DE102017205495A1 - Device and method for focusing sensors in the driving dynamic limit range for a motor vehicle - Google Patents

Abstract

The present invention relates to a device for focusing sensors for a motor vehicle depending on the driving situation, the device (1) comprising: a state detecting device (10) which is adapted to detect a current driving situation and to classify the detected driving situation; and a resource distribution device (20) which is coupled to the sensors and which is designed to control and / or regulate a distribution of resources for the sensors by parameter change taking into account the classification of the driving situation.

Description

Technical area

The present invention relates to driver assistance systems in the motor vehicle.

In particular, the present invention relates to an apparatus and a method for focusing sensors taking into account a classification of the driving situation, in particular the driving dynamic limit range for a motor vehicle.

Technical background

Driver assistance systems, FAS; English Advanced Driver Assistance Systems, ADAS, are electronic auxiliary devices in motor vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground.

Another aspect is improving the economy, in other words high to fully automated driving is the goal. Here, the vehicle should always be operated with the help of sensors in a safe state and dangerous situations should be detected early and avoided.

The driver always has the responsibility and the ability to override the ADAS functions in conventional driver assistance systems. The vehicle can thus be brought by the driver in a state in the driving dynamics border area and beyond. In general, events can occur that are unpredictable or predictable and drive the vehicle beyond the limits of the system and require a response. In such a situation, it may happen that the sensors no longer work, no longer provide useful data, i. that the driver assistance system is blind.

Summary of the invention

It is an object of the present invention to provide an improved sensor function for a driver assistance system.

This object is solved by the subject matters of the independent claims. Further developments and embodiments can be found in the dependent claims, the description and the figures of the drawings.

A first aspect of the present invention relates to a device for focusing sensors taking into account a classification of the driving situation for a motor vehicle.

The device for focusing sensors taking into account a classification of the driving situation for a motor vehicle comprises a state detection device, which is designed to detect and classify a current driving situation of the motor vehicle. Advantageously, a class of driving situations includes those driving situations in which the motor vehicle is in a driving-dynamic border area, brought by the driver in a driving dynamic border area or another potentially dangerous border area is reached.

The device for focusing sensors further comprises a resource distribution device, which is coupled to the sensors and which is designed, in consideration of a classification of the driving situation, to control and / or regulate the resources of the sensors, in particular by a parameter change.

In other words, the resource distribution device can distribute the resources via a parameterization of the sensors.

The term "resource" as used by the present invention includes hardware resource, computer hardware resource, network resource, system resource, or even power resource of a sensor, such as range, resolution, repetition rate, refresh rate, or color density, such as degree or resolution the sampling of a signal or a single pixel.

In this case, the resource distribution of the present invention may relate to data acquisition and / or data processing.

The resources - such as computing time, memory - are not only distributed, the algorithms and subsystems are also parameterized taking into account a classification of the driving situation.

For resource planning, the resource distribution device is optionally also designed to implement a resource prediction and / or a performance or performance prediction for the sensors.

The distribution of resources may also be based on the current classification of the driving situation. The consideration of the planning, i. the prediction can be done advantageously.

In other words, the present invention makes it possible advantageously to ensure the sensors function in such situations or even provide specific information in order to support the handling of the special situation of the motor vehicle.

Advantageous embodiments of the present invention can be found in the dependent claims.

• - einer Not- und/oder Vollbremsung des Kraftfahrzeugs
• - einer Aktivierung eines Fahrdynamikprogramms
• - eines Lenkeingriffs, welcher einen Grenzwert übertrifft,
• - einer Notbremssituation
• - einer Kollisionserkennung oder
• - einer potentiell gefährlichen regelwidrigen Fahrzeugsteuerung durch den Fahrer des Kraftfahrzeugs, wie z.B. Überfahren einer roten Ampel oder eines Stoppschildes; Verletzen einer Vorfahrtregelung; Überholen trotz Überholverbots und dergleichen mehr.

zuzuordnen. Dies ermöglicht vorteilhaft, mit einer zuverlässigen Erkennungsrate den Fahrzustand des Kraftfahrzeugs einem Grenzbereich der fahrdynamischen Situation zu erkennen.In an advantageous embodiment of the present invention, it is provided that the state detection device comprises an inertial sensor which is designed to base the current driving situation of the motor vehicle on a normal driving dynamic range or the dynamic driving limit range

• - Emergency and / or emergency braking of the motor vehicle
• - An activation of a vehicle dynamics program
• a steering intervention which exceeds a limit,
• - an emergency braking situation
• - a collision detection or
• - A potentially dangerous foul vehicle control by the driver of the motor vehicle, such as driving over a red light or stop sign; Violating a right of way regulation; Overtaking despite overtaking prohibition and the like more.

assigned. This advantageously makes it possible, with a reliable recognition rate, to recognize the driving state of the motor vehicle at a boundary region of the driving dynamic situation.

• - einem Ausweichmanöver des Kraftfahrzeuges;
• - einem Verlassen der Fahrbahn durch das Kraftfahrzeug;
• - einer Fahrbahnbeschaffenheit
• - einem Überschreiten einer Systemgrenze
• - einem Durchfahren einer Region mit erhöhtem Gefahrenpotential durch das Kraftfahrzeug, z.B. bei roter Ampel
• - einem Fahrerzustand

zuzuordnen.In an advantageous embodiment of the present invention, it is provided that the state detection device is configured to map the current driving situation of the motor vehicle to the normal area or the border area taking into account the driving environment and / or driver state based on a predictive situation recognition of the following driving situations:

• an evasive maneuver of the motor vehicle;
• - leaving the roadway by the motor vehicle;
• - a roadway condition
• - an exceeding of a system limit
• - Driving through a region with increased risk potential by the motor vehicle, for example at red light
• - a driver condition

assigned.

This advantageously makes it possible, with a reliable recognition rate, to recognize the driving situation or the driving state of the motor vehicle at a boundary region of the driving dynamic situation.

In other words, this ensures that boundary regions are identified via, for example, the existing environment sensor system or predicted for the existing sensors for environment detection, ie at a point in time at which the (emergency) situations have not yet occurred.

In other words, it may be advantageous to focus on the occurrence of an emergency situation for a collision warning and protection system, such as a reference to the "time-to-brake", an expected, available for braking maneuvers time, period until a last possible time of a collision, which is to be prevented by a braking maneuver.

For example, it is determined whether there is a potential danger situation. If such a dangerous situation exists, the "time-to-brake", time to / for a braking maneuver or even a "time-to-collision", time to impact, is calculated.

Preferred times for automated assistance functions are the last possible action time plus the latency reserve and for a driver warning and / or driver assistance the last possible action time plus the driver reaction time.

The present invention advantageously makes it possible to prepare the sensors and the driver assistance systems for a limit situation.

In the region with increased risk potential, for example, a region in the coverage area of the surroundings detection is meant, on which the environment sensor system or the driver should concentrate in the sense of attention control.

The term "driver state" is used in the sense of driver observation.

In an advantageous embodiment of the present invention, it is provided that the resource distribution device is designed to provide dynamics models oriented to the situation of the boundary region and to transmit the provided dynamics models to the sensors coupled to the resource distribution device.

The dynamics models are kept in the sensor or environment model function. The models can be described completely by a set of parameters, eg for linear state space models. For the relevant nonlinear models, a complete parametric description is practically unfavorable. Therefore, in practice, only parameters for equations are transmitted, the latter being held in the sensor.

Or parameters are transmitted which select the model equations and an associated parameter set from a list stored in the sensor. In this case, the parameter to be transmitted may be e.g. also be the classification result.

This advantageously makes it possible, by means of special or advanced, situation-oriented dynamic models, to ensure that the environment sensors continue to supply trustworthy data. The dynamic models provide extreme rotational movements, angular acceleration, such as pitching, skidding, oversteer, and "abnormal" movements - such as drift, understeer - before, which would lead to error messages in a normal range, for example, or even discarded because the driver assistance system such extreme accelerations in Normal operation would not expect.

In an advantageous embodiment of the present invention, it is provided that the resource distribution device is designed to implement a resource prediction for the sensors and / or a power prediction for the sensors and to change the distribution of the resources for the sensors based on the resource prediction and / or the power prediction ,

In an advantageous embodiment of the present invention, it is provided that the resource distribution device is designed to provide sensors with situation-relevant functions with additional resources.

This advantageously enables a focus through resource relocation.

In an advantageous embodiment of the present invention, it is provided that the resource distribution device is designed to switch off sensors that are not required for the situation or to supply unneeded functions with reduced resources.

• - Es kann in Notbrems-/ Ausweichsituationen die Verkehrszeichenerkennung oder der Fernlichtassistent abgeschaltet bzw. durch Reduzierung der zeitlichen Wiederholrate degradiert werden. Zustände funktionsrelevanter Signale können dabei gehalten werden.
• - Weiterhin können Sensorfunktionen degradiert werden, etwa durch eine Einschränkung des Überwachungsbereiches, z.B. der Fernbereich der Spurerkennung, etwa bei Notbremsen in der Stadt, irrelevante Objekttracks hinter baulicher Begrenzung der Objekterkennung können abgeschaltet werden.
• - Es können auch in einem verteilten System nicht-Umfeld-erfassende Ressourcen degradiert und zur Nutzung freigegeben werden, etwa Ressourcen für ein Navigationssystem, für ein Klimaanlagensteuergerät, oder für ein mit dem Kraftfahrzeug gekoppeltes Smartphone.

Examples of resource release are, for example, as follows:

• - It can be switched off in emergency braking / avoidance situations, the traffic sign recognition or high beam assistant or degraded by reducing the temporal repetition rate. States of function-relevant signals can be kept.
• - Furthermore, sensor functions can be degraded, such as a restriction of the surveillance area, eg the long range of lane detection, such as emergency brakes in the city, irrelevant object tracks behind structural limitation of the object detection can be switched off.
• In a distributed system, non-environment-detecting resources can also be degraded and released for use, such as resources for a navigation system, for an air conditioning control unit, or for a smartphone coupled to the motor vehicle.

• - Es wird die Auflösung lokal erhöht. Beispielsweise bei einem Ausweichen und/oder einem Notbremsen im Bereich des nächsten Objektes oder des Hindernisses oder im Fahrschlauch zur verbesserten Freiraumschätzung, beispielsweise bei einem Eingriff des Fahrdynamikprogramms im nahen Fahrbahnbereich zur besseren Bestimmung der Fahrbahnbeschaffenheit, etwa Profil, Reibwert.

In other words, these freed-up resources are now used in the sense of a focus.

• - The resolution is increased locally. For example, in case of evasion and / or emergency braking in the area of the next object or the obstacle or in the driving tube for improved free space estimation, for example during an intervention of the vehicle dynamics program in the near lane area for better determination of the road condition, such as profile, coefficient of friction.

• - Es wird die Wiederholrate der relevanten Funktionen erhöht.
• - Es wird die Abtastrate der relevanten Sensoren erhöht.
• - Die Sensorfunktionen werden adaptiert, z.B. durch Vorkonditionieren von Filterparametern, Ändern des Klassifikationsprozesses, es erfolgt etwa der Austausch einer Kaskadenstufe, z.B. speziell für Bremslichter trainiert.
• - Es werden andere spezialisierte Verfahren verwendet. Z.B. eine detailliertere Modellierung des Vorausfahrers, beispielsweise Modellierung von Teilbereichen Rückfront, Stoßstange, Heckscheibe, zur Reduktion der Varianz des Bezugspunkts.

Furthermore, for a cruise control, the functional range can be extended, travel speeds over 180km / h, Einschermanöver, Spurzuordnungsfunktionen.

• - It increases the repetition rate of the relevant functions.
• - It increases the sampling rate of the relevant sensors.
• - The sensor functions are adapted, for example by preconditioning of filter parameters, changing the classification process, there is about the replacement of a cascade stage, for example trained specifically for brake lights.
• - Other specialized procedures are used. For example, a more detailed modeling of the preceding driver, for example modeling of subregions, bumper, rear window, to reduce the variance of the reference point.

In an advantageous embodiment of the present invention it is provided that the resource distribution device is designed to be a spatial and / or temporal Sensor detection range of a device coupled to the sensor to change.

In an advantageous embodiment of the present invention, it is provided that the resource distribution device is coupled with decentralized satellite sensors as sensors and that the device is designed to provide the data evaluation of the decentralized satellite sensors.

• - einem Verändern einer Apertur oder eines Erfassungswinkels eines Radarsensors;
• - einem Verändern einer Apertur eines Radarsensors;
• - einem Verändern einer Abtastung eines Radarsensors;
• - einem Verändern einer Auflösung einer Kamera;
• - einem Verändern einer Bildwiederhohlfrequenz einer Kamera;
• - einem Verändern einer Brennweite einer Kamera;
• - einem Verschieben eines Erfassungsbereiches einer Kamera abzuändern.

In an advantageous embodiment of the present invention, it is provided that the resource distribution device is designed to control the sensor detection range of the sensor coupled to the device, for example based on

• changing an aperture or a detection angle of a radar sensor;
• changing an aperture of a radar sensor;
• changing a scan of a radar sensor;
• changing a resolution of a camera;
• - changing a frame rate of a camera;
• - changing a focal length of a camera;
• - Modify a shift of a detection range of a camera.

The described embodiments and developments can be combined with each other as desired.

Further possible refinements, developments and implementations of the present invention also include combinations of previously or subsequently described embodiments of the present invention which are not explicitly mentioned.

The accompanying drawings are intended to provide further understanding of the embodiments of the present invention.

The accompanying drawings illustrate embodiments and, together with the description, serve to explain concepts of the present invention.

Other embodiments and many of the stated advantages will become apparent with reference to the figures of the drawings. The illustrated elements of the figures of the drawings are not necessarily shown to scale to each other.

list of figures

• 1: eine schematische Darstellung einer Vorrichtung zum Fokussieren von Sensoren unter Berücksichtigung einer Klassifizierung der Fahrsituation für ein Kraftfahrzeug gemäß einem Ausführungsbeispiel der vorliegenden Erfindung;
• 2: eine schematische Darstellung eines Flussdiagramms eines zum Fokussieren von Sensoren unter Berücksichtigung einer Klassifizierung der Fahrsituation für ein Kraftfahrzeug gemäß einem weiteren Ausführungsbeispiel der vorliegenden Erfindung; und
• 3: eine schematische Darstellung eines Flussdiagramms eines zum Fokussieren von Sensoren unter Berücksichtigung einer Klassifizierung der Fahrsituation für ein Kraftfahrzeug gemäß einem weiteren Ausführungsbeispiel der vorliegenden Erfindung.

Show it:

• 1 a schematic representation of a device for focusing sensors taking into account a classification of the driving situation for a motor vehicle according to an embodiment of the present invention;
• 2 : is a schematic representation of a flowchart of a focusing of sensors taking into account a classification of the driving situation for a motor vehicle according to another embodiment of the present invention; and
• 3 : is a schematic representation of a flowchart for focusing sensors with consideration of a classification of the driving situation for a motor vehicle according to a further exemplary embodiment of the present invention.

Detailed description of the embodiments

In the figures of the drawings, like reference characters designate like or functionally identical elements, components, components or method steps, unless indicated otherwise.

The motor vehicle or vehicle is, for example, a motor vehicle or a hybrid vehicle, for example a hybrid vehicle with a sailing function, for example a motorcycle, a bus or a truck or a bicycle.

The 1 shows a schematic representation of an apparatus for focusing sensors in the driving dynamics border area for a motor vehicle according to an embodiment of the present invention.

The device 1 for focusing sensors in the driving-dynamic border region for a motor vehicle comprises a state detection device 10 and a resource distribution facility 20 ,

The condition detection device 10 is designed to detect a current driving situation of the motor vehicle and to assign the detected driving situation to a normal area or to a border area; and

The resource distribution facility 20 is coupled to the sensors and configured to change a distribution of resources for the sensors, taking into account a classification of the driving situation; and

The device 1 can be coupled with a variety of sensors of the motor vehicle. The condition detection device 10 and the resource distribution facility 20 For example, they are designed to control and parameterize sensors.

The device 1 For focusing of sensors taking into account a classification of the driving situation advantageously allows - for example, in borderline situations - the standard Umfeldfassungssensorik be aligned with the information required for this purpose, ie to focus.

The device 1 can process, for example, the following input conditions.

• - Parameter, welche über Inertialsensorik etwa in Form einer inertialen Messeinheit erfasst werden;
• - Fahrzeug in Not-/Vollbremsung;
• - Fahrdynamikprogramm aktiv - Driften, Über- Untersteuern, Schleudern, Schlupf;
• - Starker Lenkeingriff;
• - Unfall - durch Airbag-Satelliten erfasst, auch leichte Kollisionen, die nicht zum Auslösen des Airbags führen;

The triggering events and / or states for the focusing of the sensor system are for example as follows:

• - Parameters which are detected by inertial sensors, for example in the form of an inertial measuring unit;
• - Vehicle in emergency / emergency braking;
• - Vehicle dynamics program active - drift, oversteer, skid, slip;
• - strong steering intervention;
• - Accident - detected by airbag satellites, even minor collisions that do not lead to the deployment of the airbag;

• - Erkanntes Ausweichszenario
• - Erkannte Notbremssituation
• - Erkanntes Verlassen der Fahrbahn
• - Erkannte problematische Fahrbahnbeschaffenheit
• - Erkannte Systemgrenze - Kurvenradius zu klein
• - Region mit erhöhtem Gefahrenpotential, die genauer untersucht werden soll (Aufmerksamkeitssteuerung)
• - Fahrerzustand (Unterstützung sicheres Abstellen, Fokussierung auf Querführungsinformationen)-

The method can also be triggered by the environment sensor itself, for example as follows:

• - Detected fallback scenario
• - Detected emergency braking situation
• - Detected leaving the roadway
• - Detected problematic road condition
• - Detected system limit - Curve radius too small
• - region with increased risk potential, which should be examined more closely (attention control)
• - Driver condition (support safe parking, focus on cross guidance information) -

The device 1 can perform, for example, a self-motion compensation.

After triggering the process, special or advanced dynamic models oriented to the situation ensure that the environmental sensors continue to provide trusted data. The dynamics models provide for extreme rotational movements, angular accelerations (pitching, skidding, oversteer) and "abnormal" movements (drift, understeer).

The device 1 can, for example, perform a focus by shifting resources.

Sensor focus on situation-relevant functions requires additional resources, such as a distribution of computing capacity. In order to provide these, functions that are not required for the situation are switched off or demoted.

1. i) Es kann in Notbrems- und/oder Ausweichsituationen die Verkehrszeichenerkennung oder der Fernlichtassistent abgeschaltet bzw. durch Reduzierung der zeitlichen Wiederholrate degradiert werden. Zustände funktionsrelevanter Signale können dabei gehalten werden;
2. ii) Weiterhin können Sensorfunktionen degradiert werden durch Einschränkung des Überwachungsbereiches, z.B. der Fernbereich der Spurerkennung - etwa bei Notbremsen in der Stadt-, irrelevante Objekttracks, hinter baulicher Begrenzung, der Objekterkennung;
3. iii) Es können auch in einem verteilten System nicht Umfeld-erfassende Ressourcen degradiert und zur Nutzung freigegeben werden (Navigationsgerät, Klimaanlagensteuergerät, gekoppeltes Smartphone).

Examples of resource release are as follows:

1. i) It can be switched off in emergency braking and / or avoidance situations, the traffic sign recognition or the high beam assistant or degraded by reducing the temporal repetition rate. States of function-relevant signals can be kept;
2. ii) Furthermore, sensor functions can be degraded by restricting the surveillance area, eg the long range of lane detection - for example in emergency brakes in the city, irrelevant object tracks, behind building boundary, the object recognition;
3. iii) In a distributed system, non-environment-capturing resources can also be degraded and released for use (navigation device, air conditioning control unit, paired smartphone).

These freed-up resources are now used in the sense of a focus.

The resolution is increased locally. For example, in case of evasion / emergency braking in the area of the next object (the obstacle) or in the driving tube for improved free space estimation, upon intervention of the driving dynamics program in the near lane area for better determination of the road condition, such as profile or coefficient of friction.

Further, for Adaptive Cruise Control, abbreviated ACC, the functional range may be extended to about a 80km / h speed, bank, or track assignment.

In a further embodiment of the present invention, it is provided that the sampling rate of the relevant functions is increased.

The sensor functions are adapted, for example by preconditioning of filter parameters, changing the classification process, such as replacement of a cascade stage, for example trained specifically for brake lights.

In another embodiment of the present invention, it is contemplated that other specialized methods may be used. For example, a more detailed modeling of the preceding driver is calculated, for example a modeling of subregions, bumper, rear window, to reduce the variance of the reference point.

In a further embodiment of the present invention, it is provided that focusing takes place by alignment. The resource distribution facility 20 For example, it is designed so that electromechanical changes or adjustments to sensors for focusing by parameter change are performed. The resource distribution facility 20 may be configured to specify the parameter change.

The resource distribution facility 20 For example, it is designed so that a "beam shaping" of image sensors is performed.

The resource distribution facility 20 For example, it is designed such that a dynamic focal length change takes place in cameras or that a shift of the detection area to unused areas of the image sensor of a camera takes place.

The resource distribution facility 20 is designed to, if the current driving condition of the motor vehicle is assigned to the border area, to achieve a focus on the sensor level, so for example, in multi-sensor systems, a sensor specialized in special tasks to provide situation-specific additional information.

The resource distribution facility 20 For example, it is designed so that all the other sensors work in normal operation or in an operation with reduced resource consumption.

Furthermore, a failure compensation can be performed. Another, second sensor can focus on the information that a failed or possibly failing sensor should provide, this can also be done before the failure of the first sensor.

The failure can happen when it comes to the accident, even with minor damage or simply by "blockage", i. a blockade due to overloading.

In one exemplary embodiment of the present invention, it is provided that the environmental sensor system focuses on the obstacle on the one hand and on the driving tube on the avoidance trajectory in the case of an evasive maneuver, on the other hand.

This ensures that trajectory planning can be updated during the maneuver.

In addition, depending on the level of automation, the following advantages arise:

In an autonomous evasive maneuver (sufficient steering torque generated) a higher control quality is achieved and gained leeway for an adaptation of the maneuver.

In one exemplary embodiment of the present invention, it is provided that expanded information can also be generated for the emergency call (eCall) via the focusing concept. For example, about accident participants, such as vehicles, pedestrians or the track on which the vehicle is left.

By keeping / ensuring the functionality of the environmental sensors even after a possible accident, e.g. a warning will be generated when getting out.

The present invention enables increased availability of sensor information and function.

The present invention enables maintenance of the functions at the limit or after returning to the normal operating condition.

The present invention allows current system boundaries to be improved and / or expanded.

The present invention enables an improved coping with emergency situations, so an extension of the functional scope.

The present invention makes it possible to provide additional information even after an accident.

The 2 shows a schematic representation of a flowchart of a focusing for sensors in the dynamic range for a motor vehicle according to another embodiment of the present invention.

The method for focusing sensors in the dynamic driving limit range for a motor vehicle comprises the following method steps:

As a first method step, a detection S1 of a current driving state of the motor vehicle and the driving environment and / or the driver state and a classification of the driving situation by means of a state detection device 10 ,

As a second method step, there is a modification S2 of a distribution of resources by parameterization by means of a resource distribution device 20 , based on the classification of the driving situation.

The 3 shows a schematic representation of a flowchart of a focusing for sensors in the dynamic range for a motor vehicle according to another embodiment of the present invention.

In a first step D1, input signals are checked and compared with limit values.

In a second step D2, multi-sensor systems are set, for example, resources are distributed or sampling rates are set and adjusted or data transmission resources of bus systems or telecommunication networks are distributed to the individual sensors. This can be done depending on a normal state or on a state in a boundary region.

In a third step D3, in the event of a boundary area, situation-supporting resource distributions are made to deal with the situation.

It can be achieved by the situation-supporting resource distributions, a compromise between completeness and quality of the information generated on the sensor side.

In the multi-sensor context, the situation-supporting resource distribution can avoid compromise by specializing a special situation information sensor to obtain full information gathering and processing, as well as gathering and analyzing additional information.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto but is 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.

In addition, it should be noted that "comprising" and "having" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality.

It should also be appreciated that features or steps described with reference to any of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limiting.

Claims (12)

Device for focusing sensors for a motor vehicle depending on the driving situation, the device (1) comprising: - A state detection device (10), which is adapted to detect a current driving situation and to classify the detected driving situation; and - A resource distribution device (20) which is coupled to the sensors and which is adapted to control, taking into account the classification of the driving situation, a distribution of resources for the sensors by parameter change and / or to regulate. Device after Claim 1 , wherein a class of Fahrsitutationen includes such driving situations in which the motor vehicle is in a driving dynamic border area or brought by the driver in a dynamic driving range or another potentially dangerous border area is reached. Device after Claim 1 or 2 wherein the state detection device (10) comprises an inertial sensor, which is adapted to a classification of the current driving situation based on the class frame - an emergency and / or full braking of the motor vehicle; - an activation of a vehicle dynamics program; a steering intervention which exceeds a limit value; - an emergency braking situation; - a collision; - a potentially dangerous foul vehicle control by the driver of the motor vehicle; or based on a subset of the class frame. Device after Claim 2 or 3 wherein the state detection device (10) is adapted to the current driving situation of the motor vehicle a normal area or a border area based on a predictive situation detection of the following driving situations: - an evasive maneuver of the motor vehicle; - leaving the roadway by the motor vehicle; - a road condition; - an exceeding of a system boundary; - Passing through a region with increased risk potential by the motor vehicle; a driver condition; or - to assign an emergency braking situation. Device according to one of the preceding claims, wherein the resource distribution device (20) is adapted to provide the border region-oriented dynamic models and to transmit the provided dynamic models to the sensors coupled to the resource distribution device (20). Device according to one of the preceding claims, wherein the resource distribution device (20) is adapted to implement a resource prediction for the sensors and / or a power prediction for the sensors and to change the distribution of the resources for the sensors based on the resource prediction and / or the power prediction , Device according to one of the preceding claims, wherein the resource distribution device (20) is adapted to provide at least one required for the situation sensor with additional resources. Device after Claim 7 in that the resource distribution device (20) is designed to switch off sensors that are not required for the situation or to supply them with reduced resources. Device according to one of the preceding claims, wherein the resource distribution device (20) is coupled to decentralized satellite sensors as sensors and the device is adapted to provide the data evaluation of the decentralized satellite sensors. Device according to one of the preceding claims, wherein the resource distribution device (20) is adapted to change a temporal or spatial sensor detection range of a sensor of the sensor coupled to the device. Device after Claim 10 wherein the resource distribution means (20) is adapted to control the sensor detection range of the sensor coupled to the device based on - changing a detection angle of a radar sensor; - changing an aperture of a radar sensor; - changing a scan of a radar sensor; - changing a resolution of a camera; Changing a frame rate of a camera; - changing a focal length of a camera; - Modify moving a detection range of a camera. Method for focusing sensors in the driving-dynamic limit range for a motor vehicle, the method comprising the following method steps: - Detecting (S1) a current driving condition of the motor vehicle and assigning (S1) of the detected current driving condition of the motor vehicle to a normal area or a border area by means of a state detection device (10); and - Modifying (S2) a distribution of resources by means of a resource distribution device (20) by parametrization, based on a classification of the driving situation.

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