthermore, the computing device is designed to retrieve sensor data and / or a current position of the further control device from the further control device and to make the sensor data and / or the current position of the vehicle plausible with the retrieved sensor data and / or the retrieved current position of the further control device. Finally, the computing device is designed to output the error signal if the plausibility of the sensor data and / or the current position of the vehicle is negative. In this way, the environment sensors can be made plausible with the environment sensors of other vehicles. For example, the sensor data of preceding or following vehicles can be retrieved and compared with the sensor data of the vehicle.

In one embodiment, the control device has a switch-off device, which is designed to switch off a driver assistance system of the vehicle when the computing device outputs the error signal. Furthermore, the switch-off device is in particular configured to switch off the driver assistance system after the driver has accepted a vehicle control and / or to transfer the vehicle to a safe state before it switches off the driver assistance system. Since the sensor data or the environmental model is usually provided to a driver assistance system, which performs a control function in the vehicle based on this sensor data or the environmental model, a faulty control of the vehicle can thereby be effectively avoided.

In one embodiment, the control device has a control device which is designed to check a negative plausibility check and to output the error signal only when the check confirms the negative plausibility check. If a second control entity is provided which checks the plausibility check, the false shutdown of the driver assistance system can be avoided. For example, such short-term disturbances of the environmental sensors, e.g. due to external influences as grounds for exclusion.

In one embodiment, the computing device is designed to carry out the plausibility check continuously during operation of the vehicle. Thus, an error of the environment sensors can be detected during the entire operation of the vehicle.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations of features of the invention which have not been explicitly mentioned above or described below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

Brief description of the drawings

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings. It shows:

1 a block diagram of an embodiment of a control device according to the invention;

2 a block diagram of an embodiment of a vehicle according to the invention; and

3 a flow diagram of an embodiment of a method according to the invention.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - have been given the same reference numerals.

Embodiments of the invention

1 shows a block diagram of an embodiment of a control device according to the invention 1 ,

The control device 1 has a computing device 4 on. With the computing device 4 are two environment sensors 3-1 and 3-x coupled. Further environment sensors are indicated by three points.

The environment sensors 3-1 and 3-x transmitting the computing device 4 sensor data 5 from which the computing device 4 an environment model 6 generated.

Furthermore, the computing device makes it plausible 4 the sensor data 5 against each other and gives an error signal 7 off if the plausibility check is negative.

The environment sensors 3-1 - 3-x can any kind of sensors 3-1 - 3-x be in a vehicle 2 can be installed to the environment of the vehicle 2 capture. By capturing the environment is meant that the sensor data 5 at least make a statement about whether a point in the environment of the vehicle 2 occupied by an object or not. Depending on the type of environment sensors 3-1 - 3-x Further statements about the environment can be made. For example, objects can be detected and the size, nature, type or the like of the objects can be recognized. This information may be from the computing device 4 be used to the environment model 6 to create. From the environment model 6 can be a driver assistance system 17 So pick out where the vehicle is 2 to move without colliding with an object.

Possible environmental sensors 3-1 - 3-x For example, they may include radar sensors, cameras, ultrasonic sensors, LIDAR sensors, or the like.

The control device 4 may be configured as a processor, microcontroller, vehicle control unit or the like. Alternatively, the control device 4 also be designed as a computer program product, which is already in the vehicle 2 existing control unit is running.

The computing device 4 can with the environment sensors 3-1 - 3-x eg communicate via discrete data lines. Alternatively, the computing device 4 with the environment sensors 3-1 - 3-x also communicate via a vehicle bus, eg a CAN bus or a FlexRay bus.

In one embodiment, the environmental sensors may 3-1 - 3-x the control device 4 in the sensor data 5 Deliver raw data. In another embodiment, the environmental sensors may 3-1 - 3-x but also have a signal processing and the control device 4 already prepared sensor data 5 provide. Such processed sensor data 5 For example, coordinates, size information, or the like may be provided by the environmental sensors 3-1 - 3-x have detected objects.

For plausibility of the sensor data 5 and thus for the qualification of environment sensors 3-1 - 3-x can the computing device 4 those of different environmental sensors 3-1 - 3-x get sensor data 5 eg compare with each other. Show eg the sensor data 5 a camera 3-3 and the sensor data 5 a radar sensor 3-2 If an object is in the same place, the plausibility check can be completed positively. Show the sensor data 5 the camera 3-3 at one point an object to which the sensor data 5 of the radar sensor 3-2 show no object, it must be assumed that either the radar sensor 3-2 or the camera 3-3 is defective. Consequently, with such a deviation, the sensor data becomes 5 the plausibility check is negative.

To determine which of the environmental sensors 3-1 - 3-x is defective in a negative plausibility, more diagnostic routines may be provided.

If a plausibility check is terminated negatively, the computing device indicates 4 an error signal 7 from, for example, of vehicle systems of the vehicle 2 can be evaluated.

2 shows a block diagram of an embodiment of a vehicle according to the invention 2 ,

The vehicle 2 has a control device 1 (not shown separately) on which a computing device 4 that has two environmental sensors 3-2 . 3-3 , a radar sensor 3-2 and a camera 3-3 , is coupled. The number and type of environment sensors 3-2 . 3-3 is just an example. Furthermore, the computing device creates 4 from the sensor data 5 which these from the radar sensor 3-2 and the camera 3-3 receives, an environment model 6 , The computing device 4 is further provided with a position determining unit 12 coupled. This is called a GPS system 12 trained and transmitted to the computing device 4 the current position 13 of the vehicle 2 ,

The vehicle 2 also has a communication interface 8th / 15 on. The communication interface 8th / 15 serves in the vehicle 2 as the first communication interface 8th and as a second communication interface 15 , In other embodiments, the first communication interface 8th and the second communication interface 15 in the vehicle 2 be carried out separately. Via the communication interface 8th / 15 communicates the vehicle 2 with another control device 1-1 and receives from this sensor data 5-1 and a current position 13-1 the further control device 1-1 , Furthermore, the computing device communicates 4 via the communication interface 8th / 15 with a card store 9 which the card 10 contains the map data 11 at least to the environment of a current position 13 of the vehicle 2 having. Alternatively, the card 10 also in the vehicle 2 , eg in a navigation system of the vehicle 2 be filed.

The card store 9 has an interface 21 on which of these with a network 20 , here the internet 20 , is coupled. By way of example only, an antenna is on the Internet 20 shown, which is intended to indicate that the data communication between the vehicle 2 and the internet 20 wirelessly.

Finally, the vehicle points 2 a driver assistance system 17 on, which with a shutdown device 16 is coupled. The shutdown device 16 is from a control device 18 controlled, the error signal 7 from the computing device 4 receives.

The computing device 4 For example, a conventional review of environmental sensors can be carried out first 3-2 . 3-3 carry out. In such a check, for example, it is determined whether the wiring is error-free and whether the respective environment sensor is electrically correct, ie, for example, correct signal level or the like supplies.

Represents the computing device 4 determined that the environmental sensors 3-2 . 3-3 working electrically correctly, can perform a functional review of environmental sensors 3-2 . 3-3 and all other data sources. This functional check can be done, for example, by checking the plausibility of existing data. For example, the sensor data 5 the environment sensors 3-2 . 3-3 be made plausible against each other. Furthermore, the sensor data of the environment sensors 3-2 . 3-3 be used to create an environment model 6 to create. This environment model 6 can eg with the map 10 be made plausible.

For example, it may be that the map indicates there is a right turn in front of the vehicle 2 , The environment sensors 3-2 . 3-3 but could recognize a left turn. In such a case, on the one hand, the environment sensors 3-2 . 3-3 be defect. On the other hand, but could also the card 10 be flawed.

For example, the wrong map data could 11 be retrieved or delivered. The map data 11 but could also have been manipulated. Especially if more than one environment sensor 3-2 . 3-3 sensor data 5 deliver that to the same environment model 6 lead, it is assumed that the card 10 is faulty.

The computing device 4 can eg the current position 13 check by the map data 11 for the current position 13 be retrieved and with the environment model 6 be compared. Dodges the environment model 6 from the map data 11 at least it can be determined that there is an error.

Now, for example, it can be tried to exclude the card 10 is erroneous by trying to extract the clipping of the environment model 6 at the current position 13 of the vehicle 2 with a section of the map 10 to overlay. Finds a section in the map 10 , the section of the environment model 6 like, can of it be assumed that the current position 13 was recorded incorrectly.

Generally, the computing device 4 all data about the vehicle 2 , the environment of the vehicle 2 , the map 10 or other vehicles 2 or control devices 1-1 receives, plausibility against each other, to errors in the environment detection of the vehicle 2 to recognize.

Detects the computing device 4 an error in the surroundings detection of the vehicle 2 , this can be an error signal 7 output. In 2 becomes the error signal 7 a control device 18 supplied, which controls the occurrence of the error or checked. The control device 18 can eg also in the control device 4 be arranged and exist in a temporally first plausibility check subsequent second plausibility. If the check reveals that the error still persists, the error signal can 7 the shutdown device 16 are fed, which then the driver assistance system 17 off.

The driver assistance system 17 can, for example, any driver assistance system 17 which partly autonomously or autonomously controls the transverse and longitudinal movement of the vehicle 2 takes over.

In one embodiment, turning off the driver assistance system may 17 For example, take place only after a takeover of the tax task by the driver. Alternatively, the driver assistance system 17 move the vehicle to a safe condition, eg park it on a side strip, before switching it off.

3 shows a flowchart of an embodiment of a method according to the invention for use in the operation of a vehicle 2 which at least two environment sensors 3-1 - 3-x which sensor data 5 . 5-1 take up.

The method sees in S1 the creation of an environment model 6 the environment of the vehicle 2 based on the sensor data 5 . 5-1 in front. In S2 sensor data 5 . 5-1 the environment sensors 3-1 - 3-x plausible against each other. Finally, S3 becomes an error signal 7 issued when the plausibility of the sensor data 5 . 5-1 runs negatively.

Other embodiments of the method see retrieving a card 10 which map data 11 to an environment of the vehicle 2 has, from a card memory 9 in front. Additionally or alternatively, a current position 13 of the vehicle 2 be recorded. Furthermore, in embodiments, sensor data 5-1 and / or a current position 13-1 another vehicle 2 from the other vehicle 2 be retrieved.

All of these recorded sensor data 5 . 5-1 and positions 13 . 13-1 can be made plausible against each other and for the evaluation of environmental sensors 3-1 - 3-x of the vehicle 2 or the received card 10 , the sensor data obtained 5-1 or the like can be used.

If one of these plausibility checks fails, the error signal can 7 be issued.

In one embodiment, a driver assistance system 17 of the vehicle 2 be turned off when the error signal 7 is issued.

In this case, in one embodiment, the shutdown, for example, after a takeover of a vehicle control by the driver or the transfer of the vehicle 2 be performed in a safe condition.

In a further embodiment, for example, a further check may be provided before the error signal 7 is issued.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention.

LIST OF REFERENCE NUMBERS

1, 1-1

 control device

2

 vehicle

3-1-3-x

 environmental sensors

4

 computing device

5, 5-1

 sensor data

6

 environment model

7

 error signal

8th

 first communication interface

9

 card memory

10

 map

11

 map data

12

 Position Determination Entity

13, 13-1

 actual position

14

 landmarks

15

 second communication interface

16

 shutoff

17

 Driver assistance system

18

 control device

20

 network

21

 interface

Claims (14)

Control device ( 1 . 1-1 ) for a vehicle ( 2 ) with at least two environment sensors ( 3-1 - 3-x ), with a computing device ( 4 ), which with the environment sensors ( 3-1 - 3-x ) and which is formed, sensor data ( 5 . 5-1 ) of the environment sensors ( 3-1 - 3-x ) against each other and based on the sensor data ( 5 . 5-1 ) an environment model ( 6 ) of the environment of the vehicle ( 2 ) to create; wherein the computing device ( 4 ) is formed, an error signal ( 7 ), if the plausibility of the sensor data ( 5 . 5-1 ) is negative. Control device according to Claim 1, having a first communication interface ( 8th ), in particular a wireless communication interface ( 8th ), which is designed, the control device ( 1 . 1-1 ) with a card memory ( 9 ) to couple; wherein the computing device ( 4 ), a card ( 10 ), which map data ( 11 ) to an environment of the vehicle ( 2 ), from the card memory ( 9 ). Control device according to claim 2, wherein the computing device ( 4 ), the map data ( 11 ) and the environmental model ( 6 ) to plausibility against each other; wherein the computing device ( 4 ) is formed, the error signal ( 7 ), if the plausibility of the map data ( 11 ) and the environment model ( 6 ) is negative. Control device according to one of the preceding Claims 2 and 3, having a position determination unit ( 12 ), in particular a satellite-based position-determining unit ( 12 ), which is formed, a current position ( 13 . 13-1 ) of the vehicle ( 2 ) to identify and issue; wherein the computing device ( 4 ), the determined current position ( 13 . 13-1 ) of the vehicle ( 2 ) based on the environment sensors ( 3-1 - 3-x ) registered landmarks ( 14 ) and / or the card ( 10 ) to make it plausible; wherein the computing device ( 4 ) is formed, the error signal ( 7 ) if the plausibility check of the determined current position ( 13 . 13-1 ) of the vehicle ( 2 ) is negative. Control device according to one of the preceding claims, having a second communication interface ( 15 ), which is designed, the control device ( 1 ) with at least one further control device ( 1-1 ) to couple directly or indirectly; wherein the computing device ( 4 ) is formed by the further control device ( 1-1 ) Sensor data ( 5-1 ) and / or a current position ( 13-1 ) of the further control device ( 1-1 ) and the sensor data ( 5 ) and / or the current position ( 13 ) of the vehicle ( 2 ) with the retrieved sensor data ( 5-1 ) and / or the retrieved current position ( 13-1 ) of the further control device ( 1-1 ) to make it plausible; wherein the computing device ( 4 ) is formed, the error signal ( 7 ), if the plausibility of the sensor data ( 5 . 5-1 ) and / or the current position ( 13 ) of the vehicle ( 2 ) is negative. Control device according to one of the preceding claims, with a shutdown device ( 16 ), which is designed, a driver assistance system ( 17 ) of the vehicle ( 2 ) when the computing device ( 4 ) the error signal ( 7 ) outputs; the shutdown device ( 16 ) is particularly designed, the driver assistance system ( 17 ) switch off after acceptance of a vehicle control by the driver and / or the vehicle ( 2 ) to be transferred to a safe state before being used by the driver assistance system ( 17 ) turns off. Control device according to one of the preceding claims, having a control device ( 18 ), which is designed to check a negative plausibility and the error signal ( 7 ) only if the review confirms the negative plausibility check; and / or wherein the computing device ( 4 ), the plausibility check continuously during operation of the vehicle ( 2 ). Vehicle ( 2 ) with a control device ( 1 . 1-1 ) according to one of the preceding claims; and with at least one driver assistance system ( 17 ), which is formed by the control device ( 1 . 1-1 ) at least one error signal ( 7 ) and its function after receiving the error signal ( 7 ) shut down. Method for operating a vehicle ( 2 ) with at least two environment sensors ( 3-1 - 3-x ), which sensor data ( 5 . 5-1 ), comprising: creating (S1) an environment model ( 6 ) of the environment of the vehicle ( 2 ) based on the sensor data ( 5 . 5-1 ); Plausibility check (S2) of sensor data (S2) 5 . 5-1 ) of the environment sensors ( 3-1 - 3-x ) against each other; and outputting (S3) an error signal ( 7 ), if the plausibility of the sensor data ( 5 . 5-1 ) is negative. The method of claim 9, comprising: Retrieve a card ( 10 ), which map data ( 11 ) to an environment of the vehicle ( 2 ) from a card memory ( 9 ); and plausibility of the map data ( 11 ) and the environment model ( 6 ) against each other; Outputting the error signal ( 7 ), if the plausibility of the map data ( 11 ) and the environment model ( 6 ) is negative. Control device according to claim 10, comprising: determining a current position ( 13 . 13-1 ) of the vehicle ( 2 ), in particular with a satellite-based position-determining unit ( 12 ); Plausibility check of the determined current position ( 13 . 13-1 ) of the vehicle ( 2 ) based on the environment sensors ( 3-1 - 3-x ) registered landmarks ( 14 ) and / or the card ( 10 ); Outputting the error signal ( 7 ), if the plausibility check of the determined current position ( 13 . 13-1 ) of the vehicle ( 2 ) is negative. Method according to one of the preceding claims 9 to 11, comprising: retrieving sensor data ( 5-1 ) and / or a current position ( 13-1 ) of another vehicle ( 2 ) of the further vehicle ( 2 ); and plausibility of the sensor data ( 5-1 ) and / or the current position ( 13 ) of the vehicle ( 2 ) with the retrieved sensor data ( 5-1 ) and / or the retrieved current position ( 13-1 ) of the further vehicle ( 2 ); Outputting the error signal ( 7 ), if the plausibility of the sensor data ( 5 ) and / or the current position ( 13 ) of the vehicle ( 2 ) is negative. Method according to one of the preceding claims 9 to 12, comprising: switching off a driver assistance system ( 17 ) of the vehicle ( 2 ), if the error signal ( 7 ) is output; wherein the shutdown in particular after an assumption of a vehicle control by the driver or the transfer of the vehicle ( 2 ) is performed in a safe state. The method of any preceding claim 9 to 13, comprising: verifying a negative plausibility check; and outputting the error signal ( 7 ) only if the checking confirms the negative plausibility check.

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