DE102016223581A1 - Device and method for checking a functionality of a sensor - Google Patents

Abstract

The present invention relates to an apparatus and method for verifying operability of a sensor (102) of a vehicle, wherein the sensor (102) is configured to provide sensor data at a first rate. The apparatus (100) comprises a memory (104) in which predetermined test data are stored, and a processor (106) which is adapted to link the predetermined test data with the sensor data to obtain manipulated data containing the manipulated data process second rate according to a processing rule to obtain processed data, and to compare the processed data with predetermined reference data to check the operability of the sensor (102).

Description

TECHNICAL AREA

The present invention relates to a device and a method for checking a functionality of a sensor, in particular a sensor of a vehicle.

TECHNICAL BACKGROUND

Environmental sensors are increasingly used in modern motor vehicles. Only with the information gained from them from the environment of a vehicle modern driver assistance systems (ADAS) or systems to increase vehicle safety are possible. Furthermore, they are important for automated driving. Along with this, however, is the ever greater dependence of the vehicle on environmental information. However, this also leads to ever greater demands on the accuracy of the environmental information. It is sometimes difficult to plausibilize the information of one sensor via other sensors, since other sensors usually can not detect this information because of the physical principle of operation. For example, a radar sensor typically can not detect colors and thus also does not make plausibility of color information from a camera. In addition, it becomes increasingly difficult to systematically check all possible states, situations and input data in advance. In particular, learning or adaptive systems typically elude this review for principled reasons.

DESCRIPTION OF THE INVENTION

It is therefore an object of the present invention to provide an apparatus and a method for
Checking a functionality of a sensor of a vehicle to provide.

This object is solved by the subject matters of the independent claims. Preferred embodiments of the invention are the subject of the dependent claims, the description and the figures.

According to a first aspect, the object is achieved by a device for checking a functionality of a sensor of a vehicle. The sensor is configured to provide sensor data at a first rate. Furthermore, the apparatus comprises a memory in which predetermined test data are stored, and a processor configured to associate the predetermined test data with the sensor data to obtain manipulated data to process the manipulated data at a second rate according to a processing rule. to obtain processed data and compare the processed data with predetermined reference data to check the operability of the sensor.

According to one embodiment of the device, the sensor is an environment sensor, a camera sensor, a radar sensor, an ultrasound sensor or a laser-based sensor.

According to one embodiment of the device, the second rate is greater than the first rate.

According to one embodiment of the device, the predetermined test data comprises synthetically generated data, the synthetically generated data being generated according to predetermined synthesis rules.

According to an embodiment of the device, the predetermined reference data is stored in the memory.

According to an embodiment of the device, the processor is further configured to process the sensor data according to the processing rule.

According to an embodiment of the apparatus, the processor is further configured to determine a deviation between the processed data and the reference data to obtain a deviation measure.

According to an embodiment of the device, the processor is further configured to compare the deviation measure with a predetermined threshold value and to discard the sensor data if the deviation measure exceeds the predetermined threshold value.

According to an embodiment of the device, a time stamp is associated with the manipulated data, and the processor is further configured to change the time stamp in order to check the operability of the sensor.

The device can be used in cars, in aircraft or in ships.

According to a second aspect, the object is achieved by a method for checking a functionality of a sensor of a vehicle, wherein the sensor is designed to provide sensor data at a first rate. The method comprises the steps of: providing predetermined test data, associating the predetermined test data with the sensor data to obtain manipulated data, processing the manipulated data at a second rate according to a Processing instruction to obtain processed data, and comparing the processed data with predetermined reference data to check the operability of the sensor.

The method may be performed by the device. Further features of the method result directly from the functionality and / or the features of the device.

According to a third aspect, the object is achieved by a computer program having a program code for carrying out the method according to the second aspect, when the program code is executed on a computer.

The device may be program-programmed to execute the program code.

The invention can be implemented in hardware and / or software.

list of figures

• 1 zeigt eine schematische Darstellung einer Vorrichtung zum Überprüfen einer Funktionsfähigkeit eines Sensors in einem Fahrzeug gemäß einer Ausführungsform; und
• 2 zeigt eine schematische Darstellung eines Verfahrens zum Überprüfen einer Funktionsfähigkeit eines Sensors in einem Fahrzeug gemäß einer Ausführungsform.

Further exemplary embodiments are explained in more detail with reference to the enclosed figures:

• 1 shows a schematic representation of an apparatus for checking a functionality of a sensor in a vehicle according to an embodiment; and
• 2 shows a schematic representation of a method for checking a functionality of a sensor in a vehicle according to an embodiment.

DETAILED DESCRIPTION OF THE FIGURES

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. It should be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the concept of the present invention. The following detailed description is therefore not to be understood in a limiting sense. Further, it should be understood that the features of the various embodiments described herein may be combined with each other unless specifically stated otherwise.

Aspects and embodiments will be described with reference to the drawings, wherein like reference numerals generally refer to like elements. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects of the invention. However, it will be apparent to one skilled in the art that one or more aspects or embodiments may be practiced with a lesser degree of specific details. In other instances, well-known structures and elements are shown in schematic form to facilitate describing one or more aspects or embodiments. It is understood that other embodiments may be utilized and structural or logical changes may be made without departing from the concept of the present invention.

Furthermore, while a particular feature or aspect of an embodiment may have been disclosed in terms of only one of several implementations, such feature or aspect may be combined with one or more other features or aspects of the other implementations, as for a given or particular one Application may be desirable and advantageous. Furthermore, to the extent that the terms "contain," "have," "with," or other variants thereof are used in either the detailed description or the claims, such terms are intended to include such terms in a manner similar to the term "comprising." The terms "coupled" and "connected" may have been used along with derivatives thereof. It should be understood that such terms are used to indicate that two elements independently cooperate or interact with each other, whether they are in direct physical or electrical contact or are not in direct contact with each other. In addition, the term "exemplary" is to be considered as an example only, rather than the term for the best or optimal. The following description is therefore not to be understood in a limiting sense.

1 shows a schematic of a device 100 for checking a functionality of a sensor 102 in a vehicle according to an embodiment. The device 100 includes the sensor 102 configured to provide sensor data at a first rate, a memory 104 in which predetermined test data are stored, and
a processor 106 which is configured to associate the predetermined test data with the sensor data to obtain manipulated data, to process the manipulated data at a second rate according to a processing rule to obtain processed data, and the processed ones Compare data with predetermined reference data to the operability of the sensor 102 to check.

Through the device 100 the advantage is achieved that the functionality of the sensor 102, such as an environment sensor, can be continuously tested during operation, since it is possible to systematically check the sensor data processing with known information on their condition. For example, the sensor data processing according to the processing rule may run at a larger sampling rate than data provided by the sensor. For example, sensor data processing can run at 18 Hz if the sensor supplies data at 16 Hz. In the additionally available sampling steps, information can be simulated as an input whose output is known at the end of the sensor data processing. This can be used to check whether, for example, the sensor data processing system has become unstable or has deteriorated in performance due to an incorrect adaptation.

The following variants can be used as input data for these test sequences: they are the data of the last normal pass of the sensor 102 taken, but manipulated in certain places. This may be, for example, an additional sign or lane marker in a video image or a street where there is none, or additional radar reflections in a radar receive patter or echoes from an ultrasound or lidar sensor. Depending on the sensor, the data can be recorded at different levels of abstraction, eg at the lowest level image data with a camera or radar peaks with a radar sensor.

At a higher level, a modified disparity map or other preprocessed image, e.g. by edge detection or calculation of optical flow in image sequences, for a camera or cluster for a radar sensor. The data for the manipulation can come from a sensor-local database or memory, which are already fixed at delivery. Furthermore, synthetically generated data can be used, which are created according to fixed rules, or it is possible to use stored test input data, which are already determined on delivery.

If it is not possible to incorporate additional computational power (i.e., computing power is sufficient only for processing the input data of the sensor), situation-dependent data may also be injected. For example, parts of the input data are changed, but filtered out again in the later chain. Furthermore, e.g. additional objects are integrated, whereby the data come from a local database or a memory and are already fixed upon delivery. During generally uncritical situations synthetic data can be recorded for a short time, but after the situation interpretation the processing can be aborted. Furthermore, data can be added that does not fit the context and therefore should be filtered out. For example, on a highway, a pedestrian can be recorded.

According to one embodiment, the processing of the sensor data and the processing of the manipulated data are separated from each other. Thus it can be achieved that no filters (for tracking, etc.) are misadjusted or settle incorrectly. As well as directly at the sensors, data can be integrated at later stages of processing. For example, critical objects may be injected at an object interface and evaluated in parallel to the sensor data. These may be other road users (e.g., high braking dynamics or short distance vehicles) or pedestrians, but other objects such as injected traffic signs, lane markings or edge structures may also be used. Above all, a context-dependent assessment can be examined that can not be easily checked with synthetic or predefined situations. Another possibility is the modification of time stamps before an association. The timestamps of the sensor data or normal objects are changed, or objects are injected that have slightly inappropriate timestamps. This makes it possible to check the time synchronization as well as the association or the tracking. The trailing errors should systematically check the behavior of the system. Above all, the limits of the system are checked. For example, in a load situation, dangerous objects can be brought into test frames and it can be checked whether the system still masters the situation "full-load situation" (eg the evaluation and prioritization, tracking of objects, etc. functions). ,

2 shows a schematic representation of a method 200 for checking a functionality of a sensor 102 in a vehicle according to an embodiment. The sensor 102 is configured to provide sensor data at a first rate. The procedure 200 includes the following steps: Deploy 202 from predetermined test data, linking 204 the predetermined test data with the sensor data to obtain manipulated data, processing 206 the manipulated data at a second rate according to a processing rule to obtain processed data, and comparing 208 the processed data with predetermined reference data to the operability of the sensor 102 to check.

By the method described, the advantage is achieved that a self-diagnosis of the sensor 102 or environment sensor and / or further processing steps of the corresponding information chain is possible.

LIST OF REFERENCE NUMBERS

100

contraption

102

sensor

104

Storage

106

processor

200

method

202

Provide

204

Link

206

To process

208

to compare

Claims (11)

Apparatus (100) for verifying operability of a sensor (102) of a vehicle, wherein the sensor (102) is configured to provide sensor data at a first rate, comprising: a memory (104) in which predetermined test data is stored; and a processor (106) configured to associate the predetermined check data with the sensor data to obtain manipulated data, to process the manipulated data at a second rate according to a processing rule to obtain processed data, and to process the processed data with predetermined ones Compare reference data to verify the operability of the sensor (102). Device (100) according to Claim 1 wherein the sensor (102) is an environmental sensor, a camera sensor, a radar sensor, an ultrasonic sensor or a laser-based sensor. Device (100) according to Claim 1 or 2 , wherein the second rate is greater than the first rate. Apparatus (100) according to any one of the preceding claims, wherein the predetermined test data comprises synthetically generated data, the synthetically generated data being generated according to predetermined synthesis rules. Device (100) according to one of the preceding claims, wherein the predetermined reference data are stored in the memory. The apparatus (100) of any one of the preceding claims, wherein the processor is further configured to process the sensor data according to the processing rule. The apparatus (100) of any one of the preceding claims, wherein the processor is further configured to determine a deviation between the processed data and the reference data to obtain a deviation measure. Device (100) according to Claim 7 wherein the processor is further configured to compare the deviation measure with a predetermined threshold value and to discard the sensor data if the deviation measure exceeds the predetermined threshold value. The apparatus (100) of any one of the preceding claims, wherein the manipulated data is associated with a time stamp, and wherein the processor is further configured to alter the time stamp to verify the operability of the sensor. A method (200) for verifying operability of a sensor (102) of a vehicle, wherein the sensor is configured to provide sensor data at a first rate, comprising: Providing (202) predetermined test data; Linking (204) the predetermined test data with the sensor data to obtain manipulated data; Processing (206) the manipulated data at a second rate according to a processing rule to obtain processed data; and Comparing (208) the processed data with predetermined reference data to verify the operability of the sensor (102). Computer program with a program code for carrying out the method (200) Claim 10 when running the program code on a computer.

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