DE102018128888A1 - Monitoring system for a vehicle - Google Patents

Abstract

A monitoring system for a vehicle comprises a low-power microcontroller and a vehicle-integrated monitoring sensor for monitoring an environment of the vehicle, the low-power microcontroller being set up to temporarily put the monitoring sensor into operation when the vehicle is switched off.

Description

The invention relates to a monitoring system for a vehicle, a method for monitoring a vehicle, a method for autonomously operating a vehicle, a control device and an airbag control device. Vehicles in connection with the invention are, in particular, autonomously operable wheeled vehicles, such as passenger cars, trucks and / or agricultural wheeled vehicles.

According to general life experience, there is always damage to vehicles that are parked in parking zones, on parking lots or in parking garages. Other vehicles that collide with the already parked vehicle when parking, accidental collisions with shopping trolleys in supermarket parking lots or vandalism are example situations that lead to such damage to a parked vehicle. Even minor damage leads to an accident escape. The owner of the damaged vehicle experiences the additional difficulty, particularly in the case of longer parking times, of not being able to pinpoint the point in time of the accident and the potential cause of the accident more precisely, in order to help determine the cause. Such occurrences result in increased fleet costs when operating a car sharing fleet or autonomous vehicles. Another economic risk for the operator is that damage to the vehicle may not become apparent to the operator between scheduled maintenance visits. It is known to use sensors to monitor a vehicle interior to determine whether someone is gaining unauthorized access to the vehicle interior.

It is an object of the invention to overcome the disadvantages of the prior art, in particular to provide a monitoring system, a control unit and an airbag control unit, which enable damage events to be determined on vehicles which are not in operation. The objects and methods of the independent claims achieve this object.

According to this, a monitoring system for a vehicle comprises a low-power microcontroller and a monitoring sensor integrated in the vehicle for monitoring an environment of the vehicle. The low-power microcontroller is set up to temporarily put the monitoring sensor into operation when the vehicle is switched off. The user expectation is that a switched-off vehicle does not essentially change its state between being switched off or taken out of operation and being restarted or started. This applies in particular to the state of charge of the electrical supply. The use of a low-power microcontroller and / or the short-term commissioning of a working mode of the microcontroller and the monitoring sensor ensures that even when the vehicle is not used for a long time, the energy used to supply the monitoring system does not affect the state of charge of the vehicle's electrical supply User noticeably influenced. In particular, the low-power microcontroller has a current consumption of less than <100 μA in the working mode, that is to say in the case of detection. In particular, the monitoring sensor is an infrared sensor, such as a PIR sensor, a capacitive sensor, a sound sensor, such as a microphone, or a highly sensitive acceleration sensor, which measures in particular in the structure-borne sound area.

In a preferred embodiment, the low-power microcontroller is set up to determine a presence of an object in the surroundings of the vehicle and / or a distance from the object from the data of the monitoring sensor. Alternatively or additionally, the low-power microcontroller determines an airborne sound level and / or an acceleration value and / or thermal radiation above a noise level from the data of one or more monitoring sensors in order to detect the presence of an object. In particular, the low-power microcontroller determines a distance smaller than a minimum threshold value and / or a distance equal to zero as contact with the vehicle.

In a preferred embodiment, the monitoring system comprises a main microprocessor, the low-power microcontroller being set up to send a growth signal to a main microprocessor depending on the presence of the object in the surroundings of the vehicle and / or the distance from the object. The main microcontroller is preferably a safety microcontroller of an airbag control device according to the invention or a control device according to the invention, such as a domain controller (Domain ECU or Domain Electronic Control Unit), which controls at least one driver assistance function.

In a preferred embodiment, the monitoring system is set up to determine a position, a movement, a direction of movement and / or a movement speed of an object in the surroundings of the vehicle from data from the monitoring sensor. In particular, the low-power microcontroller comprises an internal timer and / or one or more signal inputs which and / or via which the low-power microcontroller is switched from a power-saving operating mode to a working operating mode of higher energy consumption in order to request or receive data from the monitoring sensor , Under dates of Monitoring sensor can also be understood as an analog signal from a monitoring sensor. In particular, the low-power microcontroller is set up to detect a direction of movement and / or a speed of movement of the object after several changes in operating mode from several distance measurements.

In a preferred embodiment, the monitoring system comprises a plurality of additional sensors and is set up to record data relating to the vehicle and the surroundings of the vehicle as a function of a presence, a distance, a movement, a direction of movement and / or a movement speed of an object with an additional sensor.

In a preferred embodiment, the additional sensors comprise a camera and one or more of an outside sound sensor, structure-borne sound sensor, inside microphone, capacitive measuring system and / or inertial measuring system. The monitoring system preferably comprises a plurality of monitoring sensors, which are designed as capacitive sensors, and an inertial measuring system and a camera system as an additional sensor. In particular, the camera system is designed as a 360 ° camera system and is arranged in the interior of the vehicle. Alternatively or additionally, the monitoring system comprises four or six cameras with wide-angle lenses.

In a preferred embodiment, the monitoring system comprises a main microprocessor which is set up to classify data of at least one vehicle-integrated additional sensor and, depending on the result of the classification, to trigger damage documentation, a damage notification to a receiver external to the vehicle and / or a damage inspection. In particular, the monitoring system is set up so that the low-power microcontroller starts up the main microprocessor by means of a signal. In particular, the low-power microcontroller puts the main microprocessor into operation as soon as the presence of an object in the surroundings of the vehicle is detected, an object with respect to the vehicle falls below a minimum distance, or an object touches the vehicle. The main microcontroller is preferably set up to classify vehicle data based on the additional sensors, such as an inertial measurement system and / or a microphone, according to whether, in which area of the vehicle and with what intensity an object has touched or is still touching the vehicle. In particular, the main microcontroller also classifies data from one or more monitoring sensors. The main microprocessor is set up to use an additional sensor, e.g. to control a camera system that captures the surroundings of the vehicle. Images or image sequences and / or sound recordings and / or data from monitoring sensors are preferably stored in a volatile memory of the monitoring system in a time-synchronized manner.

In a preferred embodiment, the monitoring system is set up to delete data from the monitoring sensor and / or an additional sensor that is present in a volatile memory if no collision with the vehicle was detected or a touch intensity threshold was undershot.

In a preferred embodiment, the low-power microcontroller has a power-saving operating mode and is set up to switch cyclically from the power-saving operating mode to a working operating mode in order to put the monitoring sensor into operation and, if a response from the monitoring sensor is a further operating condition, such as a direction of movement of the Object towards the vehicle, not fulfilled, to switch back to the energy-saving operating mode.

In particular, the low-power microcontroller puts the monitoring sensor into operation at most 50% of the operating time. Alternatively or additionally, the low-power microcontroller starts up the monitoring sensor at least every 50 milliseconds, preferably at least every 20 milliseconds for at least 2 milliseconds, in particular at least 5 milliseconds, preferably at least 4 milliseconds and at most 12 milliseconds.

In particular, the monitoring system is designed to transmit a damage notification to a vehicle-external location as soon as a touch intensity threshold value between an object and the vehicle has been exceeded.

The invention also relates to a method for monitoring a vehicle, in which the vehicle is monitored for an impending damage event by temporarily starting up a vehicle-integrated monitoring sensor after driving operation has ended, and, if a threshold value relating to the impending damage event is exceeded, a vehicle-integrated additional sensor for detecting the impending damage event in Is put into operation.

The invention also relates to a method for operating an autonomous vehicle, in which the autonomous vehicle is monitored in accordance with the method according to the invention for monitoring a vehicle, the damage event is classified on the basis of information from at least the additional sensor and / or a contact intensity between an object and the vehicle is determined and depending on the classification result and / or the certain touch intensity, a predetermined service location is programmed as a destination for the vehicle and the vehicle is put into operation.

The invention also relates to a control device for a vehicle, comprising a power microprocessor which is set up and designed to process data from a plurality of sensor systems in a driving mode of operation of the control device, and a safety microprocessor which is set up to check computing results of the power processor in driving mode, an interface for connection to a vehicle-integrated monitoring sensor and a low-power microcontroller, which is set up and designed to receive data of the monitoring sensor, at least temporarily, in a non-operating mode of the control device. In particular, the power processor is a multi-core processor and / or is set up to carry out operations for a driver assistance function. In particular, the safety microprocessor is designed according to the ASIL D standard.

The invention also relates to an airbag control device for a vehicle, comprising a safety microprocessor for detecting at least one vehicle parameter, at least one ignition circuit, via which an occupant protection device of the vehicle can be controlled as a function of the vehicle parameter, a low-power microcontroller and an interface, via which the Airbag control unit can be connected to a vehicle-integrated monitoring sensor, with the low-power microcontroller being set up and designed to temporarily put the monitoring sensor into operation via the interface when the vehicle is switched off.

The invention also relates to an airbag control device for a vehicle, comprising a safety microprocessor which is set up to detect at least one vehicle parameter in a first operating mode, at least one ignition circuit via which an occupant protection means of the vehicle can be controlled as a function of the vehicle parameter, a low power -Microcontroller, which is set up to receive a wax-up signal from a low-power microcontroller external to the airbag control unit when the vehicle is switched off, and to put the safety microprocessor into operation in a second operating mode, the safety microprocessor being set up to transmit data of a vehicle-integrated additional sensor in the second operating mode capture.

It is obvious to the person skilled in the art that the aspects and features described above and below can be combined as desired in a monitoring system, a control unit, an airbag control unit and / or one of the methods according to the invention. While some of the features described above have been described with respect to either a monitoring system, controller, or airbag controller, it should be understood that these features may apply to the methods. Likewise, the features described above in relation to the method can apply in a corresponding manner to a monitoring system, control unit and / or airbag control unit.

One or more aspects of the invention have the following advantages: Monitoring of a vehicle for potential and actual damage events is made possible in an energy-saving manner. A damage event can be determined. The determination of a cause of damage is supported. The type and severity of a damage is classified so that information about the damage to a repair shop can be provided in advance. Components that are already in a vehicle are largely used.

• 1: eine schematische Darstellung des erfindungsgemäßen Überwachungssystems;
• 2: eine schematische Darstellung eines erfindungsgemäßen Airbagsteuergeräts;
• 3: eine schematische Darstellung des erfindungsgemäßen Steuergeräts in einer ersten Ausführung;
• 4: eine schematische Darstellung des erfindungsgemäßen Steuergeräts in einer zweiten Ausführung;
• 5: eine schematische Darstellung eines weiteren erfindungsgemäßen Airbagsteuergeräts
• 6: eine schematische Darstellung eines weiteren Ausführungsbeispiels eines erfindungsgemäßen Überwachungssystems;
• 7: eine schematische Darstellung eines weiteren Ausführungsbeispiels eines erfindungsgemäßen Überwachungssystems;
• 8: eine schematische Darstellung eines weiteren Ausführungsbeispiels eines erfindungsgemäßen Überwachungssystems;
• 9: eine schematische Darstellung eines erfindungsgemäßen Überwachungssystems in einer weiteren Ausführung.

Further features, advantages and properties of the invention are explained on the basis of the description of preferred embodiments of the invention with reference to the figures, which show:

• 1 : a schematic representation of the monitoring system according to the invention;
• 2 : A schematic representation of an airbag control device according to the invention;
• 3 : a schematic representation of the control device according to the invention in a first embodiment;
• 4 : a schematic representation of the control device according to the invention in a second embodiment;
• 5 : A schematic representation of another airbag control device according to the invention
• 6 : a schematic representation of a further embodiment of a monitoring system according to the invention;
• 7 : a schematic representation of a further embodiment of a monitoring system according to the invention;
• 8th : a schematic representation of a further embodiment of a monitoring system according to the invention;
• 9 : a schematic representation of a monitoring system according to the invention in a further embodiment.

In 1 is a vehicle 10 shown, which is equipped with a monitoring system according to the invention. The surveillance system includes a low-power microcontroller in this example 20 and several front monitoring sensors 30 as well as rear monitoring sensors 32 , For example, the front monitoring sensors 30 and the rear monitoring sensors 32 designed as ultrasonic sensors or short-range radar sensors. The vehicle 10 has a driving mode, which is usually triggered by an "ignition on" signal, and in which all vehicle systems are supplied with a respective operating voltage. In a non-driving operating mode, which is usually characterized by a lack of the “ignition on” signal, only individual systems of the vehicle are supplied with the battery voltage. The low-power microcontroller 20 is also supplied with battery voltage in the non-driving mode. The average power consumption of the low-power microcontroller 20 is, for example, less than 500 mA, in particular less than 100 mA, in particular less than 50 mA. No calculation on the low-power microcontroller 20 and if no interrupt is triggered, the low-power microcontroller changes 20 automatically into a sleep mode in which the average current consumption drops to a maximum of 500 µA, in particular less than 40 µA or 20 µA. The low-power microcontroller 20 is equipped with an internal timer that cyclically allows the low-power microcontroller 20 wake up from sleep mode to active mode at predetermined time intervals and perform predetermined functions. In an alternative embodiment of the microcontroller, the low-power microcontroller works 20 continuously in an active mode, the current consumption being reduced, for example by dynamically reducing the number of cycles, during the waiting phase determined by the timer for the next command execution.

The monitoring sensors 30 . 32 have a higher power requirement than the low-power microcontroller, especially during an ultrasound or radar pulse transmission phase, for example in the range of at least mA in relation to all monitoring sensors, which is why the monitoring sensors are only put into operation for a short time, for example for a measuring cycle.

The low-power microcontroller 20 is programmed in such a way that as soon as the vehicle and consequently the monitoring system are in the non-driving operating mode, it monitors the monitoring sensors in a certain time interval, for example every 20 µs 30 . 32 starts up and uses the monitoring sensors to determine the distance between any object in the vehicle's surroundings with respect to the sensor position and the vehicle. The distance measurement is carried out according to methods known for ultrasonic sensors and / or radar sensors. The monitoring sensors 30 . 32 are switched off again after a few, in particular less than 5, preferably exactly two distance measurements, put into a power-saving mode or are no longer supplied with energy. The low-power microcontroller uses distance measurements and known evaluation methods for ultrasonic and / or radar sensors 20 whether and in which section of the vehicle's surroundings objects are approaching the vehicle.

The low-power microcontroller calculates whether there is a risk of contact with an object and possibly damage to the vehicle 20 in particular the gradient of the speed of the object and relates this to the distance and the speed. For these sizes and ratios there are threshold values in a memory of the low-power microcontroller 20 against which the currently recorded and calculated values are compared to identify touch and impending damage.

The low-power microcontroller determines 20 The low-power microcontroller controls that a touch is imminent or that damage is imminent 20 at least one additional sensor in order to detect the contact with the additional sensor. Alternatively or additionally, the low-power microcontroller monitors 20 the data and / or signals from the monitoring sensors 30 . 32 when an object touches the vehicle. In particular, if a sound sensor or a highly sensitive acceleration sensor system is used as the monitoring sensor, it may not be possible to detect an approach, but only a touch. In this case, the low-power microcontroller controls 20 immediately after a touch is detected as described above. There are several cameras on the vehicle as an additional sensor 42 provided that accommodate certain sections of the vehicle environment. A sound sensor is also used as an additional sensor 40 , such as one or more interior microphone (s) of a hands-free device of the vehicle, one or more exterior microphones and / or a structure-borne noise sensor. The low-power microcontroller also works 20 to an inertial sensor system not shown in the picture 44 of the vehicle too. The low-power microcontroller detects at the time of the collision 20 Sensor data of one or more of the aforementioned additional sensors and analyzes the data with regard to the collision severity, the collision location, certain types of collision and the collision objects involved. For example, the data signature of a shopping cart that accidentally rolls against the vehicle, for example by evaluating the frequency spectrum and pulse duration, can be distinguished from a person who deliberately scratches the vehicle.

In an alternative embodiment, the low-power microcontroller only determines whether there is a The object approaches the vehicle, evaluates the data to determine whether there is a risk of a collision, and controls the additional sensors 40 . 42 generally as described above as soon as a moving object in the vehicle's surroundings is detected.

In an alternative embodiment, the low-power microcontroller controls 20 does not turn on the additional sensor itself, but sends a growth signal to a main microprocessor, which in turn then controls the additional sensor or sensors and evaluates their data. Incidentally, the operation of this embodiment is as described above.

Depending on the type and severity of the collision or touch and / or damage, a video recording of the respective area can be recorded for later potential identification of a harmful person. For predetermined types of collision and / or damage which are classified as irrelevant on the basis of a threshold value, recorded data are deleted from the memory of the vehicle immediately after the evaluation.

In 2 is an example of an airbag control device according to the invention 90 schematically shown, which is reduced to the essential for the invention components. The airbag control unit 90 includes a safety microcontroller 60 that of internal and / or external acceleration sensors, such as inertial sensors 44 , Receives data. The safety microcontroller 60 When the vehicle is in operation, the data is continuously evaluated to determine whether it is necessary to trigger an occupant protection system. The safety microcontroller 60 is designed according to ASIL D. The safety microcontroller also controls 60 if necessary an electrical ignition circuit 70 on, which is connected, for example, to a pyrotechnic gas generator or a belt tensioner. The controller 60 of the airbag control unit 90 communicates with other vehicle control units via the interface 80 ,

The airbag control unit 90 includes a low-power microcontroller 20 in a non-driving mode cyclically via the interface 80 with a monitoring sensor 30 . 32 of the vehicle communicates. The low-power controller wakes you up 20 one or more monitoring sensors 30 . 32 from an idle state and receives from this environment data regarding potential objects in the environment of the vehicle. In particular, the environment is monitored and object data is acquired as in the exemplary embodiment of 1 described. The embodiment of the 2 differs only from the embodiment of FIG 1 that the low-power microcontroller 20 in the airbag control unit 90 is integrated. The inertial sensors 44 is also integrated in the airbag control unit. The inertial sensor system is in an exemplary embodiment that is not shown in detail 44 in a sensor cluster outside the airbag control unit 90 arranged in the vehicle. It is understood by those skilled in the art that the monitoring system according to 1 the main microcontroller is the safety microcontroller 60 of the airbag control unit 90 and the low-power microcontroller 20 of the airbag control unit according to 1 or the safety microcontroller 54 of the control unit 50 . 150 could use. However, an additional low-power microcontroller can also be provided for the monitoring system, which triggers the evaluation of the data of the additional sensor by the safety microcontroller of the airbag control unit by means of a growth signal to the low-power microcontroller of the airbag control unit.

In 3 is a control device according to the invention 50 shown with the one as in the embodiment of the 1 shown monitoring system according to the invention is realized. The control unit 50 includes in addition to a performance processor 52 a safety microcontroller 54 , an interface 56 for communication with other vehicle systems and sensors and a low-power microcontroller 20 , The control unit 50 processes sensor data of a plurality of sensor systems, such as radar, lidar, camera, ultrasound and / or inertial sensors, in a driving operating mode in order to provide driver assistance functions or automated driving functions. The aforementioned sensor systems can be integrated into the monitoring system as a monitoring sensor or additional sensor, also in combination. The low-power microcontroller operates in a non-driving mode 20 according to the at 1 described surveillance system. To do this, the microcontroller wakes up 20 the interface 56 from a sleep mode to using the surveillance sensor 30 . 32 to communicate. The microcontroller 20 sets the monitoring sensor 30 . 32 in operation and receives data from it regarding potential objects in the vicinity of the vehicle.

This in 4 shown embodiment of a control device according to the invention 50 differs from that in 3 illustrated embodiment only in that the low-power microcontroller 20 directly with the monitoring sensor 30 . 32 communicates via an integrated interface, such as one or more digital I / O ports. In particular, the microcontroller uses 20 the PSI 5 Protocol. This requires the interface 56 are not switched on in order to query the monitoring sensor 30, 32, so that the average current consumption of the control device is reduced in the non-driving operating mode, ie when the vehicle is parked.

In the embodiment of the 5 is an example of an airbag control device according to the invention 90 shown with a control unit 150 connected is. The airbag control unit operates in accordance with the embodiment of FIG 2 , The airbag control unit 90 differs only from the example of 2 that it is for commissioning and / or communication with the monitoring sensor 30 . 32 and the additional sensors 40 . 42 that of the control unit 150 provided interface 56 uses. The control unit 150 works like a control device according to the embodiments of the 3 or 4 , which differs in that the tasks of the low-power microcontroller 20 from the airbag control unit 90 be taken over. the interface 56 can be via the communication network on which the airbag control unit 90 and the control unit 150 are tied up, wake up.

It is clear that some or all of the computational and analytical tasks related to the object data are both from the low-power microcontroller 20 as well as from the power processor 52 or the safety microcontroller 54 or another main microcontroller. The low-power microcontroller 20 then only has the task of monitoring sensors 30 . 32 and to start up or activate the required modules of the monitoring system, such as a control unit which contains the power processor or the safety microcontroller or the main microcontroller, for example an airbag control unit

In 6 is a vehicle 110 shown, which is equipped with a further embodiment of the monitoring system according to the invention. With the exception of the aspects explained in detail below, the exemplary embodiment and its mode of operation correspond to the exemplary embodiment of FIG 1 , with the reference numerals increased by 100. In this example, an infrared sensor system is used as the monitoring sensor 134 , in particular passive infrared sensor (PIR sensors) is provided. The infrared sensors 134 comprises at least two sensor cells and wide-angle optics. The low-power microcontroller 120 wakes up as in the embodiment of the 1 the infrared sensors 134 cyclically on to thermal radiation around the vehicle 110 capture. The infrared sensors 134 preferably comprises four or more sensor cells, two of which are connected to a differential amplifier in pairs with the same viewing direction.

7 shows a further embodiment of the monitoring system according to the invention in a vehicle 210 , The embodiment and its mode of operation corresponds to the embodiment of 1 with the exception of the aspects explained in detail below, the reference numbers of identical components being increased by 200. Capacitive sensors are used as the monitoring sensor 235 . 236 . 237 intended. The capacitive sensors 235 . 236 . 237 generate in the area of the outer skin of the vehicle 210 electrical fields and monitor them for changes in capacity by approaching electrically conductive objects.

8th shows a further embodiment of the monitoring system according to the invention in a vehicle 310 , With the exception of the aspects explained in detail below, the exemplary embodiment and its mode of operation correspond to the exemplary embodiment of FIG 1 , where the reference numbers of identical components are increased by 300. The low-power microcontroller determines 320 by means of the capacitive sensors 335 . 336 . 337 that an object is the vehicle 310 approaches, the low-power microcontroller sends 320 a wax-up signal to an airbag control unit 390 , The airbag control unit 390 is with an inertial sensor system 344 connected and includes a microcontroller. The microcontroller of the airbag control unit 390 analyzes the data of the inertial sensors 344 in terms of whether, how, and how strong the object is the vehicle 310 touched. Known classification algorithms are used. The microcontroller of the airbag control unit controls when the wax-up signal is received 390 the cameras 342 to the environment of the vehicle 310 capture. Depending on the result of the analysis and classification of the data from the inertial sensors 344 Memory of the microcontroller recordings of the cameras 342 in a non-volatile memory or erases them from the volatile memory.

Alternatively or additionally, a sound sensor such as the microphone can be used as a monitoring sensor in this or other exemplary embodiments 340 , are used to carry out activities in the area surrounding the vehicle 310 and / or touching the vehicle 310 capture.

Alternatively or additionally, a sound sensor such as the microphone can be used as an additional sensor in this or other exemplary embodiments 340 , Provide environmental data that can be analyzed and / or classified according to whether, how, and how strong an object is the vehicle 310 touched. Persons are also to be understood as objects in the sense of this application.

The embodiment of the 9 shows an example of a monitoring system according to the invention, the embodiment of 4 with the exception of the following aspects explained in detail, the reference numbers of identical components being increased by 400. Instead of a safety microcontroller 54 and a performance processor 52 is the low-power microcontroller 420 with a main microcontroller 458 connected. The main microcontroller 458 does not necessarily work according to an ASIL-D standard and is designed to process data from the additional sensors via the interface 456 be received. The low-power microcontroller 420 is connected to capacitive monitoring sensors 435, 436, 437 and, if it detects an approach, wakes up the main microcontroller 458 on. The main microcontroller 458 and the low-power microcontroller 420 can be arranged in a common housing or constructed as a distributed system. Communication between the microcontrollers takes place using the 12C protocol.

The variants described above as well as their construction and operational aspects only serve to better understand the structure, the mode of operation and the properties; they do not restrict the disclosure to the exemplary embodiments mentioned. Every function, every principle, every technical design and every feature, which / which is / are disclosed in the figures or in the text, can with all claims, every feature in the text, other functions, principles, technical designs and features, which in are contained in this disclosure or result from it, can be freely and arbitrarily combined, so that all conceivable combinations of the described procedure can be assigned. Combinations between all individual versions in the text, that is to say in each section of the description, in the claims and also combinations between different variants in the text, in the claims and in the figures are also included. The claims also do not limit the disclosure and thus the possible combinations of all the features shown. All disclosed features are explicitly disclosed here individually and in combination with all other features.

LIST OF REFERENCE NUMBERS

10, 110, 210, 310

vehicle

20, 120, 220, 320, 420

Low-power microcontrollers

30

front monitoring sensor

32

rear monitoring sensor

40, 140, 240, 340

sound sensor

42, 142, 242, 342

cameras

44, 144, 244, 344

inertial sensors

50, 150, 450

control unit

52

performance processor

54.60

safety microcontroller

56, 456

interface

80

interface

70

ignition circuit

90.390

Airbag control unit

134

Infrarotsensorik

150

control unit

235, 236, 237

capacitive sensors

335, 336, 337

capacitive sensors

435, 436, 437

capacitive sensors

458

main microcontroller

Claims (15)

Monitoring system for a vehicle, comprising a low-power microcontroller (20, 120, 220, 320, 420) and a vehicle-integrated monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437) for monitoring an environment of the vehicle, the low-power microcontroller (20, 120, 220, 320, 420) being set up to do so when the vehicle is switched off to temporarily put the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437) into operation. Surveillance system according to Claim 1 , wherein the low-power microcontroller (20, 120, 220, 320, 420) is set up to use the data from the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134 , 235, 236, 237, 335, 336, 337, 435, 436, 437) determine a presence of an object in the surroundings of the vehicle and / or a distance from the object. Surveillance system according to Claim 2 which comprises a main microprocessor, the low-power microcontroller (20, 120, 220, 320, 420) being set up to send a wake-up signal to one depending on the presence of the object in the surroundings of the vehicle and / or the distance to the object Main microprocessor to send. Monitoring system according to one of the preceding claims, wherein the monitoring system is set up from data of the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336 , 337, 435, 436, 437) to determine a position, a movement, a direction of movement and / or a movement speed of an object in the vicinity of the vehicle. Monitoring system according to one of the preceding claims, which comprises a plurality of additional sensors (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) and is set up for this purpose, depending on a presence, a distance, one Movement, a direction of movement and / or a movement speed of an object with a plurality of additional sensors (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) to record data relating to the vehicle and the surroundings of the vehicle , Surveillance system according to Claim 5 , wherein the additional sensors (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) comprise a camera and one or more of an exterior sound sensor, structure-borne noise sensor, interior microphone, capacitive measuring system and / or inertial measuring system. Monitoring system according to one of the preceding claims, comprising a microprocessor, the main microprocessor is set up to classify environment data of a vehicle-integrated additional sensor (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) and depending on trigger a damage documentation, a damage notification to a recipient outside the vehicle and / or a damage inspection based on the result of the classification. Monitoring system according to one of the preceding claims, which is set up to store data of the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335) in volatile memory , 336, 337, 435, 436, 437) and / or a vehicle-integrated additional sensor (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) if no collision with the Vehicle was detected or a collision severity threshold was undershot. Monitoring system according to the preceding claims, wherein the low-power microcontroller (20, 120, 220, 320, 420) has a power-saving operating mode and is set up to switch cyclically from the power-saving operating mode to a working operating mode in order to monitor the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437) and if a response from the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437) does not meet a further operating condition to switch back to the energy-saving operating mode. Monitoring system according to one of the preceding claims, wherein the low-power microcontroller (20, 120, 220, 320, 420) the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134 , 235, 236, 237, 335, 336, 337, 435, 436, 437) puts into operation at most 50% of the runtime and / or during which the low-power microcontroller (20, 120, 220, 320, 420) the Monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437) at least every 50 milliseconds, preferably at least every 20 milliseconds for at least 2 milliseconds, in particular at least 5 milliseconds, preferably at least 4 milliseconds and at most 12 milliseconds. Method for monitoring a vehicle, in which the vehicle is monitored for an impending damage event by temporarily starting up a vehicle-integrated monitoring sensor after a driving operation has been ended and, if a threshold value relating to the impending damage event is exceeded, a vehicle-integrated additional sensor is started up to record the impending damage event. Method for operating an autonomous vehicle, in which the autonomous vehicle according to the method Claim 10 is monitored, the damage event is classified on the basis of information from at least the additional sensor and / or a collision severity threshold is determined and, depending on the classification result or the collision severity threshold value, a predetermined service location is programmed as the destination and the vehicle is started up. Control device (50, 150, 450) for a vehicle, comprising a power microprocessor which is set up and designed to process data from a plurality of sensor systems in a driving operating mode of the control device (50, 150, 450), a safety microcontroller (54) which is set up for this purpose is designed to check the computing results of the power processor in driving mode, an interface for connection to a vehicle-integrated monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144, 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437) and a low-power microcontroller, which is set up and designed in a non-operating mode of the control unit, data from the monitoring sensor (30, 32, 40, 140, 240, 340, 44, 144 , 244, 344, 134, 235, 236, 237, 335, 336, 337, 435, 436, 437). Airbag control device (90, 390) for a vehicle, comprising a safety microprocessor for detecting at least one vehicle parameter, at least one ignition circuit (70), via which an occupant protection device of the vehicle can be controlled as a function of the vehicle parameter, a low-power microcontroller (20, 120 , 220, 320, 420) and an interface via which the airbag control unit with a vehicle-integrated additional sensor (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) Environment monitoring can be connected, the low-power microcontroller (20, 120, 220, 320, 420) being set up and designed to temporarily use the additional sensor (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) for environmental monitoring. Airbag control device (90, 390) for a vehicle, comprising a safety microcontroller (60) which is set up to detect at least one vehicle parameter in a first operating mode, at least one ignition circuit (70) via which an occupant protection means of the vehicle as a function of the vehicle parameter can be controlled, a low-power microcontroller (20, 120, 220, 320, 420), the low-power microcontroller (20, 120, 220, 320, 420) being set up and configured to generate a wax-up signal when the vehicle is switched off to be received by a low-power microcontroller (20, 120, 220, 320, 420) external to the airbag control device and to put the safety microcontroller (60) into operation in a second operating mode, the safety microcontroller (60) being set up in the second operating mode To record data of an additional sensor (40, 140, 240, 340, 42, 142, 242, 342, 44, 144, 244, 344) integrated in the vehicle.

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