DE102018210590B4 - Multi-sensor system for detecting objects in the vicinity of a road vehicle and control device, impact protection system, road vehicle and methods for protecting against impacts with objects in the vicinity of the road vehicle with this multi-sensor system - Google Patents

Abstract

Multi-sensor system (10) for detecting objects (1) in the vicinity of a road vehicle (2), the multi-sensor system (10) being designed to have at least • a first functional area (11) with a first radius (11a) of essentially at most 30 meters based on the road vehicle (2) in order to detect dynamic properties of the objects (1) that are located within the first radius (11a), and • a second functional area (12) with a second radius (12a) of im Essentially at most 80 meters in relation to the road vehicle (2) in order to detect static properties of the objects (1) that are located within the second radius (12a), with update times during which the multi-sensor system (10) is recording the objects (1) are updated, the functional areas (11, 12, 13) are shorter, the smaller the radii (11a, 12a, 13a) of the functional areas (11, 12, 13), the shorter update times of the respective function ion areas (11, 12, 13) are realized by first environment detection sensors (11b) of the multisensor system (10), which have shorter update times depending on the respective functional areas (11, 12, 13) relative to second environment detection sensors (12b) of the multisensor system (10) .

Description

The invention relates to a multi-sensor system for detecting objects in the surroundings of a road vehicle according to claim 1. Furthermore, the invention relates to a control device for a road vehicle according to claim 8. The invention also 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 collisions with objects in the vicinity of the road vehicle 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 latency times for the application. Typically, system performance is limited by the latency of the slowest sensor. 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 cannot be met by each individual sensor.

The prior art is for example in DE 198 45 568 A1 disclosed.

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 that the high-quality information required for object classification is obtained. 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 on object speeds due to their relatively short latency times. However, radar sensors are inherently limited in terms of object classification.

This is where the invention comes into play. The invention was based on the object of providing a multi-sensor system and a corresponding method in order to combine advantages of specific sensor technologies despite the limitations caused by latency. The invention is also based on the object of protecting a road vehicle and occupants of the road vehicle against impacts from objects in the vicinity of the road vehicle by means of a multisensor system according to the invention.

The multi-sensor system according to the invention for detecting objects in the surroundings of a road vehicle solves the problem as follows: The multi-sensor system is designed to form at least one 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 that 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 in relation 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 functional areas, the smaller the radii 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 implemented 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 multi-sensor 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 surroundings detection sensors that supply dynamic object information. Other functions such as supplying static object information are fulfilled by second surroundings detection sensors. The second surroundings detection sensors can have lower update rates. Such a division of roles of the sensor system according to functional areas improves a fusion of the sensor data.

A multi-sensor system is a system comprising several surroundings detection sensors for detecting the surroundings 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 capacity. 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 recording the surroundings. The use of several Sensor technologies thus lead to the most realistic possible recording, referred to in English as perception, of the environment by utilizing the respective sensor advantages. In addition, detection of the surroundings by a first sensor technology can be checked for plausibility with detection of the surroundings using a second sensor technology that is different from the first. A multi-sensor system with several surroundings detection sensors is also redundant in relation to a failure of one surroundings detection sensor. These properties are fundamental for driver assistance systems that enable assisted driving through 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 as a function of the recorded and processed data of the surroundings detection sensors. The driving decision is made available for a control device of the road vehicle in order to control actuators of the road vehicle accordingly, preferably in a highly automated manner. The multi-sensor system is particularly suitable for the automation of commercial vehicles such as trucks. An average of 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 area around 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 surroundings detection sensors. In relation to the first radius, the first functional area corresponds to a near area. In relation to the second radius, the second functional area corresponds to a central area.

The update time, and accordingly the update rate, is the time that a surroundings detection sensor needs to receive a signal, as a function of which information about the surroundings can be obtained. Surrounding sensors include active and passive surrounding sensors. In the case of an active surroundings detection sensor, the update time, also known as 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 from essentially 76 to 77 gigahertz is essentially 60 milliseconds.

The control device according to the invention for a road vehicle solves the problem 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 of 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 control unit is used to ignite the external airbag 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 through the multi-sensor system according to the invention, the position is predicted quickly and with optimal computing power. In this way, an ignition point is determined particularly effectively.

An interface is a device between at least two functional units at which an exchange of logical quantities, for example data, or physical quantities, for example electrical signals, takes place, either 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, that is to say all or at least a large part of the functions are integrated on one chip. The chip includes, for example, a multi-core processor with at least six central processing processors, referred to in English as Central Processing Unit, abbreviated to CPU. The chip also includes at least 256 graphics processors, referred to as Graphic Processing Unit, or GPU for short. Graphics processors are particularly suitable for parallel processing of sequences. With such a structure, the evaluation device is scalable, that is, the evaluation device can be adapted for different SAE levels. Vehicles that can be operated automatically 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 SAE level 1. SAE level 5 is defined in that the continuous execution of all aspects of the dynamic driving task is carried out by an automated driving system under all driving and environmental conditions that can be managed by a human driver. This is because higher levels of automation require more computing power than lower levels of automation. The invention is intended in particular for SAE Levels 3, 4 and 5. In particular, in a transition period to fully automated driving, the invention is used at SAE levels 3 and 4 in order to then be used at SAE level 5.

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

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

An external airbag is a gas bag which, when it is ignited, is at least partially deployed outside of the passenger compartment of the road vehicle. The outer airbag is usually filled with air and is called an air cushion. The external 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 soft parts of the body, but with the plastic and steel of another vehicle in the outer area of the passenger compartment, the material of the outer airbag is more robust than the material in known passenger inner airbags. The outer airbag absorbs at least part of the impact energy. The outer airbag preferably unfolds on the outside of a side door of the road vehicle in order to absorb the impact energy in the event of a side impact. Alternatively or additionally, an external airbag unfolds on the outside of an engine flap and / or trunk flap and / or a roof cover of the road vehicle.

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

The impact protection system according to the invention for a road vehicle solves the problem as follows: The impact protection system comprises a control device according to the invention. In addition, 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 collision with an object in the vicinity 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 deployed quickly at the correct point in time. Misfires are advantageously avoided. The impact protection system is designed in particular to absorb side impacts from other passenger vehicles, trucks or motorcycles.

A rocker is an area of the self-supporting body of a road vehicle. As a rule, it is arranged lengthwise 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 energies in the event of a side impact.

The road vehicle according to the invention for protection against collisions with objects in the vicinity of the road vehicle solves the problem 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 exterior airbag in order to ignite the exterior airbag in the event of an unavoidable impact of one of the objects in order to protect the road vehicle and passengers of the road vehicle. The advantages mentioned for the control unit and the impact protection system result for the road vehicle.

The method according to the invention for protecting a road vehicle and the occupants of the road vehicle from impacts by objects from the surroundings of the road vehicle solves the problem as follows: The method is based on a strategy or a concept to improve the fusion of data of a multi-sensor system. The method comprises the following method steps: In a first method step, at least one first functional area formed with a first radius of essentially at most 30 meters based on the road vehicle. In a second process step, dynamic properties of the objects that are located within the first radius are recorded. In a third method step, the acquisition in the first functional area is updated. Method steps two to three are preferably carried out in a loop. In a fourth method step, at least one second functional area is formed with a second radius of essentially at most 80 meters 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 acquisition in the second functional area is updated. Method steps four to six are preferably carried out in a loop. Update times during which the detection of the objects is updated, the functional areas are shorter, the smaller the radii of the functional areas. This procedure enables an optimal use of different sensor technologies with regard to the respective 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 respective function to be fulfilled, for example acquisition of dynamic or static object information.

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

The multi-sensor system is advantageously designed to detect positions, speeds and / or directions of movement of the objects relative to the road vehicle as dynamic properties in the first functional area and to detect object classes as static properties in the second functional area. As a result, the multi-sensor system enables moving objects to be tracked, called tracking in English, in particular of other vehicles. The multi-sensor system detects 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 first environment detection sensors, in order to detect the dynamic properties. Such sensors are particularly suitable for position and speed measurement. For example, a lidar sensor that generates pulse lengths of 50 nanoseconds can measure positions with an accuracy of up to 7.5 meters. An imaging radar sensor is a radar sensor that has means for generating an optical image from raw radar data. The multi-sensor system comprises at least one driver assistance camera as second surroundings detection sensors in order to detect the static properties. For example, the driver assistance camera is a global shutter camera.

In a further 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. In this way, for example, the following functional areas are advantageously covered, in order of decreasing radius: an object detection area in which possible collision partners are spaced a safe distance apart and in which the multi-sensor system only detects objects, an object classification area in which possible collision 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 multisensor system comprises an interface to exchange data from surroundings detection sensors with an infrastructure, the interface preferably being used to exchange data with a latency period of essentially less than 10 milliseconds, particularly preferably less than 1 millisecond, very particularly preferably with 5G Technology takes place.

5G refers to 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 worldwide can be addressed simultaneously. The latency is less than 1 millisecond. Advanced vehicles, in particular road vehicles that can be operated in a partially or highly automated manner, 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 surroundings detection sensors to other vehicles and / or to the infrastructure. 5G is required for such data transfer Technology particularly advantageous. Vehicle-to-vehicle communication is called car to car communication, abbreviated as C2C. Vehicle to infrastructure communication is called car to x communication, abbreviated as C2X. 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 period. This means that the multi-sensor system can advantageously be expanded with C2C and C2X, and thus with additional infrastructure sensors.

The multi-sensor system is advantageously designed to merge the data from the first environment detection sensors and the data from the second environment detection sensors with fusion times in the range of essentially 5 milliseconds to 100 milliseconds, preferably in the range of substantially 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 essentially below 500 milliseconds on average. For two road vehicles moving in inner-city traffic at a speed of 50 kilometers per hour, assuming a distance of one meter between the vehicle and a concealment edge for both road vehicles, the time from first visual contact to impact is usually less than 300 Milliseconds. A change in the trajectory of one's own road vehicle, also called an ego road vehicle, can accordingly still be changed within essentially 200 to 400 milliseconds before an impact. In particular, emergency maneuvers can be initiated in order to evade into more favorable positions in which the impact has less serious consequences of the accident. The scenarios described are manageable due to the short fusion times according to the invention. In particular, by means of such short reaction times, pre-crash and in-crash measures can be initiated to increase security. The impact protection system sets up 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 is based on a fusion of the data from the first environment detection sensors and the data from the second environment detection sensors, preferably as a function of the data from 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 an accident. For example, an exterior airbag can be deployed to absorb the impact energy of a side impact.

The detection of the surroundings and / or the driving decision that results from the perception of the detection of the surroundings are preferably carried out with 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 receive 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 react appropriately to new information, for example to determine driving decisions in new situations. An artificial neural network, also known as Artificial Neural Network, is an intelligent algorithm. An intelligent algorithm is designed to learn to react purposefully to new information. Automation of intelligent behavior is described by the term artificial intelligence.

A multisensor 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 illustrated 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
• 4th : an embodiment of a method according to the invention.

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

1 shows a road vehicle 2 . The road vehicle 2 is a passenger car or a truck. 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 for the sake of clarity is only a first environment detection sensor 11b shown. However, the invention also includes embodiments with a plurality of first surroundings detection sensors 11b or with an arrangement of a plurality of first surroundings 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 surroundings detection sensors 11b apply accordingly to the second surroundings detection sensors 12b .

The first environment detection sensors 11b have shorter update times than the second environment detection sensors 12b on. The first environment detection sensors detect accordingly 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 surroundings detection sensors. In the second functional area 12th the second environment detection sensors measure slowly changing to static information such as classes of objects 1 . Object 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 surroundings detection sensors.

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

Another sensor for detecting the surroundings is a camera that is arranged on a component of the traffic infrastructure. Using an interface 14th , via which data traffic takes place wirelessly, data is exchanged between the components 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 infrastructure sensor.

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

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

3 shows the impact protection system 30th . The impact protection system includes the control unit 20th and an igniter 3 to control the exterior airbags 4th to ignite. The ignition device 3 is connected to the output interface 23 of the control unit 20th tied together.

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

The inventive method is in 4th shown. In a first method step, at least the first functional area 11 with the first radius 11a of essentially a maximum of 30 meters in relation to the road vehicle 2 educated. In a second process step V2 become dynamic properties of the objects 1 that are within the first radius 11a are located. In a third process step V3 becomes the acquisition in the first functional area 11 updated. After the update has taken place, the dynamic properties are recorded again and in parallel in a fourth process step V4 at least the second functional area 12th with the second radius 12a of essentially a maximum of 80 meters in relation to the road vehicle 2 . In a fifth process step V5 become static properties of the objects 1 that are within the second radius 12a are located. In a sixth method step V6, the detection in the second functional area 12th updated. After the update has taken place, the static properties are recorded again and the process is repeated. Here are the update times during which the objects are recorded 1 is updated in each case, the functional areas 11 , 12th , 13th The smaller the radii, the shorter they are 11a , 12a , 13a of the functional areas 11 , 12th , 13th are.

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

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

List of reference symbols

1

object

2

Road vehicle

4th

External airbag

6th

Sill

10

Multi-sensor system

11

first functional area

11a

first radius

11b

first environment detection sensor

12th

second functional area

12a

second radius

12b

second environment detection sensor

13th

third functional area

13a

third radius

14th

interface

20th

Control unit

21

Input interface

22nd

Evaluation device

23

Output interface

30th

Impact protection system

V1-V6

Procedural steps

Claims (15)

Multi-sensor system (10) for detecting objects (1) in the vicinity of a road vehicle (2), the multi-sensor system (10) being implemented, 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 no more than 80 meters in relation to the road vehicle (2) in order to have static properties of the objects (1) located within the second radius (12a), capture, • with update times during which the multi-sensor system (10) updates the detection of the objects (1) of the functional areas (11, 12, 13), 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 implemented 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) of the Multisensor system (10) have shorter update times. Multi-sensor system (10) according to Claim 1 , executed • in the first functional area (11) to detect positions, speeds and / or directions of movement of the objects (1) relative to the road vehicle (2) as dynamic properties and • to detect object classes as static properties in the second functional area (12) . Multi-sensor system (10) according to Claim 1 or 2 , comprising • as first environment detection sensors (11b) at least one lidar sensor and / or a radar sensor to detect the dynamic properties and • as second environment detection sensors (12b) at least one driver assistance camera to detect 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 in relation to the road vehicle (2) in order to detect the objects (1). Multi-sensor system (10) according to one of the preceding claims, comprising an interface (14) in order to exchange data from surroundings detection sensors (11b, 12b) with an infrastructure, the interface (14) being used to exchange data with a latency of substantially less than 10 milliseconds . 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 of essentially 5 milliseconds to 100 milliseconds. Multi-sensor system (10) according to one of the preceding claims, designed to predict a position for the road vehicle (2) from which an impact of a 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) to receive data from a multi-sensor system (10) according to one of the Claims 1 until 7th • 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 within the multi-sensor system (10) or by means of a Hardware of the control device (20) takes place with fusion times in the range of essentially 5 milliseconds to 100 milliseconds and • at least one output interface (23) to provide the signal for the ignition device (3) in order 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, triggering the external airbag (4). Control unit (20) Claim 8 , wherein the evaluation device (22) is designed to execute an artificial neural network in order to receive the signal for the ignition device (3). Impact protection system (30) for a road vehicle (2) comprising • a control unit (20) according to Claim 8 or 9 , • at least one external airbag (4), the external airbag (4) being able to be arranged in a rocker panel (6) of the road vehicle (2), and • at least one ignition device (3) for the at least one external airbag (4) to prevent the external airbag ( 4) to ignite in the event of an unavoidable collision with an object (1) in the vicinity of the road vehicle (2) in order to protect the road vehicle (2) and the occupants of the road vehicle (2). Road vehicle (2) for protection against impacts from objects (1) in the vicinity of the road vehicle (2), comprising • a control device (20) according to Claim 8 or 9 , • at least one external airbag (4), the external airbag (4) being arranged in a rocker panel (6) of the road vehicle (2), and • at least one ignition device (3) for the at least one external airbag (4) to prevent the external airbag ( 4) to ignite one of the objects (1) in the event of an unavoidable impact in order to protect the road vehicle (2) and the occupants of the road vehicle (2). A method for protecting a road vehicle (2) and occupants of the road vehicle (2) from impacts with objects (1) from the surroundings of the road vehicle (2), comprising the following method steps: • Forming at least one first functional area (11) with a first radius (11a) of essentially no more than 30 meters in relation to the road vehicle (2) (V1), • Detection of dynamic properties of the objects (1) that are located within the first radius (11a) (V2), • Updating the acquisition in the first functional area (11) (V3), • Forming at least one second functional area (12) with a second radius (12a) of essentially no more than 80 meters in relation to the road vehicle (2) (V4), • Detection of static properties of the objects (1) that are located within the second radius (12a) (V5), • Updating the acquisition in the second functional area (12) (V6), • whereby the update times during which the detection of the objects (1) is updated in each case of 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 until 7th is used. Procedure according to Claim 12 , wherein a control unit (20) according to the implementation of the method Claim 8 or 9 is used. Procedure according to Claim 12 , an impact protection system (30) according to the implementation of the method Claim 10 is used.

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