DE102018216704A1 - Environment detection system, vehicle and method for an environment detection system - Google Patents

Abstract

The present invention relates to an environment detection system. The environment detection system comprises a first environment sensor, which is set up to provide first information about a first spatial area based on received reflections of a signal emitted by the first environment sensor. Furthermore, the environment detection system comprises a second environment sensor, which is set up to provide second information about a second spatial area based on received reflections of a signal emitted by the second environment sensor. The environment detection system further comprises an evaluation element which is set up to determine whether the first spatial area and the second spatial area overlap based on the first information and the second information. If it is determined that the first room area and the second room area do not overlap, the evaluation element is also set up to output an error signal.

Description

The present invention relates to systems for recognizing the environment e.g. of a vehicle. The invention further relates to a method for an environment detection system and a vehicle with an environment detection system.

To recognize the environment, e.g. LIDAR (English Light Detection And Ranging) measuring systems or radar measuring systems can be used. A LIDAR measuring system can have several LIDAR sensors. For example, a LIDAR sensor can be attached to the left as well as the right side of a vehicle. A radar measuring system can be designed accordingly.

A LIDAR sensor can e.g. in the case of “minor” accidents, so that an actual line of sight of the LIDAR sensor is shifted to a specified target line of sight. Tilt sensors are used to ensure that the LIDAR sensors are aligned in a desired direction. The high safety requirements for the LIDAR sensors also apply to the tilt sensor. Tilt sensors with a high degree of accuracy must therefore be used to monitor the LIDAR sensors. Tilt sensors that offer the required accuracy are hardly available on the market or are very expensive. In addition, inclination sensors cannot detect or record the rotation of a LIDAR sensor around the Z axis (i.e. a rotation about an axis perpendicular to a defined floor area).

For the calibration of an optical camera system with a first camera and a second camera is in the document DE 10 2013 211 648 A1 For example, it was proposed to determine an image element that occurs in the respective individual images of the two cameras. The relative position of the first camera to the second camera is determined based on an orientation of the image element in the individual image of the first camera relative to the orientation of the image element in the individual image of the second camera. Depending on the relative position determined, the two individual images are now combined to form an overall image. In contrast to optical cameras, LIDAR sensors or radar sensors do not provide optical images in the classic sense. Rather, a LIDAR sensor or a radar sensor provides information such as a distance, a speed or an elevation angle relative to an object scanned by the sensor. The detection of common optical patterns in images and the comparison of their respective orientations cannot therefore be used for LIDAR sensors and radar sensors.

Against this background, it is an object of the present invention to provide an improved and more cost-effective way of monitoring the relative alignment of environmental sensors with one another.

The object of the invention is achieved by an environment detection system, a vehicle and a method for an environment detection system according to the independent claims. Further aspects and developments of the invention are described in the dependent claims, the following description and in the figures.

According to a first aspect, the invention relates to an environment detection system. The environment detection system comprises a first environment sensor, which is set up to provide first information about a first spatial area based on received reflections of a signal emitted by the first environment sensor. Furthermore, the environment detection system comprises a second environment sensor, which is set up to provide second information about a second spatial area based on received reflections of a signal emitted by the second environment sensor. In other words: the first environment sensor sends a signal into the first spatial area and then receives reflections of the signal from objects located in the first spatial area. Accordingly, the second environment sensor sends a signal into the second room area and then receives reflections of the signal from objects located in the second room area.

The two environment sensors can e.g. LIDAR sensors that emit light (e.g. in the form of a laser beam) into their respective room areas and receive reflections of the light from objects in the room areas. Alternatively, the environment sensors can also be radar sensors, for example, which emit high-frequency signals into their respective spatial areas and receive reflections of the high-frequency signals from objects located in the spatial areas.

The first and the second spatial area partially overlap when the first environment sensor is oriented relative to the second environment sensor. In this way, the spatial areas detected by the two environment sensors partially overlap. The two environment sensors can e.g. be aligned or positioned during initial assembly or during maintenance according to the target orientation.

An evaluation element of the environment recognition system is set up according to the present invention to determine whether the. Based on the first information and the second information the first room area and the second room area actually overlap.

To check whether the first room area and the second room area actually overlap, the evaluation element can e.g. Check whether parts of the first information provided by the first environment sensor are identical to parts of the second information provided by the second environment sensor or match the second information according to a predetermined rule. For example, the evaluation element can check whether an object described in distance information provided by the first environment sensor is also described in distance information provided by the second environment sensor. Similar comparisons can e.g. can also be carried out by means of speed or elevation angle information provided by the two surroundings sensors. Information from different categories (e.g. distance and speed) provided by the two environment sensors can also be evaluated together.

The actual line of sight of one or both of the surrounding sensors could be changed, for example, due to an impact or other force compared to a preset target line of sight. If the first room area detected by the first environment sensor and the second room area no longer overlap, the functionality of the environment detection system can be impaired. Accordingly, the evaluation element is set up to output an error signal if it is determined that the first room area and the second room area do not overlap.

By comparing the information according to the invention of the information provided by the two environment sensors about the spatial areas detected by them, the relative orientation of the two environment sensors to one another can be monitored. The evaluation element can e.g. a programmable hardware component already present in the environment detection system, such as a processor, a processor core, an application-specific integrated circuit (ASIC = Application-Specific Integrated Circuit) or an integrated circuit (IC = Integrated Circuit) on which software for the Control of the environment detection system runs. Accordingly, the monitoring of the relative alignment of the two environment sensors with respect to one another can be integrated into the existing software with only one effort. No additional hardware is then required. In particular, it is possible to dispense with high-priced and highly precise inclination sensors that have to meet high safety requirements for determining the orientation of the environment sensors. In addition to the simplified structure of the environment detection system, this also results in a cost advantage. By means of the comparison according to the invention of the information provided by the two environment sensors about the spatial areas they detect, a rotation of one or both environment sensors about the Z axis can also be detected in comparison to conventional inclination sensors. The environment detection system according to the invention thus enables improved monitoring of the relative orientation of the environment sensors to one another.

The output of the error signal can also be used to indicate to a system processing the measurements of the environment detection system that the environment detection system no longer works within the specified specifications and that its measured values are therefore no longer trustworthy.

If it is determined that the first spatial area and the second spatial area overlap, the evaluation element is further configured according to some exemplary embodiments to determine an actual orientation of the first environmental sensor relative to the second environmental sensor based on the first information and the second information. For example, the evaluation element can use one or more objects, which are described in the information provided by both environment sensors, to calculate or determine the actual orientation of the first environment sensor relative to the second environment sensor. The actual alignment of the two environment sensors can be used, for example, for further monitoring of the relative alignment of the environment sensors to one another.

For this purpose, the evaluation element can also be set up to compare the determined orientation of the first environment sensor relative to the second environment sensor with the target orientation. In this way it can be checked whether the relative orientation of the environment sensors to one another (still) corresponds to the specifications and whether the measurements of the environment sensors are therefore still trustworthy or correspond to one another.

If it is determined that the actual orientation of the first environment sensor relative to the second environment sensor does not correspond to the target orientation according to a predetermined criterion, the evaluation element in some exemplary embodiments is set up to output the error signal. The predefined criterion can be, for example, the complete match of the actual orientation of the first surroundings sensor relative to the second surroundings sensor with the target orientation or a match within a predefined tolerance range. The default Criterion can be derived, for example, from the safety regulations to be observed. Accordingly, the output of the error signal can indicate to a system processing the measurements of the environment detection system that the environment detection system no longer works within the specified specifications and that its measured values are therefore no longer trustworthy. The system processing the measurements of the environment detection system can then trigger a safety routine, for example.

Likewise, according to exemplary embodiments of the present invention, an incorrect alignment of the environment sensors with respect to one another can be corrected. Thus, the evaluation element can also be set up to control an actuating element for the first environment sensor and / or the second environment sensor, an alignment of the first environment sensor and / or the second environment sensor according to a determined deviation of the alignment of the first environment sensor relative to the second environment sensor from the target orientation to change. For example, a position, a direction of view or a position of at least one of the two surroundings sensors can be changed by means of the adjusting element (for example a mechanical actuator), so that the relative orientation of the two surroundings sensors to each other again corresponds to the target orientation or at least corresponds better to the target orientation than the determined actual one Alignment. The functionality of the environment detection system can be restored or improved by adjusting at least one of the two environment sensors. In other words, the environment detection system can be recalibrated on the basis of the comparison of the information provided by the two environment sensors about the areas of the room they detect.

The misalignment or misalignment of one or both of the environment sensors can also be corrected at the level of the measurements of the two environment sensors. If it is determined that the orientation of the first environment sensor relative to the second environment sensor corresponds to the target orientation according to the predetermined criterion, the evaluation element can, for example, according to some exemplary embodiments. be set up to combine the first information and the second information taking into account the determined deviation of the orientation of the first environment sensor relative to the second environment sensor from the target orientation. By means of the determined deviation of the orientation of the first environment sensor relative to the second environment sensor from the target orientation, e.g. the actual overlap of the first and the second spatial area can be determined so that the corresponding information provided by the two environment sensors can be combined.

According to some exemplary embodiments, the environment detection system can also comprise at least one inclination sensor, which is set up to determine an inclination of the first environment sensor and / or the second environment sensor relative to a reference direction. The evaluation element can then be set up to evaluate the first information and the second information, taking into account the inclination of the first surroundings sensor and / or the second surroundings sensor determined by the inclination sensor relative to the reference direction. In comparison to conventional LIDAR systems, the comparison according to the invention of the information provided by the two environment sensors about the spatial areas detected by them enables the use of inclination sensors with lower accuracy requirements and possibly associated cost advantages. The lower accuracy of the inclination sensor can be compensated for by the additional use of the information provided by the two environment sensors about the areas of the room they detect.

According to a further aspect, the present invention also relates to a vehicle. Generally, a vehicle can be thought of as a device that includes one or more motor-driven wheels (and optionally, a powertrain system). For example, a vehicle can be a passenger car, a truck, a motorcycle, or a tractor. The vehicle includes at least one environment detection system in accordance with the present invention to detect an environment of the vehicle. Furthermore, the vehicle comprises a control element which is set up to change an operating mode of the vehicle from a first operating mode to a second operating mode when the error signal is received from the environment detection system. The vehicle according to the invention can react to impairments of the environment detection system and adapt its operation to the actual situation of the environment detection system due to the environment detection system according to the invention and the control element.

The vehicle can drive automatically in the first operating mode and the second operating mode, for example, and drive automatically at least in the first operating mode based on information about the surroundings of the vehicle detected by the environment detection system. When the error signal is output by the environment detection system, the data of the environment detection system can no longer be trusted. Accordingly, less data about the surroundings of the vehicle is available for automated driving. According to exemplary embodiments, a maximum speed of the vehicle in the second operating mode can therefore be compared to the first Operating mode must be reduced in order to continue to enable safe automated driving. Alternatively, the vehicle can drive automatically in the first operating mode and, for example, return control to a human driver in the second mode.

In a further aspect, the present invention also relates to a method for an environment detection system with a first environment sensor and a second environment sensor. The method comprises providing first information about a first spatial area by means of the first environment sensor based on received reflections of a signal emitted by the first environment sensor. Furthermore, the method comprises providing second information about a second spatial area by means of the second environment sensor based on received reflections of a signal emitted by the second environment sensor. The first and the second spatial area partially overlap when the first environment sensor is oriented relative to the second environment sensor. The method further includes determining whether the first space area and the second space area overlap based on the first information and the second information. If it is determined that the first spatial area and the second spatial area do not overlap, the method comprises outputting an error signal.

As already described above in connection with the environment detection system according to the invention, the method according to the invention can also enable improved and more cost-effective monitoring of the relative orientation of environment sensors to one another.

Possible further refinements of the method are described above in connection with the environment detection system according to the invention.

Another aspect of the present invention also relates to a program with a program code for carrying out the method described here when the program code runs on a processor or a programmable hardware component or is executed there.

• 1 schematisch ein Ausführungsbeispiel eines Umfelderkennungssystems;
• 2 schematisch ein Ausführungsbeispiel eines LIDAR-Sensors;
• 3 schematisch einen Schnitt durch den in 2 gezeigten LIDAR-Sensor;
• 4 Aufnahmen von zwei korrekt zueinander ausgerichteten Umfeldsensoren;
• 5 Aufnahmen von zwei inkorrekt zueinander ausgerichteten Umfeldsensoren;
• 6 weitere Aufnahmen von zwei inkorrekt zueinander ausgerichteten Umfeldsensoren; und
• 7 schematisch ein Ausführungsbeispiel eines Fahrzeugs mit einem Umfelderkennungssystem.

Exemplary embodiments of the present invention are explained in more detail below with reference to the attached figures. Show it:

• 1 schematically an embodiment of an environment detection system;
• 2nd schematically an embodiment of a LIDAR sensor;
• 3rd schematically a section through the in 2nd shown LIDAR sensor;
• 4th Recordings from two correctly aligned environment sensors;
• 5 Recordings of two incorrectly aligned environment sensors;
• 6 further recordings of two incorrectly aligned environment sensors; and
• 7 schematically an embodiment of a vehicle with an environment detection system.

1 schematically shows an environment detection system 100 . The environment detection system 100 includes a first environment sensor 110 that is set up information 111 over a first spatial area based on received reflections 142 one from the first environment sensor 110 emitted signal 112 to provide. The environment detection system also includes 100 a second environment sensor 120 that is set up information 121 over a second area based on received reflections 143 one from the second environment sensor 120 emitted signal 122 to provide. As in 1 indicated, both the first environment sensor 110 as well as the second environment sensor 120 one object each 140 irradiate which the signal to the environment sensors 110 and 120 reflected back.

With a target orientation of the first environment sensor 110 relative to the second environment sensor 120 The first and the second room area, which are sensed by the two environment sensors, partially overlap. To the actual orientation of the environment sensors 110 and 120 The environment detection system includes checking each other 100 also an evaluation element 130 . The evaluation element 130 is set up based on the information 111 about the first room area and the information 121 to determine via the second room area whether the first room area and the second room area overlap. Furthermore, the evaluation element 130 set up an error signal 131 output if it is determined that the first room area and the second room area do not overlap.

Possible more detailed designs of the environment detection system 100 are described above.

A top view of an exemplary LIDAR sensor 200 that for the environment sensors 110 and 120 of the environment detection system 100 can be used is in 2nd shown. The LIDAR sensor 200 has a LIDAR receiving unit 210 and a LIDAR transmitter unit 220 on that in the 2nd behind the receiving optics 230 or the transmission optics 240 are arranged. A sectional view of the LIDAR sensor 200 is in 3rd shown.

The LIDAR sensor 200 is in its basic structure according to the statements on the prior art ( WO 2017/081294 A1 ) educated.

The LIDAR receiver unit 210 and / or the LIDAR transmitter unit 220 are favorably designed in a focal plane array configuration as shown in 3rd is shown. The elements of the respective unit are essentially arranged in one plane, advantageously on a chip. The respective unit on the LIDAR measuring system is preferably in a focal point of a corresponding optical system - transmitting optics 240 or receiving optics 230 - arranged. In particular, the sensor elements 211 or the emitter elements 221 in the focus of the receiving optics 230 or the transmission optics 240 arranged. Such optics can be formed, for example, by an optical lens system.

The LIDAR receiver unit 210 has several sensor elements 211 , which are preferably designed as SPAD, single photon avalanche diode. The LIDAR transmitter unit 220 has several emitter elements 221 for emitting, for example, laser light, advantageously laser pulses. The emitter elements 221 are favorably designed as VCSEL, vertical cavity surface emitting laser.

The sending unit 220 has emitter elements 221 which are distributed over an area of the transmitter chip. The receiving unit 210 has sensor elements 211 which are distributed over an area of the receiving chip. The transmission chip is a transmission optics 240 assigned and the receiving chip is receiving optics 230 assigned. The optics represent a light arriving from a room area on the respective chip. The area corresponds to the field of view of the measuring system 200 who is examined or sensed for objects.

The area of the transmitter unit 220 and the receiving unit 210 are essentially identical. The transmission optics 240 forms an emitter element 221 on a solid angle, which represents a partial area of the spatial area. The emitter element 221 accordingly emits laser light in this solid angle. The emitter elements 221 cover the entire room together.

The receiving optics 230 forms a sensor element 211 on a solid angle, which represents a partial area of the spatial area. The number of all sensor elements 211 covers the entire room area. Emitter elements 221 and sensor elements 211 that consider the same solid angle map to each other and are accordingly assigned to each other. A laser light from an emitter element 221 normally forms on the associated sensor element 211 from. If necessary, there are several sensor elements 211 within the solid angle of an emitter element 221 arranged.

The measuring system leads to the determination of objects within the room area 200 a measurement process. Such a measuring process comprises one or more measuring cycles, depending on the design of the measuring system 200 and its electronics.

The Time Correlated Single Photon Counting method, TCSPC, is preferably used. Here individual incoming photons are detected, in particular by SPAD, and the time at which the sensor element is triggered 211 , also the time of detection, are stored in a storage element. The time of detection is related to a reference time at which the laser light is emitted. The transit time of the laser light can be determined from the difference, from which the distance of the object can be determined.

A sensor element 211 can be triggered on the one hand by the laser light and on the other hand by the ambient radiation. A laser light always arrives at a certain distance from the object at the same time, whereas the ambient radiation provides the same probability at all times by a sensor element 211 trigger. If a measurement is carried out several times, in particular several measurement cycles, the triggering of the sensor element at the time of detection that corresponds to the transit time of the laser light with respect to the distance of the object, whereas the triggering by the ambient radiation is distributed evenly over the measuring duration of a measuring cycle. A measurement corresponds to the emission and subsequent detection of the laser light. The data of the individual measurement cycles of a measurement process stored in the memory element enable the multiple times of detection to be evaluated in order to infer the distance of the object.

A sensor element 211 is conveniently connected to a Time to Digital Converter, TDC, which stores the point in time at which the sensor unit is triggered in the memory element. Such a memory element can be designed, for example, as a short-term memory or as a long-term memory. For a measuring process, the TDC fills a storage element with the times at which the sensor elements detected an incoming photon. This can be graphically represented by a histogram, which is based on the data of the storage element. In the case of a histogram, the duration of a measurement cycle is divided into short periods of time, so-called bins. If a sensor element is triggered, the TDC increases the value of a bin by one. The bin that corresponds to the transit time of the laser pulse is filled up, i.e. the Difference between detection time and reference time.

Some exemplary orientations of the environment sensors 110 and 120 relative to each other are below with reference to the 4th to 6 described in more detail. In the examples of 4th to 6 is the environment detection system 100 each installed in a vehicle and measures the surroundings of the vehicle. For better understanding, those from the environment sensors 110 and 120 each provided information about the area covered by them as graphic recordings in the 4th to 6 shown. It should be noted that this representation is chosen purely for educational reasons and the information as described above is of a different type. In particular, a LIDAR measuring system determines individual reflections, which are also referred to as detections. Each detection can include information such as distance, elevation angle, azimuth angle, speed, intensity and / or other variables.

First shows 4th a situation in the environment sensors 110 and 120 are aligned relative to each other according to a target orientation. The picture 410 shows that from the first environment sensor 110 actually covered first room area and the picture 420 shows that from the second environment sensor 120 actually covered second room area. Because the environment sensors 110 and 120 are aligned relative to each other in accordance with a target orientation, the first image overlap 410 and the second picture 420 according to specification and can be made into an overall picture without errors 430 be put together. In picture 440 is a representation of the LIDAR measuring system for reference 100 shown scanned environment of the vehicle.

5 further shows a situation in which the second environment sensor 120 is twisted about the z axis. At the in 5 situation shown looks the second environment sensor 120 too far to the left. The picture 510 shows that from the first environment sensor 110 actually covered first room area and the picture 520 shows that from the second environment sensor 120 actually covered second room area. Because the second environment sensor 120 Looking too far to the left can take the first picture 510 and the second picture 520 can no longer be assembled correctly, as is the case in the overall picture 530 is indicated.

6 shows another situation in which the second environment sensor 120 is tilted. The picture 510 shows that from the first environment sensor 110 actually covered first room area and the picture 620 shows that from the second environment sensor 120 actually covered second room area. Because the second environment sensor 120 relative to the first environment sensor 110 the first picture can be tilted 610 and the second picture 620 can no longer be assembled correctly, as is the case in the overall picture 630 is indicated.

The twisting or tilting of the second environment sensor 120 relative to the first environment sensor 110 can by the evaluation element 130 recognized and optionally communicated to other systems and / or corrected.

7 shows another vehicle 700 which is an environment detection system 710 according to the present invention for detecting its surroundings. The vehicle further comprises a control element 720 , which is set up, upon receipt of the error signal from the environment detection system 710 an operating mode of the vehicle 700 to change from a first operating mode to a second operating mode.

As already described above, the vehicle can 700 drive automatically in the first operating mode and the second operating mode, for example, and at least in the first operating mode based on information about the surroundings of the vehicle acquired by the environment detection system 700 automated driving. When the error system is output by the environment detection system 710 can the data of the environment detection system 710 no longer be trusted. Accordingly, there is less data about the surroundings of the vehicle 700 available for automated driving. In order to continue to enable a safe automated journey, for example, a maximum speed of the vehicle can 700 be reduced in the second operating mode compared to the first operating mode.

Alternatively, the vehicle 700 Drive automatically in the first operating mode and, for example, return control to a human driver in the second mode.

The vehicle 700 can therefore be based on impairments of the environment detection system 710 respond and its operation to the current situation of the environment detection system 710 to adjust.

Reference list

100

Environment detection system

110

first environment sensor

111

Information about a first room area

112

signal emitted by the first environment sensor

120

second environment sensor

121

Information about a second room area

122

signal emitted by the second environment sensor

130

Evaluation element

131

Error signal

140

object

142

Reflections of the signal emitted by the first environment sensor

143

Reflections of the signal emitted by the second environment sensor

200

LIDAR sensor

210

LIDAR receiving unit

211

Sensor element

220

LIDAR transmitter unit

221

Emitter element

230

Receiving optics

240

Transmission optics

410

Image of the first environment sensor

420

Image of the second environment sensor

430

Overall picture

440

Reference image

510

Image of the first environment sensor

520

Image of the second environment sensor

530

Overall picture

610

Image of the first environment sensor

620

Image of the second environment sensor

630

Overall picture

700

vehicle

710

Environment detection system

720

Control

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102013211648 A1 [0004]
• WO 2017/081294 A1 [0032]

Claims (10)

An environment detection system (100) comprising: a first environment sensor (110), which is configured to provide first information (111) about a first spatial area based on received reflections (142) of a signal (112) emitted by the first environment sensor (110); a second environment sensor (120), which is set up to provide second information about a second spatial area based on received reflections (143) of a signal (122) emitted by the second environmental sensor (120), the first and the second spatial area being aligned as desired of the first environment sensor (110) partially overlap relative to the second environment sensor (120), characterized by an evaluation element (130) which is set up to determine whether the first is based on the first information (111) and the second information (112) Room area and the second room area overlap; and output an error signal (131) if it is determined that the first space area and the second space area do not overlap. Environment detection system according to Claim 1 , characterized in that, if it is determined that the first room area and the second room area overlap, the evaluation element (130) is further configured to align the first environment sensor (110) relative to the second environment sensor (120) based on the first information (111) and the second information (112). Environment detection system according to Claim 2 , characterized in that the evaluation element (130) is further configured to compare the orientation of the first environment sensor (110) relative to the second environment sensor (120) with the target orientation. Environment detection system according to Claim 3 , characterized in that the evaluation element (130) is further set up to output the error signal (131) if it is determined that the orientation of the first environment sensor (110) relative to the second environment sensor (120) does not correspond to the target orientation according to a predetermined criterion . Environment detection system according to Claim 3 or Claim 4 , characterized in that the evaluation element (130) is also set up to control an actuating element for the first environment sensor (110) and / or the second environment sensor (120), an alignment of the first environment sensor (110) and / or the second environment sensor (120 ) according to a determined deviation of the orientation of the first environment sensor (110) relative to the second environment sensor (120) from the target orientation. Environment detection system according to one of the Claims 3 to 5 , characterized in that the evaluation element (130) is further configured to take the first information (111) and the second information (121) into account, taking into account a determined deviation of the orientation of the first environment sensor (110) relative to the second environment sensor (120) Combine target orientation if it is determined that an orientation of the first environment sensor (110) relative to the second environment sensor (120) corresponds to the target orientation according to a predetermined criterion. Environment detection system according to one of the Claims 1 to 6 , characterized by at least one inclination sensor which is set up to determine an inclination of the first environment sensor (110) and / or the second environment sensor (120) relative to a reference direction, the evaluation element also being set up the first information (111) and the second information (121) taking into account the inclination of the first environment sensor (110) and / or the second environment sensor (120) determined by the inclination sensor relative to the reference direction. Vehicle (700), characterized by : at least one environment detection system (710) according to one of the Claims 1 to 7 to detect an environment of the vehicle; and a control element (720) which is configured to change an operating mode of the vehicle (700) from a first operating mode to a second operating mode when the error signal is received. Vehicle after Claim 8 , characterized in that the vehicle (700) drives automatically in the first operating mode and the second operating mode, a maximum speed of the vehicle (700) being reduced in the second operating mode compared to the first operating mode. Method for an environment detection system (100) with a first environment sensor (110) and a second environment sensor (120), comprising: providing first information (111) about a first spatial area by means of the first environment sensor (110) based on received reflections (142) of a signal (112) emitted by the first environment sensor (110); and providing second information (121) about a second spatial area by means of the second environment sensor (120) based on received reflections (143) of a signal (122) emitted by the second environment sensor (120), wherein the first and the second spatial area partially overlap when the first environmental sensor (120) is oriented relative to the second environmental sensor (120), characterized in that the method further comprises: determining whether the first spatial area and the second spatial area overlap, based on the first information and the second information; and outputting an error signal (131) if it is determined that the first space area and the second space area do not overlap.

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