DE102016103251A1 - Method for operating at least one sensor for detecting the surroundings of a vehicle - Google Patents

Abstract

A method for operating at least one sensor (10) for detecting surroundings of a vehicle (100) provides for generating at least one data record by a data processing device (20, 20 '), wherein the at least one data record a current and / or future state of a first environment at which the vehicle (100) is at a first time, describes and / or describes a current and / or future state of a second environment where the vehicle (100) is at a later second time. Depending on the at least one data record, a control signal (30) generates a control signal for controlling an operating state of the at least one sensor (10) and / or for controlling data processing of sensor data of the at least one sensor (10).

Description

The invention relates to a method for operating at least one sensor for detecting the surroundings of a vehicle. Furthermore, the invention relates to a driver assistance system with surroundings detection of the surroundings of a vehicle.

Modern vehicles have a large number of sensors, which increasingly include sensors for detecting the surroundings of the vehicle. Such sensors may be, for example, ultrasonic sensors or radar sensors which use radio waves to scan the surroundings of the vehicle in order to thereby detect objects in the surroundings of the vehicle. Furthermore, Lidar sensors are used for optical distance and speed measurement, which use laser beams instead of radio waves. The environment sensors include, for example, camera sensors with which it is possible to take a picture of the surroundings of the vehicle.

At present, the sensors for environment detection of an environment of the vehicle are operated independently of each other. Although the state of the environment has an influence on the behavior of the vehicle sensors, in particular their functionality, the sensors are always operated and used the same way. As a result, the sensors operate more or less reliably depending on the state of the environment. Furthermore, a data processing device, for example a control device in the vehicle or an external back-end station, to which the sensor data are supplied for evaluation and further processing, hardly insight into the trustworthiness of the sensor data fed or influence on their evaluation and weighting.

A concern of the present invention is to provide a method for operating at least one sensor for detecting the surroundings of a vehicle, with which the sensor behavior or the performance of the at least one sensor can be improved. Furthermore, a driver assistance system with surroundings of the surroundings of a vehicle is to be specified, with which it is possible to improve the performance of at least one sensor for detecting surroundings of a vehicle or the reliability of the at least one sensor.

The object with regard to the method for operating at least one sensor for detecting surroundings of a vehicle is achieved by the embodiment of a method for operating the at least one sensor specified in patent claim 1.

In particular, the method provides that a first data record is created by a data processing device, the first data record describing a current state of an environment around a first position at which the vehicle is located at a first time, and / or wherein the first data record describes a current state of a second environment around a second position where the vehicle is at a later second time. The first data set is provided to a controller for generating a control signal for controlling an operating state of the at least one sensor and / or for controlling data processing of sensor data provided by the at least one sensor in dependence on the created first data set. In dependence on the control signal generated by the control device, the operating state of the at least one sensor and / or the processing of the sensor data provided by the at least one sensor is controlled.

An embodiment of a driver assistance system with surroundings detection of the surroundings of a vehicle, with which the sensor power of a sensor for environment detection or the reliability of the data supplied by the sensor can be increased, is specified in claim 9.

The driver assistance system comprises at least one sensor for detecting the surroundings of the vehicle, wherein the at least one sensor is arranged in the vehicle. Furthermore, the driver assistance system comprises a data processing device for generating a first data record which describes a current state of a first environment around a first position at which the vehicle is at a first time, and / or a current state of a second environment about a second one Position around where the vehicle is at a later second time describes. In addition, the driver assistance system comprises a control device for generating a control signal for controlling an operating state of the at least one sensor and / or for controlling data processing of sensor data provided by the at least one sensor. The control device is arranged in the vehicle. The control device is in particular designed to generate the control signal in dependence on the first data record.

With the specified driver assistance system, the architecture of the sensors for the surroundings detection of a vehicle is extended to the effect that information relating to a current state of an environment in which the vehicle is or will be located later, for controlling the sensor or be taken into account for data processing of sensor data from sensors of the vehicle. The information relating to the ambient state is used, for example, for setting characteristic parameters of a sensor or for adapting the sensor behavior.

The data processing device can be located, for example, in the vehicle itself, for example in a control device of the vehicle or in a back-end station. The control device can likewise be a component of a control device of the vehicle. The data processing device collects information from the surroundings sensors and / or further sensors of the vehicle, for example information from inertial sensors, GPS data from a navigation system for position determination or data from odometry sensors, and / or sensors from other vehicles and / or from infrastructure sensors and / or from others Information sources, such as weather stations or, for example, bodies for detecting a traffic condition. By evaluating this information, conclusions can be drawn about a current state of the environment in which the vehicle is currently or will be located in the future. The more information and redundancies can be obtained in this way, the more valid and better the data quality and thus the quality of the functions based on it.

With the aid of this detected environmental condition, there is a control of the vehicle sensors adapted to the condition, in particular the environment sensors of the vehicle, or an interpretation of the data supplied by the vehicle sensors. Relevant data describing the ambient state can be reported back to the individual vehicle sensors by the data processing device, for example the control device in the vehicle or a back-end station. In particular, from a back-end station, the data can also be forwarded to other vehicles and used to control the operating behavior of the sensors of these vehicles, in particular the environment sensors, or to control the processing of the sensor data of these vehicles. This allows an adjustment / adaptation of the sensor behavior based on the respective environmental condition.

The invention will be explained in more detail below with reference to figures showing exemplary embodiments of the present invention.

Show it:

1 an embodiment of a method for operating a sensor for detecting the surroundings of a vehicle and

2 an embodiment of a driver assistance system with environment detection of the environment of a vehicle.

The method for operating at least one sensor for detecting the surroundings of a vehicle and an associated driver assistance system with surroundings detection of the surroundings of a vehicle will be described below with reference to FIG 1 and 2 described.

A vehicle 100 includes at least one sensor 10 for environment detection of the surroundings of the vehicle. Next to the sensor 10 the vehicle can be more sensors 11 for environment detection included. The sensor 10 For example, it can be a radar, lidar or camera sensor. The vehicle 100 further comprises a data processing device 20 , The data processing device 20 may be part of the control unit of the vehicle. The data processing device 20 can be used to process sensor data from the sensors 10 and 11 and for processing other data supplied by external sources of information. The vehicle 100 further comprises a control device 30 for generating a control signal for controlling an operating state of the at least one sensor 10 and / or for processing the at least one sensor 10 provided sensor data.

Next to the vehicle 100 can go to the driver assistance system 1 a so-called backend station 200 as a central station with a data processing device 20 ' belong. The data processing device 20 ' may have a similar functionality as the data processing device 20 exhibit. The driver assistance system 1 may be other sources of information for providing data describing a state of the environment of the vehicle 100 include. For example, infrastructure sensors can do this 300 For example, an infrastructure sensor for detecting the state of an intersection, as well as other external stations 400 For example, weather stations or stations for detecting a traffic condition of the environment of the vehicle 100 , and other road users / vehicles 500 belong, with a similar or also different sensors like the vehicle 100 are equipped. For example, a rudimentary quantification of the road condition may be provided by a (winter) clearing service or by highly accurate reference sensors from surveying services.

In process step A of 1 is from the data processing device 20 . 20 ' generates a first record. The first record describes a current state of a first environment around a first position where the vehicle is 100 at a first time and / or a current state of a second environment around a second position where the vehicle is located 100 will be at a later second time.

The first record is for the controller 30 provided. Depending on the first record, the controller generates 30 in process step B of 1 a control signal for controlling an operating state of the at least one sensor 10 and / or for controlling data processing of sensor data received from the at least one sensor 10 to be provided. In response to the control signal of the control device 30 can thus the operating state of the at least one sensor 10 and / or processing the of the at least one sensor 10 provided sensor data are controlled. The processing of the sensor data can be done in the sensor 10 itself or in the data processing device 20 . 20 ' respectively.

The operating state of the at least one sensor 10 or the processing of the at least one sensor 10 provided sensor data is thus carried out in dependence on the determined current state of the environment of the vehicle at the first or second position. In particular, controlling the operating state of the at least one sensor 10 in such a way that the operating state of the at least one sensor when driving on the second position is already set or adapted in advance to the ambient conditions of the environment around the second position. Furthermore, the routines / algorithms for processing the sensor data in the at least one sensor 10 or in the data processing device 20 . 20 ' be anticipated adapted to the prevailing in the vicinity of the second position state.

As a result, it is possible that the operating parameters of the sensors or the processing algorithms of the data are already set to the ambient conditions prevailing in the environment around the second position when the vehicle reaches the second position. The sensors or the algorithms of the data processing of the sensor data are thus not adapted only when the second position has already been reached, but are already adapted at the time of reaching the second position. As a result, dead times can be avoided or at least minimized or reduced.

The data processing device 20 . 20 ' receives information data I1 and / or I2 which is a current state of the first and / or second environment of the vehicle 100 describe. Depending on the information data I1 and / or I2, the first data record is processed by the data processing device 20 . 20 ' determined. The information data I1 may be the sensor data received from the at least one vehicle sensor 10 yourself. The informational data I2 may be data stored in the backend station 200 or from the other sources of information, in particular from the infrastructure sensors 300 , the other sources of information 400 or from other vehicles 500 come. By evaluating the collected information data I1 and / or I2 is from the data processing device 20 . 20 ' to the ambient state in the vicinity of the first and / or second position of the vehicle 100 back closed.

While in method step A an environment description of a current state of the surroundings of the vehicle takes place at the first or second position, in method step C the 1 a prediction of the future state of the first and / or the second environment of the vehicle are made. This can be done by the data processing device 20 . 20 ' a second data record is created which describes a future state of the first and / or the second environment of the vehicle. The second record may be for the controller 30 for generating the control signal for controlling the operating state of the at least one sensor and / or for controlling the data processing of the sensor data generated by the at least one sensor 10 be provided. By driving with the control signal S, the operating state of the at least one sensor 10 and controlling the processing of the sensor data in dependence on the created second data set.

The future state of the first and / or second environment of the vehicle 100 can also be predicted by evaluating the information data I1 and / or I2. The second data set then becomes dependent on the prediction of the future state of the first and / or second environment of the vehicle 100 from the data processing device 20 . 20 ' created.

By predicting / estimating the future state in the respective environment around the first and / or second position and adjusting / adapting the operating state of the at least one sensor 10 or the data processing of the sensor data of the at least one sensor 10 Depending on the predicted state in the first and second environment, it is possible to improve the performance of the at least to set a sensor or the routines / algorithms of data processing already anticipatory. As a result, the at least one sensor or the data processing of its sensor data are already adapted to the ambient state when the predicated state occurs at the first and second surroundings and do not need to be subsequently adjusted, so that dead times can be avoided.

In method step D, an interpretation of the current and / or future state of the first and / or second environment of the vehicle takes place.

According to a possible embodiment of the method, by the data processing device 20 . 20 ' For example, at least one relevant area in the first and / or second environment of the vehicle 100 for detecting by the at least one sensor 10 be determined by the first and / or second data set by the data processing device 20 . 20 ' is evaluated. Depending on the at least one determined relevant area of the first and / or second surroundings of the vehicle 100 becomes the operating state of the at least one sensor 10 and / or the processing of the sensor data by the control device 30 customized.

By a corresponding scene interpretations, for example, more or less relevant areas in the first and / or second environment of the vehicle 100 by the data processing device 20 . 20 ' be determined. A sensor scan of the sensor 10 of the vehicle 100 can then be modified, for example, so that the sensor focuses on the critical areas. As a result, on the one hand in the critical areas an increased recognition performance (resolution, accuracy, quality of the classification, etc.) can be achieved. On the other hand, a preselection of the transmitted data is possible in order to allow a higher density of information given a limited bandwidth. The upstream scene interpretation is based for example on data from the sensors of the vehicle 100 or other sources of information 300 . 400 or 500 and / or on data stored in the backend station 200 already exist.

As already mentioned, in addition to the adaptation of an operating parameter of the at least one sensor 10 also an adaptation of the data processing of the sensor data in the at least one sensor 10 itself or in the data processing device 20 . 20 ' depending on the detected current and / or future state of the first and / or second environment of the vehicle. For example, processing algorithms may be selected or modified such that the processing algorithms, for example, image recognition algorithms, are applied to the most relevant areas, such as certain image areas or ranges.

On the one hand, this permits an efficient utilization of the available computing capacities, but on the other hand also an adapted, sensitive interpretation of the parameters of the recognition algorithm, since the preselection already results in higher probabilities of detection-relevant targets. For example, the data processing can be controlled so that the algorithms of image analysis at low speeds in a city focus more on the near area around the vehicle than at higher speeds on the highway. In turn, the close range in the high-speed range can be deliberately excluded from processing by a specific data processing algorithm.

According to a possible embodiment of the method, by the scene interpretation of the first and / or second surroundings of the vehicle, in particular by corresponding evaluation of the first and / or second data set, by the data processing device 20 . 20 ' an object and / or a weather condition on a road and / or a road condition and / or a road type and / or a lane marking of the roadway and other features in the first and / or second environment of the vehicle 100 be determined. Depending on the determined object and / or the weather condition and / or the road condition and / or the road type and / or the lane marking of the road in the first and / or second environment of the vehicle 100 then the operating state of the at least one sensor 10 and / or the processing of the sensor data by the control device 30 customized.

By scene interpretation, for example, in the recorded environment scene of the vehicle, the position of a bus stop, a school or an intersection can be determined. Furthermore, pedestrians or warning signs can be recognized by a vehicle camera, for example. A detected warning triangle may indicate a danger location and thus an increased probability for pedestrians on / beside the road. By means of suitable laser scanner technologies of laser sensors, for example, an area-dependent adaptation of the resolution of the laser sensor can take place. As a result, the resolution in areas in which, for example, a pedestrian was detected by the vehicle camera can be purposefully increased in order to ensure a clear and / or more accurate detection by a plurality of vehicle sensors.

The adaptation of the operating state / the operating parameters of the at least one vehicle sensor 10 to a recognized object can be explained by another example. By using card and back-end data combined with current camera images of a camera sensor in the vehicle, for example, a detection and localization of a tunnel can take place. This will allow you to anticipate the camera's likely optimal exposure settings at the beginning / end of the tunnel. Thus, dead times at the tunnel input / output can be avoided by under / over exposure during camera setting. This is also generally possible with a detection of expected strong light / shadow contrasts, for example, in deep / blinding sun with partial shading by large obstacles, such as buildings or trucks.

In the following, examples of an adaptation of the data processing of the sensor data to the ascertained current and / or future state of the first and / or second surroundings of the vehicle are listed.

When the data processing device 20 . 20 ' recognizes that the vehicle is located, for example, in a motorway tunnel, this information can be used to control the object recognition algorithms so that the sign recognition does not unnecessarily search for priority roadsigns. As a result, the computing capacity of the sensor ECU can be better utilized. The algorithms for object or traffic sign recognition can be significantly improved by adapting threshold values to the respectively determined situation in the surroundings of the vehicle. For example, an a priori probability for the occurrence of Andreas crosses indicating a railroad crossing can be reduced on highways. This can minimize the number of false trips. Detection and interpretation of the current scene, for example, a tunnel, a highway, a 30's zone in the city, and environmental conditions, such as the weather conditions in the environment, can be used to selectively enable or disable data processing routines or their parameterization, for example, their thresholds to adapt.

In addition to adjusting thresholds in traffic sign recognition, modified threshold values can also be used, for example, for the detection of pedestrians in the city or on the highway, depending on the detected ambient scene. With a high a-priori probability of finding pedestrians, an overlooked pedestrian (false-negative event) in the city is extremely critical. A false-positive event, on the other hand, is less critical because of the low speed in the city. Conversely, for example, in the surrounding scenery of a highway, the a priori probability of the occurrence of a pedestrian is lower and false triggering is much more critical because of the higher speeds.

Certain traffic signs / markings do not occur in all traffic areas. For example, there are no crosswalks, stop lines or railroad crossings in the detected surrounding scenery of a freeway. When determining such an environment scenery corresponding detection routines can be temporarily disabled to save computing power and avoid false triggering.

On the basis of a recognized weather situation, the sensors of the vehicle or the parameterization of the algorithm can be adapted to the changed environmental conditions. For example, wet surface data from a lidar sensor may be used to respond to ghost targeting spills that it alone can not detect. Likewise, the road condition has a significant influence on the recognition of lane markings. For example, reflections may occur on wet roads. If these conditions are known, the algorithm / image processing can be adapted accordingly.

According to a possible embodiment of the method, in method step E, the 1 a prediction of the behavior of the at least one sensor 10 depending on the determined current and / or future state of the first and / or second environment of the vehicle 100 , Depending on the prediction of the behavior of the at least one sensor 10 For example, the operating state of the at least one sensor and / or the processing of the sensor data can be effected as a function of the prediction of the behavior of the at least one sensor.

If adverse environmental conditions are detected which would cause a sensor to have only a very limited field of view or show a greatly increased rate of false alarms, for example ghost targets, the sensor can be switched off completely. For example, this would be the case for a laser scanner in heavy rainfall and resulting spray. The rain status may be determined, for example, by a combination of backend weather data with data from a camera and a rain sensor of the vehicle.

By evaluating the detected environment data, for example, an expected required range of a sensor of the vehicle can be dynamically predicted or estimated. Such an estimate can be used to adapt, in particular to reduce, the emitted power of a sensor of the vehicle. This can reduce the power consumption of the corresponding sensor.

According to a further embodiment of the method, the sensor data from one of the sensors, for example the sensor 10 , with further sensor data of other sensors, such as a sensor 11 of the vehicle 100 , and / or the information data of the infrastructure sensor 300 and / or with the data of external sources of information 400 and / or the information data of the other vehicles 500 depending on the prediction of the behavior of the sensor 10 be merged to create the first and / or second record. The evaluation of the sensor data by corresponding data fusion of data from various sensors / information sources is thus adapted to the prevailing in the first and / or second environment of the vehicle current and / or future environmental condition or adapted to the predicted behavior of a sensor in the detected environmental condition.

For example, by adjusting the rating of the sensor data to the weather conditions, improved sensor data fusion is achieved. The ambient conditions, in particular the weather condition, for example, have a strong influence on the current reliability of the measurement of a sensor depending on the measuring principle used. For example, optical sensors are sensitive to fog. By prediction of the sensor behavior during a measurement, the parameterization, for example the weightings of the individual sensors, of a data fusion can be adjusted in advance in order to achieve better results. Thus, the evaluation of the sensor data can be adjusted in such a way that, for example, in the weather state rain of the camera becomes less "familiar" than in comparatively good weather. For example, due to the environmental adaptation, it is possible to keep the falsenative / false positive rate constant, that is independent of the environmental conditions.

The method according to the invention makes it possible to adjust / adapt the sensor behavior of sensors of the vehicle based on the detected ambient condition. As a result, improved performance of the sensors as well as improved object recognition and, associated therewith, improved utilization of computing capacities are made possible. False triggering can be minimized. The effectiveness of the sensors as well as the sensor data fusion can be improved. Ultimately, the efficiency of the collected data can be increased by using the data to adjust the sensor behavior.

LIST OF REFERENCE NUMBERS

1

 Driver assistance system

10, 11

 vehicle sensor

20

 Data processing device in the vehicle

20 '

 Data processing device in the backend station

30

 control device

100

 vehicle

200

 Back-end station

300

 infrastructure sensor

400

 further sources of information

500

 other vehicles

Claims (15)

Method for operating at least one sensor for detecting the surroundings of a vehicle, comprising: - creating a first data record by a data processing device ( 20 . 20 ' ), wherein the first data set is a current state of a first environment around a first position at which the vehicle ( 100 ) at a first time describes and / or a current state of a second environment around a second position at which the vehicle ( 100 ) at a later second time describes, - providing the first data set for a control device ( 30 ) for generating a control signal for controlling an operating state of the at least one sensor ( 10 ) and / or for controlling data processing of sensor data generated by the at least one sensor ( 10 ), depending on the created first data record, - controlling the operating state of the at least one sensor ( 10 ) and / or processing of the at least one sensor ( 10 ) provided sensor data in response to the control signal (S) of the control device ( 30 ). A method according to claim 1, comprising: - creating a second data record which represents a future state of the first and / or the second environment of the vehicle ( 100 ), by the data processing device ( 20 . 20 ' ), - providing the second data set for the control device ( 30 ) for generating the control signal for controlling the operating state of the at least one sensor ( 10 ) and / or for controlling the data processing of the sensor data received from the at least one sensor ( 10 ) depending on the created second data set. Method according to one of Claims 1 or 2, comprising: determining at least one relevant area in the first and / or second surroundings of the vehicle ( 100 ) for detecting by the at least one sensor ( 10 ) by evaluating the created first and / or second data record by the data processing device ( 20 . 20 ' ), - adjusting the operating state of the at least one sensor ( 10 ) and / or the processing of the sensor data as a function of the at least one determined relevant region of the first and / or second surroundings of the vehicle ( 100 ) by the control device ( 30 ). Method according to one of claims 1 to 3, comprising: - determining an object and / or a weather condition on a road and / or a road condition and / or a road type and / or a lane marking of the roadway in the first and / or second environment of the vehicle ( 100 ) by evaluating the created first and / or second data record by the data processing device ( 20 . 20 ' ), - adjusting the operating state of the at least one sensor ( 10 ) and / or the processing of the sensor data depending on the determined object and / or the weather condition and / or the road condition and / or the road type in the first and / or second environment of the vehicle ( 100 ) by the control device ( 30 ). Method according to one of claims 1 to 4, comprising: - predicting the behavior of the at least one sensor ( 10 ) in dependence on the determined current and / or future state of the first and / or second environment of the vehicle ( 100 ) by the data processing device ( 20 . 20 ' ), - adjusting the operating state of the at least one sensor ( 10 ) and / or the processing of the sensor data as a function of the prediction of the behavior of the at least one sensor ( 10 ) by the control device ( 30 ). Method according to one of claims 1 to 5, comprising: - receiving information data (I1, I2) which is a current state of the first and / or second environment of the vehicle ( 100 ), determining the first data record as a function of the information data (I1, I2) by the data processing device ( 20 . 20 ' ). Method according to claim 6, comprising: - predicting the future state of the first and / or second environment of the vehicle ( 100 ) by evaluating the information data (I1, I2) by the data processing device ( 20 . 20 ' ), - creating the second data set as a function of the prediction of the future state of the first and / or second surroundings of the vehicle ( 100 ) by the data processing device ( 20 . 20 ' ). Method according to Claim 7, - the information data (I1, I2) containing the sensor data of the at least one sensor ( 10 ) and / or further sensor data of further sensors ( 12 . 12 ) of the vehicle ( 100 ) and / or data from external sources of information relating to the vehicle ( 400 ), wherein the sensor data of the at least one sensor ( 10 ) by the data processing device ( 20 . 20 ' ) with the further sensor data of the other sensors ( 11 . 12 ) and / or the data of the external sources of information ( 400 ) as a function of the prediction of the behavior of the at least one sensor ( 10 ) to create the first and / or second data set. Driver assistance system with surroundings detection of a vehicle, comprising: - at least one sensor ( 10 ) for detecting the surroundings of the vehicle ( 100 ), wherein the at least one sensor ( 10 ) in the vehicle ( 100 ), - a data processing device ( 20 . 20 ' ) for creating a first data record that contains a current state of a first environment around a first position at which the vehicle ( 100 ) at a first time describes and / or a current state of a second environment around a second position at which the vehicle ( 100 ) at a later second time describes, - a control device ( 30 ) for generating a control signal for controlling an operating state of the at least one sensor ( 10 ) and / or for controlling data processing of sensor data generated by the at least one sensor ( 10 ), the control device ( 30 ) in the vehicle ( 100 ) is arranged, - wherein the control device ( 30 ) is adapted to generate the control signal in dependence on the first data set. Driver assistance system according to claim 9, - wherein the data processing device ( 20 . 20 ' ) is adapted to a second data set, the a future state of the first and / or the second environment of the vehicle ( 100 ), - the control device ( 30 ) is adapted to generate the control signal in dependence on the second data set. Driver assistance system according to one of claims 9 or 10, - wherein the data processing device ( 20 . 20 ' ) is adapted to the behavior of the at least one sensor ( 10 ) in dependence on the determined current and / or future state of the first and / or second environment of the vehicle ( 100 ), the data processing device ( 20 . 20 ' ) is adapted to generate the control signal such that the operating state of the at least one sensor ( 10 ) and / or the processing of the sensor data as a function of the prediction of the behavior of the at least one sensor ( 10 ) he follows. Driver assistance system according to claim 11, wherein the data processing device ( 20 . 20 ' ) is adapted to the sensor data of the at least one sensor ( 10 ) as a function of the prediction of the behavior of the at least one sensor ( 10 ). Driver assistance system according to one of Claims 10 to 12, - the data processing device ( 20 . 20 ' ) is adapted to receive information data (I1, I2) which is a current state of the first and / or second environment of the vehicle ( 100 ), - the data processing device ( 20 . 20 ' ) is adapted to generate the first data set in dependence on the information data (I1, I2), - wherein the data processing device ( 20 . 20 ' ) is adapted to the future state of the first and / or second environment of the vehicle ( 100 ) by evaluating the information data (I1, I2), - wherein the data processing device ( 20 . 20 ' ) is adapted to the second data set in dependence on the prediction of the future state of the first and / or second environment of the vehicle ( 100 ) to create. Driver assistance system according to claim 13, comprising: - further sensors ( 11 ) of the vehicle for providing further sensor data, - wherein the data processing device ( 20 . 20 ' ) is adapted to the sensor data of the at least one sensor ( 10 ) with the further sensor data of the other sensors ( 11 ) and / or with data relating to the vehicle ( 100 ) external sources of information ( 300 . 400 . 500 ) as a function of the prediction of the behavior of the at least one sensor ( 10 ) to merge. Driver assistance system according to one of claims 10 to 14, wherein the data processing device ( 20 . 20 ' ) in the vehicle ( 100 ) or in a backend station ( 200 ) outside the vehicle ( 100 ) is arranged.

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