DE102018210590A1 - Multi-sensor system for the detection of objects in an environment of a road vehicle and control device, impact protection system, road vehicle and method for protection against impacts of objects from the environment of the road vehicle with this multi-sensor system - Google Patents

Abstract

Multi-sensor system (10) for the detection of objects (1) in the surroundings of a road vehicle (2), the multi-sensor system (10) being designed with at least one first functional area (11) with a first radius (11a) of essentially at most 30 meters on the road vehicle (2) in order to record dynamic properties of the objects (1) located within the first radius (11a), and a second functional area (12) with a second radius (12a) of essentially at most 80 meters in relation to the road vehicle (2) in order to detect static properties of the objects (1) which are located within the second radius (12a), with update times during which the multisensor system (10) detects the objects ( 1) updated, the functional areas (11, 12, 13) are the shorter, the smaller the radii (11a, 12a, 13a) of the functional areas (11, 12, 13), the shorter update times of the respective Functional areas (11, 12, 13) are realized by first environment detection sensors (11b) of the multi-sensor system (10), which, depending on the respective functional areas (11, 12, 13), have shorter update times relative to second environment detection sensors (12b) of the multi-sensor system (10) , The invention also relates to a control device, an impact protection system, a road vehicle and a method for protecting a road vehicle (2) and occupants of the road vehicle (2) from impacts of objects (1) from the surroundings of the road vehicle (2) a multi-sensor system (10) according to the invention.

Description

The invention relates to a multi-sensor system for detecting objects in an environment of a road vehicle according to claim 1. Furthermore, the invention relates to a control device for a road vehicle according to claim 8. Furthermore, the invention relates to an impact protection system for a road vehicle according to claim 10. Furthermore, the invention relates to a road vehicle for protection against impacts of objects from the surroundings of the road vehicle according to claim 11. The invention also relates to a method for protecting a road vehicle and passengers of the road vehicle against impacts of objects from the surroundings of the road vehicle according to claim 12.

The fusion of sensor data is known in the field of driver assistance systems and automated driving. The sensors used have sufficiently short latencies for the application. System performance is typically limited by the slowest sensor's latency. However, in time-critical situations, in particular in situations in which an accident is unavoidable and a reduction in the consequences of the accident is desirable, the system requirements of each individual sensor cannot be met.

For example, sensor technologies with global shutter cameras are known. The advantages of a global shutter camera, in which all pixels of the camera sensor are exposed simultaneously for a defined exposure time, are the receipt of the high-quality information required for object classification. The disadvantage of a global shutter camera is the relatively long latency compared to other sensor technologies. Other sensor technologies such as radar sensors provide information about object speeds due to their relatively short latency times. However, radar sensors are inherently restricted in terms of object classification.

This is where the invention comes in. The invention has for its object to provide a multi-sensor system and a corresponding method to combine advantages of specific sensor technologies despite restrictions due to latency. The invention is also based on the object of protecting a road vehicle and occupants of the road vehicle by means of a multi-sensor system according to the invention against impacts of objects from the surroundings of the road vehicle.

The multi-sensor system according to the invention for detecting objects in an environment of a road vehicle solves the task as follows: The multi-sensor system is designed to form at least a first functional area with a first radius of essentially at most 30 meters in relation to the road vehicle in order to determine dynamic properties of the objects are within the first radius. Furthermore, the multi-sensor system is designed to form a second functional area with a second radius of essentially at most 80 meters with respect to the road vehicle, in order to detect static properties of the objects that are located within the second radius. It is essential to the invention that update times, during which the multi-sensor system updates the detection of the objects, the shorter the radii of the functional areas, the smaller the radius of the functional areas, that is, the smaller the distance between one of the objects and the road vehicle. The shorter update times of the respective functional areas are realized by first environment detection sensors of the multi-sensor system, which, depending on the respective functional areas, have shorter update times relative to second environment detection sensors of the multi-sensor system. The advantage of this multisensor system is that the requirement for the highest update rate, that is to say the shortest update time, only has to be met by the first environment detection sensors which deliver dynamic object information. Other functions such as delivering static object information are performed by second environment detection sensors. The second environment detection sensors can have lower update rates. Such a division of the sensor system according to functional areas improves the fusion of the sensor data.

A multi-sensor system is a system comprising a plurality of environment detection sensors for detecting an environment of a road vehicle. Each individual environment detection sensor detects the environment depending on the sensor technology used according to a specific detection principle, for example by means of radar pulses, light pulses or ultrasound pulses. Each individual environment detection sensor has a specific spatial and / or temporal resolution. In particular, the multi-sensor system comprises at least two environment detection sensors of different sensor technology. For example, a first environment detection sensor is a radar sensor that is suitable for automotive applications and a second environment detection sensor is a driver assistance system camera. The advantage of a multi-sensor system is that each sensor technology has its own advantages and disadvantages when it comes to detecting the surroundings. The use of several sensor technologies thus leads to the most realistic recording possible, referred to as perception in English, of the surroundings through exploitation the respective sensor advantages. In addition, a detection of the surroundings by a first sensor technology can be checked for plausibility by a detection of the surroundings by a second sensor technology that is different from the first. A multi-sensor system with a plurality of environment detection sensors is also redundant in the event of a failure of an environment detection sensor. These properties are fundamental for driver assistance systems that enable assisted driving to highly automated driving. The multi-sensor system or, alternatively, an evaluation device that is operatively connected to the multi-sensor system makes a driving decision depending on the acquired and processed data of the environment detection sensors. The driving decision is provided for a control device of the road vehicle in order to control actuators of the road vehicle accordingly, preferably highly automated. The multi-sensor system is particularly advantageous for the automation of commercial vehicles such as trucks. Average 400 Rear-end collisions with trucks occur annually in Germany. With the multi-sensor system according to the invention, more than half of these accidents can be avoided due to the optimized allocation of environment detection sensors to functional areas.

Objects include other vehicles, non-motorized road users, objects of an infrastructure, for example traffic light posts or guardrails, and other objects from the surroundings of the road vehicle, for example trees or buildings.

A functional area, called function-oriented covering area or function-oriented layer, is a specific area around the road vehicle within which the multi-sensor system performs specific tasks. The advantage of functional areas is that the use of different sensor technologies is optimized, taking into account the respective update times of environment detection sensors. In relation to the first radius, the first functional area corresponds to a close range. In relation to the second radius, the second functional area corresponds to a central area.

The update time and correspondingly the update rate is the time it takes for an environment detection sensor to receive a signal, depending on which information about the environment is obtained. This includes active and passive environment detection sensors with environment detection sensors. In the case of an active environment detection sensor, the update time, also called the cycle time, is the time between two successive transmission signals. For example, the cycle time of a mid-range radar sensor in the frequency range of essentially 76 to 77 gigahertz is essentially 60 milliseconds.

The control device for a road vehicle according to the invention solves the task as follows: The control device comprises at least one input interface in order to receive data from the multi-sensor system according to the invention. Furthermore, the control device comprises an evaluation device in order to receive a signal for an ignition device of an external airbag of the road vehicle as a function of a fusion of the data. The fusion takes place within the multisensor system or by means of a hardware of the control device with fusion times in the range of essentially 5 Milliseconds to 100 milliseconds, preferably in the range from essentially 10 milliseconds to 80 milliseconds, very particularly preferably in the range from 30 milliseconds to 60 milliseconds. In addition, the control device comprises at least one output interface in order to provide the signal for the ignition device. The external airbag is triggered with the control device for a predicted position of the road vehicle, from which an impact of one of the objects on the road vehicle is unavoidable. Due to the improved fusion of the sensor data by the multi-sensor system according to the invention, the position is predicted quickly and with optimal computing power. As a result, an ignition timing is determined particularly effectively.

An interface is a device between at least two functional units on which an exchange of logical quantities, for example data, or physical quantities, for example electrical signals, takes place, either only unidirectionally or bidirectionally. The exchange can be analog or digital. The exchange can also be wired or wireless.

An evaluation device is a device that processes incoming information and outputs a result resulting from this processing. In particular, an electronic circuit, such as a central processor unit or a graphics processor, is an evaluation device. The evaluation device is preferably implemented as a system-on-a-chip, ie all or at least a large part of the functions are integrated on one chip. The chip comprises, for example, a multi-core processor with at least six central processing processors, referred to as Central Processing Unit, abbreviated CPU. The chip also includes at least 256 graphics processors, referred to in English as a graphic processing unit, or GPU for short. Graphics processors are particularly advantageous for parallel processing of processes. With such a structure, the evaluation device is scalable, that is to say the Evaluation device can be adapted for different SAE levels. Automated vehicles can be classified according to the level of the SAEJ3016 standard. A pure assistance system assists the driver in carrying out a driving task. This corresponds to the SAE level 1 , SAE Level 5 is defined by the fact that all aspects of the dynamic driving task are carried out consistently by an automated driving system under all driving and environmental conditions that can be handled by a human driver. Higher levels of automation require more computing power than lower levels of automation. The invention is particularly for SAE levels 3 . 4 and 5 intended. In particular in a transition period to fully automated driving, the invention becomes SAE level 3 and 4 used to subsequently at SAE level 5 to be used.

The control device preferably has a housing in order to protect the evaluation device against high and / or low temperatures, moisture, impacts and other environmental influences which occur in the road vehicle.

Fusion includes methods to link data from different environment detection sensors with the aim of gaining new and more precise knowledge of the data and related events.

An external airbag is an airbag that, when triggered, is deployed at least partially outside an occupant interior of the road vehicle. The outside airbag is usually filled with air and is called an air cushion. The outside airbag has significantly more pressure, about twice as much as in the airbags that catch the occupants in the passenger compartment. Because the airbag cannot come into contact with the plastic and steel of another vehicle, not with soft parts of the body, but rather outside the interior of the occupant, the material of the outer airbag is more robust than the material of known passenger inner airbags. The outside airbag absorbs at least part of the impact energy. The outer airbag preferably deploys on the outside of a side door of the road vehicle in order to absorb the impact energy in the event of side impacts. Alternatively or additionally, an external airbag deploys on the outside of an engine flap and / or trunk flap and / or a roof covering of the road vehicle.

Software is a collective term for programs and related data. The complement to software is hardware. Hardware refers to the mechanical and electronic alignment of a data processing system.

The impact protection system according to the invention for a road vehicle solves the task as follows: The impact protection system comprises a control device according to the invention. Furthermore, the impact protection system comprises at least one external airbag, the external airbag being able to be arranged in a sill of the road vehicle. In addition, the impact protection system comprises at least one ignition device for the at least one external airbag in order to ignite the external airbag in the event of an unavoidable impact of an object from the surroundings of the road vehicle in order to protect the road vehicle and passengers of the road vehicle. Due to the improved fusion of the sensor data by the multi-sensor system according to the invention, it is ensured that the external airbag is triggered quickly at the right time. Misfires are advantageously avoided. The impact protection system is designed in particular to intercept side impacts from other passenger vehicles, trucks or motorcycles.

A sill is an area of the self-supporting body of a road vehicle. It is usually located lengthways below the door entry, on both sides of the road vehicle between the front and rear wheel arches. The outer airbag, which can be arranged in the rocker panel, thus absorbs impact energy during side impacts.

The road vehicle according to the invention for protection against impacts of objects from the surroundings of the road vehicle solves the task as follows: The road vehicle comprises a control device according to the invention. The road vehicle further comprises at least one external airbag. The external airbag is arranged in a sill of the road vehicle. In addition, the road vehicle comprises at least one ignition device for the at least one external airbag in order to fire the external airbag in the event of an unavoidable impact of one of the objects in order to protect the road vehicle and the occupants of the road vehicle. For the road vehicle, there are the advantages mentioned for the control unit and the impact protection system.

The method according to the invention for protecting a road vehicle and occupants of the road vehicle from impinging objects from the surroundings of the road vehicle achieves the task as follows: The method is based on a strategy or a concept to improve the fusion of data from a multi-sensor system. The method comprises the following method steps: In a first method step, at least one first functional area with a first radius of essentially at most 30 meters is formed in relation to the road vehicle. In a second The method step detects dynamic properties of the objects that are located within the first radius. In a third method step, the detection in the first functional area is updated. Process steps two to three are preferably carried out in a loop. In a fourth method step, at least one second functional area with a second radius of essentially at most 80 meters is formed in relation to the road vehicle. In a fifth method step, static properties of the objects that are located within the second radius are recorded. In a sixth method step, the detection in the second functional area is updated. Process steps four to six are preferably carried out in a loop. Update times during which the acquisition of the objects is updated, the functional areas are shorter, the smaller the radii of the functional areas. This procedure enables optimal use of various sensor technologies with regard to the specific update times. With a definition of functional areas according to the invention, the method enables a sensor system to be specified as a function of the functional areas. In particular, the method enables sensor requirements such as update rates and sensor technology used to be weighted as a function of the function to be performed in each case, for example capturing dynamic or static object information.

Further developments and advantageous refinements are specified in the respective subclaims.

The multisensor system is advantageously designed to detect positions, speeds and / or directions of movement of the objects relative to the road vehicle in the first functional area as dynamic properties and to detect object classes as static properties in the second functional area. As a result, the multi-sensor system enables moving objects, in particular other vehicles, to be tracked. The multisensor system detects, for example, vehicle types, for example passenger cars, trucks and / or two-wheelers, as object classes. The dynamic properties are preferably checked for plausibility by means of the object classification.

The multisensor system preferably comprises at least one lidar sensor, preferably a solid-state lidar sensor, and / or a radar sensor, preferably an imaging radar sensor, as the first environment detection sensors, in order to detect the dynamic properties. Such sensors are particularly well suited for position and speed measurement. For example, a lidar sensor that generates pulse lengths of 50 nanoseconds is used to measure positions with an accuracy of up to 7.5 meters. An imaging radar sensor is a radar sensor which has means for generating an optical image from raw radar data. As a second environment detection sensor, the multi-sensor system comprises at least one driver assistance camera in order to detect the static properties. For example, the driver assistance camera is a global shutter camera.

In one development, the multi-sensor system is designed to form a third functional area with a third radius of essentially at least 80 meters, preferably 200 meters, based on the road vehicle, in order to detect the objects. In relation to the third radius, the third functional area corresponds to a distant area. For example, the following functional areas are advantageously covered, in order of decreasing radius: an object detection area in which possible impact partners are spaced a safe distance apart and in which the multisensor system only detects objects, an object classification area in which possible impact partners are still at a safe distance are spaced and in which objects are classified and the movement of the objects is tracked, and an impact area in which an impact can occur. The smaller the radius, the higher the update rate of the sensor technology used in the respective functional area.

According to a further embodiment, the multi-sensor system comprises an interface for exchanging data from environment detection sensors with an infrastructure, with the interface preferably being used for data exchange with a latency period of essentially less than 10 milliseconds, particularly preferably less than 1 millisecond, very particularly preferably with 5G Technology is done.

5G is the fifth generation of mobile communications with which data rates of up to 10 gigabits per second can be achieved. With 5G technology, 100 billion mobile devices can be addressed simultaneously worldwide. The latency is less than 1 millisecond. Advanced vehicles, in particular partially or highly automated road vehicles, include a radio interface and can thus be network participants in the mobile radio network. Driver assistance systems of the road vehicle transmit data from environment detection sensors to other vehicles and / or to the infrastructure. 5G technology is particularly advantageous for such a data transfer. Vehicle to vehicle communication is called car to car communication, C2C for short. Vehicle too Infrastructure communication is called car to x communication, C2X for short. If no data is currently being transmitted, the priority of a network participant drops. If data traffic is triggered again, it takes a certain time for the data to reach the recipient. This time is the latency. The multisensor system can thus advantageously be expanded with C2C and C2X, and thus with further sensors of the infrastructure.

The multisensor system is advantageously designed to fuse the data of the first environment detection sensors and the data of the second environment detection sensors with fusion times in the range from essentially 5 milliseconds to 100 milliseconds, preferably in the range from essentially 10 milliseconds to 80 milliseconds, very particularly preferably in the range from 30 milliseconds to 60 milliseconds. In side impact scenarios, the time from the moment the position is reached, from which an impact is unavoidable, to the moment the impact occurs is substantially less than 500 milliseconds on average. For two road vehicles moving in inner-city traffic at a speed of 50 kilometers per hour, the distance from the first visual contact to the collision is usually less than 300, given a distance of one meter between the vehicle and the edge of a covering for both road vehicles milliseconds. A change in the trajectory of one's own road vehicle, also called an Ego road vehicle, can therefore be changed within essentially 200 to 400 milliseconds before an impact. In particular, emergency maneuvers can be initiated in order to switch to more favorable positions in which the impact has less serious consequences. The scenarios described can be controlled by the short fusion times according to the invention. In particular, pre-crash and in-crash measures can be initiated to increase safety by means of such short reaction times. The impact protection system sets and initiates measures for impacts in which a so-called point-of-no-return has been exceeded and an impact is unavoidable.

The multi-sensor system is preferably designed to predict a position for the road vehicle from which an impact of one of the objects on the road vehicle occurs, depending on a fusion of the data of the first environment detection sensors and the data of the second environment detection sensors, preferably depending on the data of the first environment detection sensors is inevitable. This position is the point of no return. For a predicted point-of-no-return, measures can be initiated to reduce the consequences of accidents. For example, an external airbag can be deployed to absorb the impact energy of a side impact.

The detection of the environment and / or the driving decision, which results from the perception of the detection of the environment, is preferably carried out by means of artificial intelligence. The evaluation device of the control device according to the invention is preferably designed to execute an intelligent algorithm, preferably an artificial neural network, in order to obtain the signal for the ignition device. Artificial intelligence is preferably implemented as software on chip in the evaluation device.

Artificial intelligence is a generic term for the automation of intelligent behavior. For example, an intelligent algorithm learns to respond appropriately to new information, such as determining driving decisions in new situations. An artificial neural network, referred to as an artificial neural network, is an intelligent algorithm. An intelligent algorithm has to be learned to react appropriately to new information. Automation of intelligent behavior is described with the term artificial intelligence.

A multi-sensor system according to the invention is preferably used to carry out the method.

A control device according to the invention is preferably used to carry out the method.

An impact protection system according to the invention is preferably used to carry out the method.

• 1: ein Ausführungsbeispiel eines erfindungsgemäßen Multisensorsystems,
• 2: ein Ausführungsbeispiel eines erfindungsgemäßen Steuergeräts,
• 3: ein Ausführungsbeispiel eines erfindungsgemäßen Aufprall-Schutzsystems und
• 4: ein Ausführungsbeispiel eines erfindungsgemäßen Verfahrens.

The invention is explained by way of example in the figures. Show it:

• 1 an embodiment of a multi-sensor system according to the invention,
• 2 an embodiment of a control device according to the invention,
• 3 : An embodiment of an impact protection system according to the invention and
• 4 : An embodiment of a method according to the invention.

In the figures, the same reference symbols designate the same or functionally similar parts. The relevant reference numerals are given in the respective figures.

1 shows a road vehicle 2 , The road vehicle 2 is a passenger car or a Trucks. The road vehicle 2 includes a multi-sensor system 10 , The multi-sensor system 10 comprises as a first environment detection sensor 11b a solid-state lidar sensor. In 1 is only a first environment detection sensor for the sake of clarity 11b shown. However, the invention also includes embodiments with a plurality of first environment detection sensors 11b or with an arrangement of several first environment detection sensors 11b which are arranged, for example, in the front, rear and / or side area. As a second environment detection sensor 12b includes the multi-sensor system 10 a driver assistance camera which is arranged in the vicinity of a windshield of the road vehicle. The statements regarding the number and arrangement of the first environment detection sensors 11b apply accordingly to the second environment detection sensors 12b ,

The first environment detection sensors 11b have shorter update times than the second environment detection sensors 12b on. Accordingly, the first environment detection sensors detect 11b a first functional area 11 with a first radius 11a around the road vehicle 2 , In the first functional area 11 the first environment detection sensors measure rapidly changing information such as the positions and speeds of objects 1 from the environment of the road vehicle. The objects 1 include in particular passenger cars and trucks. The first functional area is updated with an update time corresponding to the update time of the first environment detection sensors. In the second functional area 12 the second environment detection sensors measure slowly changing to static information such as classes of objects 1 , Property classes are in particular passenger cars and trucks. The second functional area is updated with an update time corresponding to the update time of the second environment detection sensors.

The multi-sensor system 10 also forms a third functional area 13 , In the third functional area 13 become the objects 1 only detected.

Another environment detection sensor is a camera, which is arranged on a component of the traffic infrastructure. Using an interface 14 , over which data traffic is wireless, there is a data exchange between the component of the infrastructure and the road vehicle. The data exchange is bidirectional. The wireless exchange takes place using 5G technology. This is the multi-sensor system 10 advantageously expanded by at least one sensor of the infrastructure.

In sills 6 of the road vehicle 2 are outside airbags 4 arranged depending on the detection of the multi-sensor system 10 be fired to the road vehicle 2 and occupants of the road vehicle 2 to protect against an unavoidable side impact.

The control unit 20 is in 2 shown. Via an input interface 21 the control unit receives data from the multi-sensor system 10 , This data is used with regard to a realistic perception of the environment and the dependent receipt of driving decisions by an evaluation device 22 evaluated. In order to evaluate the data quickly, safely and / or correctly, the evaluation device performs 22 an appropriately trained artificial neural network.

3 shows the impact protection system 30 , The impact protection system includes the control unit 20 and an ignition device 3 to the outside airbags 4 to ignite. The ignition device 3 is with the output interface 23 of the control unit 20 connected.

The control unit 20 and the impact protection system 30 are on a road vehicle 2 retrofitted.

The method according to the invention is in 4 shown. In a first method step, at least the first functional area 11 with the first radius 11a of essentially no more than 30 meters in relation to the road vehicle 2 educated. In a second step V2 become dynamic properties of the objects 1 that are within the first radius 11a are recorded. In a third step V3 is the detection in the first functional area 11 updated. After the update, the dynamic properties are recorded again and in parallel in a fourth process step V4 at least the second functional area 12 with the second radius 12a of essentially a maximum of 80 meters related to the road vehicle 2 , In a fifth step V5 become static properties of the objects 1 that are within the second radius 12a are recorded. In a sixth step V6 is the acquisition in the second functional area 12 updated. After the update, the static properties are recorded again and the procedure is repeated. Here are the update times during which the acquisition of the objects 1 is updated each time, the functional areas 11 . 12 . 13 the shorter the smaller the radii 11a . 12a . 13a of the functional areas 11 . 12 . 13 are.

The multi-sensor system is preferably used to carry out the method 10 , the control unit 20 or the impact protection system 30 used.

The method is particularly preferred in the road vehicle according to the invention 2 executed.

LIST OF REFERENCE NUMBERS

1

object

2

road vehicle

4

exterior airbag

6

sill

10

Multi-sensor system

11

first functional area

11a

first radius

11b

first environment detection sensor

12

second functional area

12a

second radius

12b

second environment detection sensor

13

third functional area

13a

third radius

14

interface

20

control unit

21

Input interface

22

evaluation

23

Output interface

30

Impact protection system

V1-V6

steps

Claims (15)

Multi-sensor system (10) for detecting objects (1) in an environment of a road vehicle (2), the multi-sensor system (10) being designed, at least • to form a first functional area (11) with a first radius (11a) of essentially at most 30 meters in relation to the road vehicle (2) in order to have dynamic properties of the objects (1) that are located within the first radius (11a), to capture, and • to form a second functional area (12) with a second radius (12a) of essentially at most 80 meters with respect to the road vehicle (2) in order to have static properties of the objects (1) that are located within the second radius (12a), capture, • whereby update times during which the multi-sensor system (10) updates the detection of the objects (1) of the functional areas (11, 12, 13) are the shorter, the smaller the radii (11a, 12a, 13a) of the functional areas (11 , 12, 13) are • The shorter update times of the respective functional areas (11, 12, 13) are realized by first environment detection sensors (11b) of the multi-sensor system (10), which are dependent on the respective functional areas (11, 12, 13) relative to second environment detection sensors (12b) Multisensor systems (10) have shorter update times. Multi sensor system (10) after Claim 1 , • Detect positions, speeds and / or directions of movement of the objects (1) relative to the road vehicle (2) in the first functional area (11) as dynamic properties and • Detect object classes as static properties in the second functional area (12) , Multi sensor system (10) after Claim 1 or 2 , comprising • at least one lidar sensor, preferably a solid-state lidar sensor, and / or a radar sensor, preferably an imaging radar sensor, as first environment detection sensors (11b), in order to detect the dynamic properties and • at least one driver assistance camera as second environment detection sensors (12b), to capture the static properties. Multi-sensor system (10) according to one of the preceding claims, designed to form a third functional area (13) with a third radius (13a) of essentially at least 80 meters, preferably 200 meters, in relation to the road vehicle (2) in order to form the objects ( 1) to capture. Multi-sensor system (10) according to one of the preceding claims, comprising an interface (14) for exchanging data from environment detection sensors (11b, 12b) with an infrastructure, with the interface (14) preferably exchanging data with a latency of substantially less than 10 Milliseconds, particularly preferably less than 1 millisecond, most preferably with 5G technology. Multi-sensor system (10) according to one of the preceding claims, designed to merge the data of the first environment detection sensors (11b) and the data of the second environment detection sensors (12b) with fusion times in the range from essentially 5 milliseconds to 100 milliseconds, preferably in the range from substantially 10 milliseconds to 80 milliseconds, very particularly preferably in the range from 30 milliseconds to 60 milliseconds. Multi-sensor system (10) according to one of the preceding claims, executed, depending on a fusion of the data of the first environment detection sensors (11b) and the data of the second environment detection sensors (12b), preferably depending on the data of the first environment detection sensors (11b), a position for the Predict road vehicle (2) from which an impact of one of the objects (1) on the road vehicle (2) is unavoidable. Control device (20) for a road vehicle (2) comprising • at least one input interface (21) for transferring data from a multi-sensor system (10) according to one of the Claims 1 to 7 to obtain, • an evaluation device (22) to receive a signal for an ignition device (3) of an external airbag (4) of the road vehicle (2) as a function of a fusion of the data, the fusion being carried out within the multisensor system (10) or by means of a Hardware of the control device (20) takes place with fusion times in the range from essentially 5 milliseconds to 100 milliseconds, preferably in the range from essentially 10 milliseconds to 80 milliseconds, very particularly preferably in the range from 30 milliseconds to 60 milliseconds and • at least one output interface (23 ) in order to provide the signal for the ignition device (3) in order to close the external airbag (4) for a predicted position of the road vehicle (2) from which an impact of one of the objects (1) on the road vehicle (2) is unavoidable ignite. Control unit (20) after Claim 8 The evaluation device (22) is designed to carry out an intelligent algorithm, preferably an artificial neural network, in order to obtain the signal for the ignition device (3). Impact protection system (30) for a road vehicle (2) comprising • a control unit (20) Claim 8 or 9 , • at least one outer airbag (4), the outer airbag (4) being able to be arranged in a sill (6) of the road vehicle (2), and • at least one ignition device (3) for the at least one outer airbag (4) to the outer airbag ( 4) to ignite in the event of an unavoidable impact of an object (1) from the surroundings of the road vehicle (2) in order to protect the road vehicle (2) and occupants of the road vehicle (2). Road vehicle (2) for protection against impacts of objects (1) from the surroundings of the road vehicle (2), comprising • a control unit (20) Claim 8 or 9 , • at least one outer airbag (4), the outer airbag (4) being arranged in a sill (6) of the road vehicle (2), and • at least one ignition device (3) for the at least one outer airbag (4), around the outer airbag ( 4) in the event of an unavoidable impact, to ignite one of the objects (1) in order to protect the road vehicle (2) and the occupants of the road vehicle (2). Method for protecting a road vehicle (2) and occupants of the road vehicle (2) against impacts of objects (1) from the surroundings of the road vehicle (2), comprising the following method steps: Forming at least a first functional area (11) with a first radius (11a) of essentially at most 30 meters in relation to the road vehicle (2) (V1), Detection of dynamic properties of the objects (1) which are located within the first radius (11a) (V2), Updating the detection in the first functional area (11) (V3), Forming at least one second functional area (12) with a second radius (12a) of essentially at most 80 meters in relation to the road vehicle (2) (V4), Detection of static properties of the objects (1) which are located within the second radius (12a) (V5), Updating the detection in the second functional area (12) (V6), • whereby update times, during which the acquisition of the objects (1) is updated, the functional areas (11, 12, 13) are shorter, the smaller the radii (11a, 12a, 13a) of the functional areas (11, 12, 13) are. Procedure according to Claim 12 , wherein a multi-sensor system (10) according to one of the Claims 1 to 7 is used. Procedure according to Claim 12 , a control unit (20) being used to carry out the method Claim 8 or 9 is used. Procedure according to Claim 12 , an impact protection system (30) being used to carry out the method Claim 10 is used.

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