DE102019134766A1 - Method and device for processing sensor data in a vehicle - Google Patents

Abstract

A modeling unit for creating an environment model of an environment of a vehicle is described. The modeling unit is set up to receive sensor data relating to the surroundings of the vehicle from a plurality of different sensors, and to receive integrity information relating to the respective integrity of the sensor data of the individual sensors from the plurality of sensors. Furthermore, the modeling unit is set up to determine the environment model and integrity information with regard to the integrity of the environment model on the basis of the sensor data and on the basis of the integrity information with regard to the integrity of the sensor data.

Description

The invention relates to methods and corresponding devices for processing sensor data in a vehicle, in particular in order to provide a vehicle function of the vehicle.

A vehicle can include one or more environment sensors, which are set up to record sensor data in relation to an environment of the vehicle. The sensor data can be processed in order to create a model of the surroundings, i.e. a model of the surroundings, of the vehicle. The environment model can, for example, display one or more objects in the vicinity of the vehicle. The positions of the individual objects can, for example, be specified within a grid that divides the area around the vehicle into individual grid cells.

The environment model can be used to provide a vehicle function of the vehicle. In particular, the vehicle can be at least partially automated longitudinally and / or transversely based on the environment model.

The possible degree of automation of a vehicle typically depends on the integrity, in particular on the ASIL (Automotive Safety Integrity Level) level, of the environment model. The requirements for the integrity typically increase with the increasing degree of automation of the vehicle.

The present document deals with the technical task of enabling a flexible provision of vehicle functions, in particular vehicle functions, each with a different degree of automation, in a vehicle.

The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention that is independent of the features of the independent patent claims.

According to one aspect, a modeling unit (e.g. as part of a processing unit of a vehicle) for creating an environment model of an environment of the vehicle is described. The environment model can display the position, the type, the size, the direction of movement and / or the speed of movement of one or more objects in the environment of the vehicle. The environment model can include, for example, an occupancy grid that shows for a large number of grid cells whether the respective grid cell is free or is occupied by an object.

The modeling unit can be set up to receive sensor data relating to the surroundings of the vehicle from a plurality of different sensors. Exemplary sensors are environment sensors (e.g. a radar sensor, a lidar sensor, a camera, an ultrasonic sensor, etc.) and / or vehicle sensors (e.g. to determine the driving speed, the yaw rate, the acceleration, etc., of the vehicle).

Furthermore, the modeling unit can be set up to receive integrity information relating to the respective integrity of the sensor data of the individual sensors from the plurality of sensors. In particular, integrity information can be provided with each set of sensor data, which indicates the integrity of the respective set of sensor data. The integrity of the sensor data can thus be displayed up-to-date by the integrity information provided in each case.

The integrity information relating to the integrity of the sensor data of a sensor can indicate the ASIL level of the sensor data of this sensor. For example, the integrity information for a set of sensor data can be indicated by a certain number of bits (e.g. between 2 and 8 bits) which are received by the modeling unit together with the respective set of sensor data.

The modeling unit can also be set up to determine the environment model and integrity information (e.g. the respective ASIL level) with regard to the integrity of the environment model on the basis of the sensor data and on the basis of the integrity information with regard to the integrity of the sensor data. By taking into account the current integrity of the sensor data, the quality and / or the integrity of the environment model can be determined in an efficient and reliable manner. In this way, the vehicle functions of the vehicle can be operated more flexibly and safely.

The modeling unit can be set up, at a sequence of points in time, repeatedly, in each case with sensor data and integrity information Regarding the integrity of the respective sensor data to be received from at least one sensor. In other words, the individual sensors can be set up to provide respectively updated sensor data at successive points in time. Furthermore, the respectively current integrity information can be provided with the respectively updated sensor data.

Furthermore, the modeling unit can be set up to repeatedly assign the environment model and the integrity information with regard to the integrity of the environment model on the basis of the respectively received (updated) sensor data and the respectively received (updated) integrity information at the sequence of points in time To update. In this way, the integrity of the current environment model of the vehicle can be determined in a particularly flexible and reliable manner.

The modeling unit can be set up to provide data with regard to the determined environment model and the determined integrity information with regard to the integrity of the environment model, in particular to send it to a functional unit of the vehicle (to enable the functional unit to provide a vehicle function). In this way, vehicle functions can be provided in a vehicle in a safe and flexible manner.

The modeling unit can have a plurality of processing modules in order to process the sensor data of the plurality of sensors in order to determine the environment model. The different processing modules can, for example, enable redundant data processing, e.g. to increase the integrity of the environment model.

Furthermore, the modeling unit can be set up to determine the integrity information with regard to the integrity of the environment model also on the basis of a number of processing modules from the plurality of processing modules that were involved in determining the environment model. In this way, the quality of the integrity information provided can be further increased.

According to a further aspect, a sensor for a vehicle is described. The sensor can be set up to acquire sensor data relating to the vehicle and / or relating to the surroundings of the vehicle. Furthermore, the sensor can be set up to determine integrity information with regard to the integrity of the recorded sensor data. The sensor can also be set up to provide the sensor data and the ascertained integrity information with regard to the integrity of the detected sensor data, in particular to send them to a modeling unit of the vehicle. Current sensor data can be recorded at a sequence of points in time and current integrity information can be determined and made available. This enables the flexible and secure provision of vehicle functions.

According to a further aspect, a functional unit (e.g. as part of a processing unit of a vehicle) for providing a vehicle function of the vehicle is described. The vehicle function can, for example, enable automated driving of the vehicle.

The functional unit can be set up to receive data relating to an environment model of the environment of the vehicle (e.g. from the modeling unit). Furthermore, the functional unit can be set up to receive integrity information relating to the integrity of the environment model (e.g. from the modeling unit).

The functional unit can also be set up to provide the vehicle function as a function of the received data and as a function of the received integrity information. For example, the degree of automation of the vehicle function, in particular with regard to automated longitudinal and / or lateral guidance of the vehicle, can be adapted as a function of the integrity information. By taking into account the current integrity information for the present environment model, a more flexible and safe operation of a vehicle function can be made possible.

According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the modeling unit and / or functional unit described in this document and / or at least one sensor described in this document.

According to a further aspect, a method for creating an environment model of an environment of a vehicle is described. The method comprises receiving or determining sensor data relating to the surroundings of the vehicle from a plurality of different sensors. Furthermore, the method includes receiving or determining integrity information in relation to the respective integrity of the sensor data of the individual sensors from the plurality of sensors. The method further comprises determining the environment model and integrity information with regard to the integrity of the environment model on the basis of the sensor data and on the basis of the integrity information with regard to the integrity of the sensor data.

According to a further aspect, a method for providing sensor data in a vehicle is described. The procedure includes that Acquisition of sensor data in relation to the vehicle and / or in relation to an environment of the vehicle. Furthermore, the method includes the determination of integrity information with regard to the integrity of the recorded sensor data. The method further comprises the provision of the sensor data and the ascertained integrity information with regard to the integrity of the acquired sensor data.

According to a further aspect, a method for providing a vehicle function of a vehicle is described. The method includes receiving or determining data in relation to an environment model of an environment of the vehicle. Furthermore, the method includes receiving or determining integrity information with regard to the integrity of the environment model. The method further comprises providing the vehicle function as a function of the received data and as a function of the received integrity information.

According to a further aspect, a software (SW) program is described. The software program can be set up to be executed on a processor (e.g. on a control unit of a vehicle) and thereby to execute one of the methods described in this document.

According to a further aspect, a storage medium is described. The storage medium can comprise a software program which is set up to be executed on a processor and thereby to execute one of the methods described in this document.

It should be noted that the methods, devices and systems described in this document can be used both alone and in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices and systems described in this document can be combined with one another in diverse ways. In particular, the features of the claims can be combined with one another in diverse ways.

In the context of the document, the term “automated driving” can be understood to mean driving with automated longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance. The automated driving can be, for example, driving on the motorway for a longer period of time or driving for a limited time as part of parking or maneuvering. The term “automated driving” includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication “Research compact”, edition 11/2012). With assisted driving, the driver continuously performs the longitudinal or lateral guidance, while the system takes on the other function within certain limits. With partially automated driving (TAF), the system takes over the longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver has to constantly monitor the system as with assisted driving. With highly automated driving (HAF), the system takes over the longitudinal and lateral guidance for a certain period of time without the driver having to permanently monitor the system; however, the driver must be able to take control of the vehicle within a certain period of time. With fully automated driving (VAF), the system can automatically cope with driving in all situations for a specific application; a driver is no longer required for this application. The four degrees of automation mentioned above correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) Level 3 corresponds to the SAE J3016 standard. In addition, SAE J3016 provides SAE level 5 as the highest degree of automation, which is not included in the definition of BASt. SAE level 5 corresponds to driverless driving, in which the system can automatically cope with all situations like a human driver during the entire journey; a driver is generally no longer required.

• 1a ein beispielhaftes Fahrzeug mit unterschiedlichen Sensoren;
• 1b eine beispielhafte Verarbeitung von Sensordaten in einem Fahrzeug;
• 2a ein Ablaufdiagramm eines beispielhaften Verfahrens zur Ermittlung eines Umfeldmodells; und
• 2b ein Ablaufdiagramm eines beispielhaften Verfahrens zur Bereitstellung einer Fahrzeugfunktion eines Fahrzeugs.

The invention is described in more detail below on the basis of exemplary embodiments. Show it

• 1a an exemplary vehicle with different sensors;
• 1b an exemplary processing of sensor data in a vehicle;
• 2a a flowchart of an exemplary method for determining an environment model; and
• 2 B a flowchart of an exemplary method for providing a vehicle function of a vehicle.

As stated at the beginning, this document deals with the flexible provision of different vehicle functions, each with different requirements for the integrity of the vehicle's environment model. In this context shows 1a an exemplary vehicle 100 with different sensors 102 , 103 , which are each set up to collect sensor data. The vehicle 100 can, for example, one or more environment sensors 103 (for example a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.), which are each set up, include sensor data relating to the surroundings of the vehicle 100 capture. Furthermore, the vehicle can 100 one or more vehicle sensors 102 include, which are each set up, sensor data in relation to one or more state variables of the vehicle 100 (e.g. the driving speed, the yaw rate, the acceleration, etc.).

A processing unit 101 of the vehicle 100 can be set up, the sensor data of the one or more sensors 102 , 103 to process to a driving or vehicle function of the vehicle 100 provide. In particular, the vehicle 100 based on the sensor data of the one or more sensors 102 , 103 can be automatically guided lengthways and / or crossways. The degree of automation of different vehicle functions can possibly be different. For example, a vehicle function for automated driving according to SAE level 2, a vehicle function for automated driving according to SAE level 3 and / or a vehicle function for automated driving according to SAE level 4 can be provided.

The processing unit 101 can be set up on the basis of the sensor data of the one or more sensors 102 , 103 an environment model of the environment of the vehicle 100 to create. The environment model can be determined up-to-date and / or repeatedly at a sequence of times on the basis of the current sensor data. The environment model can then be used to provide one or more vehicle functions.

As explained at the beginning, with the increasing degree of automation of the vehicle functions (in particular with increasing SAE level), the demands on the integrity, in particular on the ASIL level, of the environment model also increase. It is for the processing unit 101 typically not possible without further ado, for example in the event of a sensor failure 102 , 103 to determine the existing integrity of the environment model and to take it into account when providing the vehicle function.

1b shows an example of data processing in a vehicle 100 . Particularly illustrated 1b different sensors 102 , 103 of the vehicle 100 who are trained, data 110 to a modeling unit 120 to send, the modeling unit 120 is set up based on the data 110 the model of the surroundings of the vehicle 110 to determine. For this purpose, the modeling unit 120 one or more calculation modules 121 exhibit.

The individual sensors 102 , 103 can be designed in addition to the actual, recorded sensor data 111 also ASIL information 112 (general, integrity information) in relation to the integrity of the recorded sensor data 111 provide. For example, a sensor 102 , 103 be designed, sensor data 111 with an ASIL-B integrity, so that in normal cases the ASIL information 112 indicates the ASIL-B integrity. Due to a defect or due to contamination of the sensor 102 , 103 however, it may affect the integrity of the sensor data 111 be impaired, so that in this case the ASIL information 112 indicates reduced integrity, e.g. ASIL-A integrity.

The modeling unit 120 can be set up to include the ASIL information 112 that of the individual sensors 102 , 103 provided sensor data 111 to be taken into account when creating the environment model. In particular, the modeling unit 120 be set up on the basis of the ASIL information provided 112 to determine the integrity of the determined environment model. The integrity of the environment model can also depend on the model in the modeling unit 120 available resources, in particular the available calculation modules 121 , depend. For example, it can also be caused by a failure of a calculation module 121 the integrity of the determined environment model is impaired.

The modeling unit 120 can be set up data 130 in relation to the environment model to a functional unit 140 to send, the functional unit 140 is set up based on the data 130 a vehicle function for at least partially automated driving of the vehicle 100 provide. The data 130 can do the actual user data 131 to describe the environment model. Furthermore, the data 130 ASIL information 132 (general, integrity information) with regard to the integrity of the user data provided 131 include.

The functional unit 140 can be set up, the vehicle function depending on the ASIL information 132 regarding the integrity of the environment model. In particular, the degree of automation (eg the SAE level) of the vehicle function can be dependent on the ASIL information 132 with respect to the integrity of the environment model. The degree of automation can be reduced as the integrity of the environment model decreases.

2a shows a flow diagram of an exemplary (computer-implemented) method 200 for creating an environment model of the environment of a vehicle 100 . The procedure 200 can through a modeling unit 120 and / or by a processing unit 101 of the vehicle 100 are executed.

The procedure 200 includes receiving or determining 201 of sensor data 111 in relation to the surroundings of the vehicle 100 from a plurality of different sensors 102 , 103 (of the vehicle 100 ). The sensor data 111 can, for example, via a wired and / or wireless communication link between the individual sensors 102 , 103 and the modeling unit 120 from the individual sensors 102 , 103 to the modeling unit 120 be transmitted.

The method also includes 200 receiving or determining 202 of integrity information 112 in relation to the respective integrity of the sensor data 111 of the individual sensors 102 , 103 from the plurality of sensors 102 , 103 . The integrity information 112 (also referred to as ASIIL information in this document) together with the respective sensor data 111 via the above-mentioned wired and / or wireless communication link from the respective sensor 102 , 103 to the modeling unit 120 be transmitted. It can thus be used for the sensor data 111 of the individual sensors 102 , 103 integrity information 112 to be provided.

The individual sensors 102 , 103 can be set up to have sensor data updated in each case at different, consecutive points in time 111 provide. For the respectively updated sensor data 111 can be used for each of these sensor data 111 valid integrity information 112 to be provided.

The procedure 200 further comprises determining 203 the environment model and integrity information 132 with regard to the integrity of the environment model based on the sensor data 111 and based on the integrity information 112 in terms of the integrity of the sensor data 111 . The environment model and the integrity information 132 for the environment model at the different, consecutive times based on the current sensor data 111 and the current integrity information 112 for the sensor data 111 updated.

Based on the determined environment model, taking into account the integrity information 132 one or more vehicle functions are provided for the environment model. This enables a particularly flexible and safe operation of a vehicle 100 be made possible.

2 B shows a flow diagram of an exemplary (computer-implemented) method 210 for providing a vehicle function of a vehicle 100 . The procedure 210 can through a functional unit 140 and / or by a processing unit 101 of the vehicle 100 are executed.

The procedure 210 includes receiving or determining 211 of data 131 in relation to an environment model of an environment of the vehicle 100 . The method also includes 210 receiving or determining 212 of integrity information 132 in terms of the integrity of the environmental model. The environment model and / or the data 131 and / or the integrity information 132 (also referred to as ASIL information in this document) using the above procedure 200 have been determined. The data can be sent from the modeling unit via a wired and / or via a wireless communication link 120 to the functional unit 140 be transmitted. In this case, updated data can be made at different, consecutive points in time 131 and / or respectively updated integrity information 132 be provided and / or received in relation to a respectively updated environment model.

The method also includes 200 providing and / or operating 213 the vehicle function depending on the received data 131 and depending on the integrity information received 132 . In particular, a degree of automation for automated driving of the vehicle can be used 100 depending on the current integrity information 132 be adjusted. A particularly flexible and safe operation of a vehicle function of a vehicle can thus be achieved 100 be made possible.

The measures described in this document can be used to determine the integrity of the currently determined environment model in an efficient and reliable manner (for any point in time). Furthermore, one can be from a vehicle 100 provided vehicle function can be adapted in an efficient and reliable manner to the respective integrity of the environment model.

The present invention is not restricted to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are only intended to illustrate the principle of the proposed methods, devices and systems by way of example.

Claims (11)

Modeling unit (120) for creating an environment model of an environment of a vehicle (100) ; wherein the modeling unit (120) is set up to receive sensor data (111) relating to the surroundings of the vehicle (100) from a plurality of different sensors (102, 103); - To receive integrity information (112) relating to the respective integrity of the sensor data (111) of the individual sensors (102, 103) from the plurality of sensors (102, 103); and - to determine the environment model and integrity information (132) with regard to the integrity of the environment model on the basis of the sensor data (111) and on the basis of the integrity information (112) with regard to the integrity of the sensor data (111). Modeling unit (120) according to Claim 1 wherein the integrity information (112) with respect to the integrity of the sensor data (111) of a sensor (102, 103) indicates the ASIIL level of the sensor data (111) of this sensor (102, 103). Modeling unit (120) according to one of the preceding claims, wherein the modeling unit (120) is set up - at a sequence of points in time, repeatedly, in each case sensor data (111) and integrity information (112) with regard to the integrity of the respective sensor data (111) to be received from a sensor (102, 103); and - at the sequence of points in time, repeatedly to update the environment model and the integrity information (132) with regard to the integrity of the environment model on the basis of the respectively received sensor data (111) and the respectively received integrity information (112). Modeling unit (120) according to one of the preceding claims, wherein the modeling unit (120) is set up to provide data (131) with regard to the determined environment model and the determined integrity information (132) with regard to the integrity of the environment model, in particular to a Functional unit (140) of the vehicle (100) to send. Modeling unit (120) according to one of the preceding claims, wherein - The modeling unit (120) has a plurality of processing modules (121) in order to process the sensor data (111) of the plurality of sensors (102, 103) in order to determine the environment model; and - The modeling unit (120) is set up to determine the integrity information (132) with regard to the integrity of the environment model also on the basis of a number of processing modules (121) from the plurality of processing modules (121) which are involved in the determination of the environment model were involved. Sensor (102, 103) for a vehicle (100); wherein the sensor (102, 103) is set up, - to acquire sensor data (111) in relation to the vehicle (100) and / or in relation to an environment of the vehicle (100); - to determine integrity information (112) in relation to the integrity of the recorded sensor data (111), and - to provide the sensor data (111) and the ascertained integrity information (112) with regard to the integrity of the recorded sensor data (111), in particular to send them to a modeling unit (120) of the vehicle (100). Functional unit (140) for providing a vehicle function of a vehicle (100); wherein the functional unit (140) is set up, - to receive data (131) relating to an environment model of an environment of the vehicle (100); - to receive integrity information (132) relating to the integrity of the environment model; and - to provide the vehicle function as a function of the received data (131) and as a function of the received integrity information (132). Functional unit (140) according to Claim 7 , wherein the functional unit (140) is set up to adapt a degree of automation of the vehicle function, in particular with regard to an automated longitudinal and / or lateral guidance of the vehicle (100), depending on the integrity information (132). Method (200) for creating an environment model of an environment of a vehicle (100); wherein the method comprises (200), - Receiving (201) of sensor data (111) relating to the surroundings of the vehicle (100) from a plurality of different sensors (102, 103); - Receiving (202) integrity information (112) relating to the respective integrity of the sensor data (111) of the individual sensors (102, 103) from the plurality of sensors (102, 103); and - Determination (203) of the environment model and of integrity information (132) with regard to the integrity of the environment model on the basis of the sensor data (111) and on the basis of the integrity information (112) with regard to the integrity of the sensor data (111). Method for providing sensor data (111) in a vehicle (100); wherein the method comprises, - Acquisition of sensor data (111) in relation to the vehicle (100) and / or in relation to an environment of the vehicle (100); - Determination of integrity information (112) with regard to the integrity of the recorded sensor data (111); and - Provision of the sensor data (111) and the ascertained integrity information (112) with regard to the integrity of the recorded sensor data (111). Method (210) for providing a vehicle function of a vehicle (100); wherein the method (210) comprises - receiving (211) data (131) in relation to an environment model of an environment of the vehicle (100); - Receiving (212) of integrity information (132) with regard to the integrity of the environment model; and - providing (213) the vehicle function as a function of the received data (131) and as a function of the received integrity information (132).

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