EP3449277A1 - Method and device for a motor vehicle for comparing surrounding area map data with surrounding area sensor data in order to ascertain the passability of a road object - Google Patents

Method and device for a motor vehicle for comparing surrounding area map data with surrounding area sensor data in order to ascertain the passability of a road object

Info

Publication number
EP3449277A1
EP3449277A1 EP17710500.4A EP17710500A EP3449277A1 EP 3449277 A1 EP3449277 A1 EP 3449277A1 EP 17710500 A EP17710500 A EP 17710500A EP 3449277 A1 EP3449277 A1 EP 3449277A1
Authority
EP
European Patent Office
Prior art keywords
data values
vehicle
passable
map
map data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17710500.4A
Other languages
German (de)
French (fr)
Inventor
Oliver Pink
Karsten Muehlmann
Dominik Maucher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3449277A1 publication Critical patent/EP3449277A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/907—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/909—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • the present invention relates to a method
  • PRIOR ART DE 10 2013 216 951 A1 discloses a radar sensor for motor vehicles, having an antenna arrangement which has at least two groups of antenna elements which differ in their effective direction in elevation, a control device which is designed to activate the groups alternately , and with one
  • Evaluation device for evaluating the radar echoes received by the antenna arrangement and for angle-resolving locating of objects, wherein the
  • Evaluation device is designed to estimate the elevation angle of the objects based on the radar echo received by the various groups.
  • DE 10 2013 019 803 A1 discloses a method for determining an object height from a radar device arranged on a vehicle
  • Radar data wherein a change over time of a distance of the object to the radar device determined and an intensity modulation of an echo signal received by the radar device is performed. Disclosure of the invention
  • a vehicle includes a step of reading map data values from a map, the map data values comprising the at least one passable object in the form of first object data values, a step of acquiring ambient data values, which represent the environment of the at least one vehicle and which comprise at least one passable object in the form of second object data values, a step of matching the read map data values with the acquired environment data values according to predetermined first comparison criteria and a step of operating the at least one vehicle depending on the alignment the data values.
  • a map is here on the one hand a (two-dimensional) map to understand how it is used for navigation and on the other a (three-dimensional) map, which includes data such that an adjustment of sensor data, which have been detected for example by a vehicle with the data stored in the cards is feasible.
  • the (three-dimensional) map was created by a first vehicle environmental data using its sensors, such as radar, ultrasound, lidar, video, etc. recorded and this in the form of a (three-dimensional) map, for example in conjunction with GPS data, stores.
  • this second vehicle can also detect its environment by means of its sensors and thus carry out a comparison between the data stored in the (three-dimensional) map and its self-acquired data.
  • the map can be completed and / or updated, as well as the already deposited map can be used to detect changes that may affect the safety of the second vehicle, and to take appropriate action.
  • Maps may be physically separate from each other or may be in the form of a map, with the individual map data such as the (two-dimensional) map for navigation as well as a first (three-dimensional) radar map and / or second map (three-dimensional) video card in the form of different map levels.
  • the at least one vehicle is to be understood as meaning both a partially, highly or fully automated vehicle and a non-automated vehicle.
  • An object can be understood to mean everything that is stored both in the (two-dimensional and / or three-dimensional) map, such as landscape features such as lakes, mountains, forests, etc. and / or buildings, bridges, parts of the traffic infrastructure, etc. as well as all objects that are detected by sensors of a vehicle can.
  • an object may also be objects which temporarily influence an operation of the at least one vehicle.
  • the advantage of the present invention is that the comparison provides additional information, which is highly relevant for safe operation of the at least one vehicle, which is not possible on a conventional use of both a map and the sensor data.
  • this information can be made available, for example, to an operator or a driver of the at least one vehicle, so that the driver can (possibly) recognize and appropriately react to any dangers for himself and / or the at least one vehicle as well as, for example a driver assistance function are provided, which only due to the map data or the sensor data their
  • Another advantage is that, in addition to the safety-relevant information, information relating to comfort can also be obtained by, for example, recognizing in good time that an object is classified as not passable, and thus a bypass of the object can be initiated in good time.
  • the at least one passable object is an accessible object, in particular a bridge or a tunnel.
  • the safety aspect is particularly important, since sensors often detect areas in a tunnel or under a bridge incorrectly and thus draw wrong conclusions based on these sensor data. This can be at the expense of the safety of the at least one vehicle as well as the occupants.
  • the operation of the at least one vehicle takes place such that the height of the at least one vehicle is taken into account.
  • the first object data values comprise the at least one passable object in the form of detected sensor data.
  • the matching according to the predetermined first comparison criteria is carried out such that it is determined whether the at least one passable object for the at least one vehicle is at least temporarily passable or not passable.
  • the operation takes place in such a way that at least one driver assistance function of the at least one vehicle, in particular at least one automated driver assistance function of the at least one vehicle, is executed and / or modified depending on the adjustment of the data values.
  • the at least one passable object is recognized as temporarily non-passable, than
  • the inventive device for operating at least one vehicle with respect to at least one passable object in the vicinity of the at least one
  • the vehicle comprises first means for reading in map data from a map, the map data comprising the at least one passable object in the form of first object data, second means for acquiring environmental data representing the environment of the at least one vehicle and the at least one passable object in the form third object data values, third means for matching the read-in map data values with the detected environment data values according to predetermined first comparison criteria and fourth means for operating the at least one vehicle, depending on the comparison of the data values.
  • Transmission device for carrying out the method according to the invention with it.
  • FIG. 1 shows a vehicle (100) carrying a device (110) according to the invention.
  • the device comprises first means (1 1 1) for reading in (310) map data values from a map (120).
  • the card (120) can both be part of the device, and already be deposited in the vehicle (100) such that the card (120) can be accessed by means of the first means (11).
  • the card can be stored, for example, in the form of data values on a corresponding storage medium.
  • the first means (1 1 1) are mainly designed to read in object data which are stored in the card (120) as first object data values (310).
  • the device comprises second means (1 12) for detecting (320) of
  • Environmental data values are comprised by means of sensors (101), which may be both part of the device (1 10), as well as part of the vehicle (100).
  • the second means are designed such that the acquired data values of the Sensors (101) of the vehicle (100) accessed and they can be used for the inventive method.
  • the sensors are, for example, video and / or lidar and / or radar and / or ultrasonic sensors. Also, other sensors suitable for detecting an object in the environment (250) of the vehicle (100) may be used therefor. Furthermore, GPS and / or others
  • Positioning sensors are used, which may be both part of the device (1 10), as well as part of the vehicle (100). These can be used, for example, to more reliably and / or quickly determine objects based on the knowledge of the location of the vehicle, for example by using the (two-dimensional) map (120) to compare and identify the object with already stored objects.
  • the second means are designed primarily to objects in the form of second
  • the first object data values can be compared (330) with the second object data values.
  • This can be done, for example, by the first object data values comprising an object in the form of radar values already acquired in advance, for example by another vehicle.
  • the second object data values thereby comprise the same object, which, for example, is to be expected in the environment (250) of the vehicle (100) on the basis of the local knowledge of the vehicle (100), likewise in the form of radar values which were currently detected by means of radar sensors (101).
  • the third means (13) are designed in such a way that, after matching (330) of the first and second object data values, an updating of the card (120). can be made, for example, if the second object data values are determined to be permanently correctly detected with respect to the first object data values. This can be done, for example, if by means of the sensors (101) of the vehicle (100) a bridge is detected, which is not yet stored in the card (120).
  • the fourth means (1 14) may be both part of the device (1 10), as well as part of the vehicle (100), for example in the form of a control unit, which is designed to perform driver assistance functions, such as emergency braking maneuver.
  • the results of the matching are forwarded in such a way that, for example, the driver assistance function can correspondingly adapt and influence the maneuvers to be performed by means of the results.
  • FIG. 2 shows a situation in which the method according to the invention is advantageously used.
  • the vehicle (100) approaches a passable object (200), here in the form of a bridge to be driven under.
  • the object (200) to be traversed may be any object which, because of its structure, may result in a restricted functioning of the sensors (101), which due to the structure are unable to control the environment (250) of the vehicle completely detect or capture such that a safe and / or reliable operation of the vehicle (100) is possible.
  • This may also be a tunnel, or even an overhanging mountain wall, the road running below the overhang.
  • the height of the vehicle (100) also plays a special role, which can also be taken into account. For example, by after adjustment (330) additionally the height of the vehicle (100) is detected by means of suitable sensors (101) and the information about the amount as additional information to the fourth means (1 14) are forwarded.
  • an object (210) which prevents a safe passage of the vehicle (100) is located below the bridge on the lane of the vehicle (100). Since this object (210) is located below the bridge, it can be detected very difficult by the sensors of the vehicle (100) and recognized as a danger.
  • the object (210) can now be detected due to a difference in the data values, whereby the operation (340) of the vehicle (100) can be adapted accordingly. This can be done, for example, in a non-automated vehicle such that certain Security systems, such as an airbag or an emergency brake system, already prepared so that when not braked a driver of the vehicle (100), the systems are already as soon as possible.
  • the trajectory taking into account the existing traffic
  • the object (210) are avoided.
  • an object (200), such as the bridge, for example, is recognized as an obstacle because, for example, the area under the bridge is perceived as so obscure that the actual passageway is detected by a video sensor as an obstacle.
  • the adjustment (330) of the first and second object data values can result in the operation (340) of the vehicle (100) being adjusted so that no unnecessary emergency braking is triggered, but the vehicle (100) passes under the bridge without any problems can drive.
  • FIG. 3 shows an exemplary embodiment of the invention with reference to a flowchart
  • step 300 the method begins.
  • step 301 the at least one vehicle (100) approaches a passable object (200). This can be detected by placing a passable object in the
  • (two-dimensional) map (120) is recognized as such, such as the recognition of a bridge by navigation system.
  • Another way of detecting a passable object may be by the sensors (101) of the vehicle (100) by detecting such an object (200) in the environment (250) of the vehicle (100).
  • both methods can be used to make each other plausible.
  • step 310 from the map (120) first object data values are read in which comprise the passable object.
  • step 320 second object data values are acquired by means of sensors (101), which also comprise the passable object (200).
  • step 330 the first object data values are compared with the second object data values.
  • step 340 depending on the comparison made in step 330, the at least one vehicle (100) is operated to determine whether a hazard to the at least one vehicle (100) and / or its occupants occurs as the passable object (200) passes exists or not. If such a risk exists, step 341 follows and there is no danger, the method ends with step 350.
  • step 341 security systems, such as an air bag or emergency brake system, are prepared for a potential collision.
  • step 342 a decision is made whether an emergency braking trip has to be triggered and possibly also triggered. If an emergency stop is triggered, step 350 ends and the process ends. If it is decided that emergency braking does not have to be triggered, step 320 follows that, as the at least one vehicle (100) approaches the passable object (200), the sensors (101) may possibly better detect the passable object (200) and thus the Situation can be evaluated more efficiently or more accurately due to matching (330).
  • step 350 the process ends.

Abstract

The invention relates to a method and a device (110) for operating at least one vehicle (100) relative to at least one passable object (200) in the surrounding area (250) of the at least one vehicle. The method has a step of reading (310) map data values from a map (120), said map data values comprising the at least one passable object (200) in the form of first object data values; a step of detecting (320) surrounding area data values which represent the surrounding area (250) of the at least one vehicle (100) and comprise the at least one passable object (200) in the form of second object data values; a step of comparing (330) the read map data values with the detected surrounding area data values according to specified first comparison criteria; and a step of operating (340) the at least one vehicle (100) on the basis of the comparison of the data values.

Description

Beschreibung  description
Titel title
VERFAHREN UND VORRICHTUNG FÜR EIN KRAFTFAHRZEUG ZUM VERGLEICH VON UMGEBUNGSKARTENDATEN MIT UMGEBUNGSSENSORDATEN ZUR ERMITTLUNG DER PASSIERBARKEIT EINES STRASSENOBJEKTS METHOD AND DEVICE FOR A MOTOR VEHICLE FOR COMPARING AMBIENT MAP DATA WITH AMBIENT SENSOR DATA FOR DETERMINING THE MATCHABILITY OF A ROAD OBJECT
Die vorliegende Erfindung betrifft ein Verfahren The present invention relates to a method
Stand der Technik Die DE 10 2013 216 951 A1 offenbart einen Radarsensor für Kraftfahrzeuge, mit einer Antennenanordnung, die mindestens zwei Gruppen von Antennenelementen aufweist, die sich in ihrer Wirkrichtung in Elevation unterscheiden, einer Steuereinrichtung, die dazu ausgebildet ist, die Gruppen abwechselnd zu aktivieren, und mit einer PRIOR ART DE 10 2013 216 951 A1 discloses a radar sensor for motor vehicles, having an antenna arrangement which has at least two groups of antenna elements which differ in their effective direction in elevation, a control device which is designed to activate the groups alternately , and with one
Auswerteeinrichtung zur Auswertung der von der Antennenanordnung empfangenen Radarechos und zur winkelauflösenden Ortung von Objekten, wobei die Evaluation device for evaluating the radar echoes received by the antenna arrangement and for angle-resolving locating of objects, wherein the
Auswerteeinrichtung dazu ausgebildet ist, den Elevationswinkel der Objekte anhand der von den verschiedenen Gruppen empfangenen Radarechos abzuschätzen.  Evaluation device is designed to estimate the elevation angle of the objects based on the radar echo received by the various groups.
Die DE 10 2013 019 803 A1 offenbart ein Verfahren zur Bestimmung einer Objekthöhe aus mittels einer an einem Fahrzeug angeordneten Radarvorrichtung ermittelten DE 10 2013 019 803 A1 discloses a method for determining an object height from a radar device arranged on a vehicle
Radardaten, wobei eine zeitliche Veränderung einer Entfernung des Objekts zu der Radarvorrichtung ermittelt und eine Intensitätsmodulation eines von der Radarvorrichtung empfangenen Echosignals durchgeführt wird. Offenbarung der Erfindung Radar data, wherein a change over time of a distance of the object to the radar device determined and an intensity modulation of an echo signal received by the radar device is performed. Disclosure of the invention
Das erfindungsgemäße Verfahren zum Betreiben wenigstens eines Fahrzeugs in Bezug auf wenigstens ein passierbares Objekt in der Umgebung des wenigstens einen The inventive method for operating at least one vehicle with respect to at least one passable object in the vicinity of the at least one
Fahrzeugs umfasst einen Schritt des Einlesens von Kartendatenwerten aus einer Karte, wobei die Kartendatenwerte das wenigstens eine passierbare Objekt in Form von ersten Objektdatenwerten umfassen, einen Schritt des Erfassens von Umgebungsdatenwerten, welche die Umgebung des wenigstens einen Fahrzeugs repräsentieren und das wenigstens eine passierbare Objekt in Form von zweiten Objektdatenwerten umfassen, einen Schritt des Abgleichens der eingelesenen Kartendatenwerten mit den erfassten Umgebungsdatenwerten nach vorgegebenen ersten Vergleichskriterien und einen Schritt des Betreibens des wenigstens einen Fahrzeugs, abhängig von dem Abgleich der Datenwerte. A vehicle includes a step of reading map data values from a map, the map data values comprising the at least one passable object in the form of first object data values, a step of acquiring ambient data values, which represent the environment of the at least one vehicle and which comprise at least one passable object in the form of second object data values, a step of matching the read map data values with the acquired environment data values according to predetermined first comparison criteria and a step of operating the at least one vehicle depending on the alignment the data values.
Unter einer Karte ist hier zum einen eine (zweidimensionale) Karte zu verstehen, wie sie zum Navigieren verwendet wird und zum anderen eine (dreidimensionale) Karte, welche Daten derart umfasst, dass ein Abgleich von Sensordaten, welche beispielsweise durch ein Fahrzeug erfasst wurden, mit den in den Karten hinterlegten Daten durchführbar ist. Darunter ist beispielsweise zu verstehen, dass die (dreidimensionale) Karte erstellt wurde, indem ein erstes Fahrzeug Umgebungsdaten mittels seiner Sensoren, wie beispielsweise Radar, Ultraschall, Lidar, Video, etc. erfasst und diese in Form einer (dreidimensionalen) Karte, beispielsweise in Verbindung mit GPS-Daten, abspeichert. Ist solch eine Karte nun innerhalb eines zweiten Fahrzeugs hinterlegt, kann dieses zweite Fahrzeug ebenfalls mittels seiner Sensoren seine Umgebung erfassen und somit einen Abgleich zwischen den in der (dreidimensionalen) Karte hinterlegten Daten und seinen selbst erfassten Daten durchführen. Somit kann beispielsweise einerseits die Karte vervollständigt und/oder aktualisiert werden, als auch die bereits hinterlegte Karte genutzt werden, um Veränderungen, die eventuell Auswirkungen auf die Sicherheit des zweiten Fahrzeugs haben, zu erkennen und entsprechende Maßnahmen einzuleiten. Under a map is here on the one hand a (two-dimensional) map to understand how it is used for navigation and on the other a (three-dimensional) map, which includes data such that an adjustment of sensor data, which have been detected for example by a vehicle with the data stored in the cards is feasible. By this is meant, for example, that the (three-dimensional) map was created by a first vehicle environmental data using its sensors, such as radar, ultrasound, lidar, video, etc. recorded and this in the form of a (three-dimensional) map, for example in conjunction with GPS data, stores. If such a map is now stored within a second vehicle, this second vehicle can also detect its environment by means of its sensors and thus carry out a comparison between the data stored in the (three-dimensional) map and its self-acquired data. Thus, for example, on the one hand, the map can be completed and / or updated, as well as the already deposited map can be used to detect changes that may affect the safety of the second vehicle, and to take appropriate action.
Bei Karten können sowohl (physisch) getrennt voneinander vorhanden sein, als auch in Form einer Karte hinterlegt sein, wobei die einzelnen Kartendaten, wie beispielsweise die (zweidimensionale) Karte zum Navigieren, als auch eine erste (dreidimensionale) Radar- Karte und/oder zweite (dreidimensionale) Video-Karte in Form von unterschiedlichen Kartenebenen vorliegen. Maps may be physically separate from each other or may be in the form of a map, with the individual map data such as the (two-dimensional) map for navigation as well as a first (three-dimensional) radar map and / or second map (three-dimensional) video card in the form of different map levels.
Unter dem wenigstens einen Fahrzeug ist sowohl ein teil-, hoch- oder vollautomatisiertes, als auch ein nicht-automatisiertes Fahrzeug zu verstehen. The at least one vehicle is to be understood as meaning both a partially, highly or fully automated vehicle and a non-automated vehicle.
Unter einem Objekt kann alles verstanden werden, was sowohl in der (zweidimensionalen und/oder dreidimensionalen) Karte, wie beispielsweise Landschaftsmerkmale wie Seen, Berge, Wälder, etc. und/oder auch Gebäude, Brücken, Teile der Verkehrsinfrastruktur, etc. hinterlegt ist, als auch alle Objekte die von Sensoren eines Fahrzeugs erfasst werden können. Unter anderem kann es sich bei einem Objekt auch um Gegenstände handeln, welche vorübergehend ein Betreiben des wenigstens einen Fahrzeugs beeinflussen. An object can be understood to mean everything that is stored both in the (two-dimensional and / or three-dimensional) map, such as landscape features such as lakes, mountains, forests, etc. and / or buildings, bridges, parts of the traffic infrastructure, etc. as well as all objects that are detected by sensors of a vehicle can. Among other things, an object may also be objects which temporarily influence an operation of the at least one vehicle.
Der Vorteil der vorliegenden Erfindung liegt darin, dass durch den Abgleich zusätzliche Informationen, welche für ein sicheres Betreiben des wenigstens einen Fahrzeugs hoch relevant sind, gewonnen werden, welche auf einem herkömmlichen Nutzen sowohl einer Karte als auch der Sensordaten nicht möglich ist. Diese Informationen können zum einen beispielsweise einem Betreiber bzw. einem Fahrer des wenigstens einen Fahrzeugs zur Verfügung gestellt werden, so dass dieser eventuell vorhandene Gefahren für sich und/oder das wenigstens eine Fahrzeugs (früher) erkennen und angemessen reagieren kann, als auch zum anderen beispielsweise einer Fahrassistenzfunktion zur Verfügung gestellt werden, welche nur aufgrund der Kartendaten oder der Sensordaten ihre The advantage of the present invention is that the comparison provides additional information, which is highly relevant for safe operation of the at least one vehicle, which is not possible on a conventional use of both a map and the sensor data. On the one hand, this information can be made available, for example, to an operator or a driver of the at least one vehicle, so that the driver can (possibly) recognize and appropriately react to any dangers for himself and / or the at least one vehicle as well as, for example a driver assistance function are provided, which only due to the map data or the sensor data their
Funktion falsch und/oder unvollständig ausführt. Ein weiterer Vorteil liegt darin, dass zusätzlich zu den sicherheitsrelevanten Informationen auch Information die den Komfort betreffen, gewonnen werden, indem beispielsweise rechtzeitig erkannt wird, dass ein Objekt als nicht passierbar eingestuft wird und somit rechtzeitig eine Umgehung des Objekts eingeleitet werden kann. Function wrong and / or incomplete. Another advantage is that, in addition to the safety-relevant information, information relating to comfort can also be obtained by, for example, recognizing in good time that an object is classified as not passable, and thus a bypass of the object can be initiated in good time.
In einer besonders bevorzugten Ausführungsform ist das wenigstens eine passierbare Objekt ein unterfahrbares Objekt, insbesondere eine Brücke oder ein Tunnel. In a particularly preferred embodiment, the at least one passable object is an accessible object, in particular a bridge or a tunnel.
Hierbei kommt besonders der Sicherheitsaspekt zum Tragen, da Sensoren Bereiche in einem Tunnel oder unter einer Brücke oft fehlerhaft wahrnehmen und somit aufgrund dieser Sensordaten falsche Schlussfolgerungen gezogen werden. Dies kann sowohl zu Lasten der Sicherheit des wenigstens einen Fahrzeugs als auch der Insassen gehen.In this case, the safety aspect is particularly important, since sensors often detect areas in a tunnel or under a bridge incorrectly and thus draw wrong conclusions based on these sensor data. This can be at the expense of the safety of the at least one vehicle as well as the occupants.
Durch einen Abgleich der Daten, indem zwischen bereits in einer Karte hinterlegten Daten und neu erfassten Daten unterschieden wird, kann beispielsweise ein Objekt unter einer Brücke als Hindernis erkannt werden, was ohne den Abgleich nicht möglich wäre. Vorzugsweise erfolgt das Betreiben des wenigstens einen Fahrzeugs derart, dass die Höhe des wenigstens einen Fahrzeugs berücksichtigt wird. By comparing the data by distinguishing between data already stored in a card and newly acquired data, for example, an object under a bridge can be recognized as an obstacle, which would not be possible without the adjustment. Preferably, the operation of the at least one vehicle takes place such that the height of the at least one vehicle is taken into account.
Dies hat den Vorteil, dass gerade in unübersichtlichen Bereichen wie Tunnel oder unter einer Brücke auch Objekte, welche unterfahren werden müssen, besonders berücksichtigt werden können und somit eventuell vorhandene Risiken beim Unterfahren solch einem Objekt minimiert werden können. In einer besonders bevorzugten Ausführungsform umfassen die ersten Objektdatenwerte das wenigstens eine passierbare Objekt in Form von erfassten Sensordaten. Vorzugsweise erfolgt das Abgleichen nach den vorgegeben ersten Vergleichskriterien derart, dass bestimmt wird, ob das wenigstens eine passierbare Objekt für das wenigstens eine Fahrzeug zumindest vorübergehend passierbar oder nicht passierbar ist. This has the advantage that, especially in confusing areas such as tunnels or under a bridge, objects which have to be driven under can be given special consideration, and thus any risks that may exist when driving under such an object can be minimized. In a particularly preferred embodiment, the first object data values comprise the at least one passable object in the form of detected sensor data. Preferably, the matching according to the predetermined first comparison criteria is carried out such that it is determined whether the at least one passable object for the at least one vehicle is at least temporarily passable or not passable.
Hierdurch kann die Karte beispielsweise vorübergehend aktualisiert werden This allows the map to be temporarily updated, for example
beziehungsweise ein Hinweis oder Gefahrenmeldung an andere Fahrzeuge übermittelt werden. or an indication or danger message is transmitted to other vehicles.
Vorzugsweise werden die Kartendatenwerte bezüglich des wenigstens einen Preferably, the map data values relating to the at least one
passierbaren Objekts aktualisiert. Updated passable object.
In einer besonders bevorzugten Ausführungsform erfolgt das Betreiben derart, dass wenigstens eine Fahrassistenzfunktion des wenigstens einen Fahrzeugs, insbesondere wenigstens eine automatisierte Fahrassistenzfunktion des wenigstens einen Fahrzeugs, abhängig von dem Abgleich der Datenwerte ausgeführt und/oder modifiziert wird. In a particularly preferred embodiment, the operation takes place in such a way that at least one driver assistance function of the at least one vehicle, in particular at least one automated driver assistance function of the at least one vehicle, is executed and / or modified depending on the adjustment of the data values.
In einer besonders bevorzugten Ausführungsform wird, wenn das wenigstens eine passierbare Objekt als vorübergehend nicht passierbar erkannt wird, als In a particularly preferred embodiment, if the at least one passable object is recognized as temporarily non-passable, than
Fahrassistenzfunktion eine Notbremsung vorbereitet und/oder ausgeführt. Die erfindungsgemäße Vorrichtung zum Betreiben wenigstens eines Fahrzeugs in Bezug auf wenigstens ein passierbares Objekt in der Umgebung des wenigstens einen Driver assistance function prepared emergency braking and / or executed. The inventive device for operating at least one vehicle with respect to at least one passable object in the vicinity of the at least one
Fahrzeugs umfasst erste Mittel zum Einlesen von Kartendatenwerten aus einer Karte, wobei die Kartendatenwerte das wenigstens eine passierbare Objekt in Form von ersten Objektdatenwerten umfassen, zweite Mittel zum Erfassen von Umgebungsdatenwerten, welche die Umgebung des wenigstens einen Fahrzeugs repräsentieren und das wenigstens eine passierbare Objekt in Form von zweiten Objektdatenwerten umfassen, drittel Mittel zum Abgleichen der eingelesenen Kartendatenwerten mit den erfassten Umgebungsdatenwerten nach vorgegebenen ersten Vergleichskriterien und vierte Mittel zum Betreiben des wenigstens einen Fahrzeugs, abhängig von dem Abgleich der Datenwerte. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben und in der Beschreibung aufgeführt. The vehicle comprises first means for reading in map data from a map, the map data comprising the at least one passable object in the form of first object data, second means for acquiring environmental data representing the environment of the at least one vehicle and the at least one passable object in the form third object data values, third means for matching the read-in map data values with the detected environment data values according to predetermined first comparison criteria and fourth means for operating the at least one vehicle, depending on the comparison of the data values. Advantageous developments of the invention are specified in the subclaims and listed in the description.
Zeichnungen drawings
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden in den nachfolgenden Beschreibungen näher erläutert. Es zeigen: Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following descriptions. Show it:
Figur 1 rein beispielhaft ein Fahrzeug, welches die erfindungsgemäße Figure 1 purely by way of example a vehicle which the inventive
Übertragungsvorrichtung zum Ausführen des erfindungsgemäßen Verfahrens mit sich führt. Transmission device for carrying out the method according to the invention with it.
Figur 2 rein beispielhaft eine Situation in der das erfindungsgemäße Verfahren vorteilhaft eingesetzt wird. Figure 2 purely by way of example a situation in which the inventive method is advantageously used.
Figur 3 rein beispielhaft ein Ausführungsbeispiel in Form eines Ablaufdiagramms des erfindungsgemäßen Verfahrens unter Verwendung der erfindungsgemäßen Figure 3 purely by way of example an embodiment in the form of a flow chart of the method according to the invention using the inventive
Vorrichtungen. Ausführungsformen der Erfindung Devices. Embodiments of the invention
Figur 1 zeigt ein Fahrzeug (100), welches eine erfindungsgemäße Vorrichtung (1 10) mit sich führt. Die Vorrichtung umfasst dabei erste Mittel (1 1 1 ) zum Einlesen (310) von Kartendatenwerten aus einer Karte (120). Dabei kann die Karte (120) sowohl Teil der Vorrichtung sein, als auch bereits im Fahrzeug (100) derart hinterlegt sein, dass mittels der ersten Mittel (1 1 1 ) auf die Karte (120) zugegriffen werden kann. Dabei kann die Karte beispielsweise in Form von Datenwerten auf einem entsprechenden Speichermedium gespeichert sein. Die ersten Mittel (1 1 1 ) sind vor allem dazu ausgebildet, Objektdaten welche in der Karte (120) hinterlegt sind, als erste Objektdatenwerte einzulesen (310). FIG. 1 shows a vehicle (100) carrying a device (110) according to the invention. In this case, the device comprises first means (1 1 1) for reading in (310) map data values from a map (120). In this case, the card (120) can both be part of the device, and already be deposited in the vehicle (100) such that the card (120) can be accessed by means of the first means (11). In this case, the card can be stored, for example, in the form of data values on a corresponding storage medium. The first means (1 1 1) are mainly designed to read in object data which are stored in the card (120) as first object data values (310).
Weiterhin umfasst die Vorrichtung zweite Mittel (1 12) zum Erfassen (320) von Furthermore, the device comprises second means (1 12) for detecting (320) of
Umgebungsdatenwerten. Diese werden mittels Sensoren (101 ) umfasst, welche sowohl Bestandteil der Vorrichtung (1 10) sein können, als auch Bestandteil des Fahrzeugs (100). Dabei sind die zweiten Mittel derart ausgebildet, dass auf die erfassten Datenwerte der Sensoren (101 ) des Fahrzeugs (100) zugegriffen und diese für das erfindungsgemäße Verfahren genutzt werden können. Environmental data values. These are comprised by means of sensors (101), which may be both part of the device (1 10), as well as part of the vehicle (100). In this case, the second means are designed such that the acquired data values of the Sensors (101) of the vehicle (100) accessed and they can be used for the inventive method.
Bei den Sensoren handelt es sich beispielsweise um Video- und/oder Lidar- und/oder Radar- und/oder Ultraschallsensoren. Auch andere Sensoren, welche sich zum Erfassen eines Objekts in der Umgebung (250) des Fahrzeugs (100) eignen, können hierfür verwendet werden. Des Weiteren können GPS- und/oder andere The sensors are, for example, video and / or lidar and / or radar and / or ultrasonic sensors. Also, other sensors suitable for detecting an object in the environment (250) of the vehicle (100) may be used therefor. Furthermore, GPS and / or others
Positionsbestimmungssensoren verwendet werden, welche sowohl Bestandteil der Vorrichtung (1 10), als auch Bestandteil des Fahrzeugs (100) sein können. Diese können beispielsweise verwendet werden um aufgrund der Kenntnis des Ortes des Fahrzeugs Objekte zuverlässiger und/oder schneller zu bestimmen, indem beispielsweise auf die (zweidimensionale) Karte (120) zurückgegriffen wird, um das Objekt mit bereits hinterlegten Objekten zu vergleichen und zu identifizieren. Die zweiten Mittel sind vor allem dazu ausgebildet, Objekte in Form von zweiten Positioning sensors are used, which may be both part of the device (1 10), as well as part of the vehicle (100). These can be used, for example, to more reliably and / or quickly determine objects based on the knowledge of the location of the vehicle, for example by using the (two-dimensional) map (120) to compare and identify the object with already stored objects. The second means are designed primarily to objects in the form of second
Objektdatenwerte mittels Sensoren (101 ) zu erfassen (320). To capture object data values by means of sensors (101) (320).
Mittels der dritten Mittel (1 13) können die ersten Objektdatenwerte mit den zweiten Objektdatenwerten verglichen (330) werden. Dies kann beispielsweise erfolgen indem die ersten Objektdatenwerte ein Objekt in Form von bereits vorab, beispielsweise durch eine anderes Fahrzeug, erfassten Radarwerten umfassen. Die zweiten Objektdatenwerte umfassen dabei dasselbe Objekt, das beispielsweise aufgrund der Ortskenntnis des Fahrzeugs (100), in der Umgebung (250) des Fahrzeugs (100) zu erwarten ist, ebenfalls in Form von Radarwerten, welche aktuell mittels Radarsensoren (101 ) erfasst wurde. By means of the third means (13), the first object data values can be compared (330) with the second object data values. This can be done, for example, by the first object data values comprising an object in the form of radar values already acquired in advance, for example by another vehicle. The second object data values thereby comprise the same object, which, for example, is to be expected in the environment (250) of the vehicle (100) on the basis of the local knowledge of the vehicle (100), likewise in the form of radar values which were currently detected by means of radar sensors (101).
Diese Datenwerte werden nun verglichen (330), indem beispielsweise Unterschiede in beiden Datensätze gesucht und als solche identifiziert werden. Dies erfolgt mittels entsprechender Computerprogramme, welche ebenfalls von den dritten Mittel (1 13) umfasst werden. These data values are now compared (330), for example, by looking for differences in both data sets and identifying them as such. This is done by means of appropriate computer programs, which are also included by the third means (1 13).
Nach dem Vergleichen (330) der ersten und zweiten Objektdatenwerte mittels der dritten Mittel (1 13) werden die Ergebnisse des Abgleichens an die vierten Mittel (1 14) weitergeleitet. Weiterhin sind die dritten Mittel (1 13) derart ausgebildet, dass nach dem Abgleichen (330) der ersten und zweiten Objektdatenwerte, eine Aktualisierung der Karte (120) vorgenommen werden kann, wenn beispielsweise die zweiten Objektdatenwerte als dauerhaft richtig gegenüber den ersten Objektdatenwerten erkannt bestimmt werden. Dies kann beispielsweise erfolgen, wenn mittels der Sensoren (101 ) des Fahrzeugs (100) eine Brücke erfasst wird, welche noch nicht in der Karte (120) hinterlegt ist. After comparing (330) the first and second object data values by the third means (1 13), the results of the matching are forwarded to the fourth means (1 14). Furthermore, the third means (13) are designed in such a way that, after matching (330) of the first and second object data values, an updating of the card (120). can be made, for example, if the second object data values are determined to be permanently correctly detected with respect to the first object data values. This can be done, for example, if by means of the sensors (101) of the vehicle (100) a bridge is detected, which is not yet stored in the card (120).
Die vierten Mittel (1 14) können sowohl Bestandteil der Vorrichtung (1 10) sein, als auch Bestandteil des Fahrzeugs (100), beispielsweise in Form eines Steuergeräts, welches dazu ausgebildet ist, Fahrassistenzfunktionen, wie beispielsweise Notbremsmanöver, auszuführen. Dabei werden die Ergebnisse des Abgleichens derart weitergeleitet, dass beispielsweise die Fahrassistenzfunktion mittels der Ergebnisse ihre auszuführenden Manöver entsprechend anpassen und beeinflussen kann. The fourth means (1 14) may be both part of the device (1 10), as well as part of the vehicle (100), for example in the form of a control unit, which is designed to perform driver assistance functions, such as emergency braking maneuver. The results of the matching are forwarded in such a way that, for example, the driver assistance function can correspondingly adapt and influence the maneuvers to be performed by means of the results.
Figur 2 zeigt eine Situation in der das erfindungsgemäße Verfahren vorteilhaft zum Einsatz kommt. Dabei nähert sich das Fahrzeug (100) einem passierbaren Objekt (200), hier in Form einer zu unterfahrenden Brücke. Grundsätzlich kann es sich bei dem zu unterfahrenden Objekt (200) um jedes Objekt handeln, dass aufgrund seiner Struktur für einen eingeschränkte Funktionsweise der Sensoren (101 ) führen kann, welche aufgrund der Struktur nicht in der Lage sind, die Umgebung (250) des Fahrzeugs vollständig zu erfassen beziehungsweise derart zu erfassen, dass ein sicheres und/oder zuverlässiges Betreiben des Fahrzeugs (100) möglich ist. Dabei kann es sich auch um einen Tunnel handeln, oder auch um eine überhängende Gebirgswand, wobei die Straße unterhalb des Überhangs verläuft. Dabei spielt auch die Höhe des Fahrzeugs (100) eine besondere Rolle, welche ebenfalls berücksichtigt werden kann. Beispielsweise indem nach dem Abgleichen (330) zusätzlich die Höhe des Fahrzeugs (100) mittels geeigneter Sensoren (101 ) erfasst wird und die Information über die Höhe als zusätzliche Info an die vierten Mittel (1 14) weitergeleitet werden. FIG. 2 shows a situation in which the method according to the invention is advantageously used. In this case, the vehicle (100) approaches a passable object (200), here in the form of a bridge to be driven under. In principle, the object (200) to be traversed may be any object which, because of its structure, may result in a restricted functioning of the sensors (101), which due to the structure are unable to control the environment (250) of the vehicle completely detect or capture such that a safe and / or reliable operation of the vehicle (100) is possible. This may also be a tunnel, or even an overhanging mountain wall, the road running below the overhang. The height of the vehicle (100) also plays a special role, which can also be taken into account. For example, by after adjustment (330) additionally the height of the vehicle (100) is detected by means of suitable sensors (101) and the information about the amount as additional information to the fourth means (1 14) are forwarded.
In der hier beispielhaft gezeigten Situation befindet sich unterhalb der Brücke auf der Fahrspur des Fahrzeugs (100) ein Gegenstand (210), welcher eine sichere Durchfahrt des Fahrzeugs (100) verhindert. Da sich dieser Gegenstand (210) unterhalb der Brück befindet, kann dieser nur sehr schwer von den Sensoren des Fahrzeugs (100) erfasst und als Gefahr erkannt werden. Durch den Abgleich der erfassten zweiten Objektdatenwerte mit den ersten eingelesenen Objektdatenwerten kann nun aufgrund eines Unterschieds in den Datenwerten der Gegenstand (210) erkannt werden, wodurch das Betreiben (340) des Fahrzeugs (100) entsprechend angepasst werden kann. Dies kann beispielsweise bei einem nicht-automatisierten Fahrzeug derart erfolgen, dass bestimmte Sicherheitssysteme, wie zum Beispiel ein Airbag oder ein Notbremssystem, bereits vorbereitet werden, damit bei einem Nichtabbremsen eines Fahrers des Fahrzeugs (100) die Systeme schnellstmöglich bereits stehen. Bei einem automatisierten Fahrzeug kann beispielsweise die Trajektorie (unter Berücksichtigung des vorhandenen Verkehrs) angepasst und der Gegenstand (210) umfahren werden. In the situation shown here by way of example, an object (210) which prevents a safe passage of the vehicle (100) is located below the bridge on the lane of the vehicle (100). Since this object (210) is located below the bridge, it can be detected very difficult by the sensors of the vehicle (100) and recognized as a danger. By matching the detected second object data values with the first object data values read in, the object (210) can now be detected due to a difference in the data values, whereby the operation (340) of the vehicle (100) can be adapted accordingly. This can be done, for example, in a non-automated vehicle such that certain Security systems, such as an airbag or an emergency brake system, already prepared so that when not braked a driver of the vehicle (100), the systems are already as soon as possible. In an automated vehicle, for example, the trajectory (taking into account the existing traffic) adapted and the object (210) are avoided.
Weiterhin kann es vorkommen, dass ein Objekt (200), wie beispielsweise die Brücke, insgesamt als Hindernis erkannt wird, da beispielsweise der Bereich unter Brücke als so dunkel wahrgenommen wird, dass die eigentliche Durchfahrtsmöglichkeit von einem Videosensor als Hindernis erkannt wird. Hier kann nun der Abgleich (330) der ersten und zweiten Objektdatenwerte dazu führen, dass das Betreiben (340) des Fahrzeugs (100) derart angepasst wird, dass keine unnötige Notbremsung ausgelöst wird, sondern das Fahrzeug (100) ohne Probleme unter der Brücke hindurch fahren kann. Furthermore, it may happen that an object (200), such as the bridge, for example, is recognized as an obstacle because, for example, the area under the bridge is perceived as so obscure that the actual passageway is detected by a video sensor as an obstacle. Here, the adjustment (330) of the first and second object data values can result in the operation (340) of the vehicle (100) being adjusted so that no unnecessary emergency braking is triggered, but the vehicle (100) passes under the bridge without any problems can drive.
Figur 3 zeigt anhand eines Ablaufdiagramms ein Ausführungsbeispiel des FIG. 3 shows an exemplary embodiment of the invention with reference to a flowchart
erfindungsgemäßen Verfahrens. inventive method.
In Schritt 300 beginnt das Verfahren. In step 300, the method begins.
In Schritt 301 nähert sich das wenigstens eine Fahrzeug (100) einem passierbaren Objekt (200). Dies kann erkannt werden, indem ein passierbares Objekt in der In step 301, the at least one vehicle (100) approaches a passable object (200). This can be detected by placing a passable object in the
(zweidimensionalen) Karte (120) als solches erkannt wird, wie beispielsweise das Erkennen einer Brücke mittels Navigationssystem. Eine weitere Möglichkeit ein passierbares Objekt zu erkennen, kann durch die Sensoren (101 ) des Fahrzeugs (100) erfolgen, indem solch ein Objekt (200) in der Umgebung (250) des Fahrzeugs (100) erkannt wird. Zudem können auch beide Verfahren genutzt werden um sich gegenseitig zu plausibilisieren.  (two-dimensional) map (120) is recognized as such, such as the recognition of a bridge by navigation system. Another way of detecting a passable object may be by the sensors (101) of the vehicle (100) by detecting such an object (200) in the environment (250) of the vehicle (100). In addition, both methods can be used to make each other plausible.
In Schritt 310 werden aus der Karte (120) erste Objektdatenwerte eingelesen, welche das passierbare Objekt umfassen. In step 310, from the map (120) first object data values are read in which comprise the passable object.
In Schritt 320 werden zweite Objektdatenwerte mittels Sensoren (101 ) erfasst, welche ebenfalls das passierbare Objekt (200) umfassen. In step 320, second object data values are acquired by means of sensors (101), which also comprise the passable object (200).
In Schritt 330 werden die ersten Objektdatenwerte mit den zweiten Objektdatenwerten verglichen. In Schritt 340 wird abhängig von dem in Schritt 330 durchgeführten Vergleich das wenigstens eine Fahrzeug (100) derart betrieben, dass ermittelt wird, ob beim Passieren des passierbaren Objekts (200) eine Gefahr für das wenigstens eine Fahrzeug (100) und/oder seine Insassen besteht oder nicht. Besteht eine solche Gefahr, folgt Schritt 341 und besteht keine Gefahr, endet das Verfahren mit Schritt 350. In step 330, the first object data values are compared with the second object data values. In step 340, depending on the comparison made in step 330, the at least one vehicle (100) is operated to determine whether a hazard to the at least one vehicle (100) and / or its occupants occurs as the passable object (200) passes exists or not. If such a risk exists, step 341 follows and there is no danger, the method ends with step 350.
In Schritt 341 werden Sicherheitssysteme, wie beispielsweise ein Airbag oder ein Notbremssystem, auf eine mögliche Kollision hin vorbereitet. In Schritt 342 wird entschieden ob eine Notbremsung bereist ausgelöst werden muss und gegebenenfalls auch ausgelöst. Wird eine Notbremsung ausgelöst, endet folgt Schritt 350 und das Verfahren endet. Wird entschieden, dass keine Notbremsung ausgelöst werden muss, folgt Schritt 320, da mit dem Annähern des wenigstens einen Fahrzeugs (100) an das passierbare Objekt (200) die Sensoren (101 ) das passierbare Objekt (200) eventuell besser erfassen können und somit die Situation aufgrund des Abgleichens (330) effizienter beziehungsweise genauer bewertet werden kann. In step 341, security systems, such as an air bag or emergency brake system, are prepared for a potential collision. In step 342, a decision is made whether an emergency braking trip has to be triggered and possibly also triggered. If an emergency stop is triggered, step 350 ends and the process ends. If it is decided that emergency braking does not have to be triggered, step 320 follows that, as the at least one vehicle (100) approaches the passable object (200), the sensors (101) may possibly better detect the passable object (200) and thus the Situation can be evaluated more efficiently or more accurately due to matching (330).
In Schritt 350 endet das Verfahren. In step 350, the process ends.

Claims

Verfahren zum Betreiben wenigstens eines Fahrzeugs (100) in Bezug auf wenigstens ein passierbares Objekt (200) in der Umgebung (250) des wenigstens einen Fahrzeugs mit folgenden Schritten: Method for operating at least one vehicle (100) with respect to at least one passable object (200) in the environment (250) of the at least one vehicle, comprising the following steps:
- Einlesen (310) von Kartendatenwerten aus einer Karte (120), wobei die Kartendatenwerte das wenigstens eine passierbare Objekt (200) in Form von ersten Objektdatenwerten umfassen;  Reading in (310) map data values from a map (120), the map data values comprising the at least one passable object (200) in the form of first object data values;
- Erfassen (320) von Umgebungsdatenwerten, welche die Umgebung (250) des wenigstens einen Fahrzeugs (100) repräsentieren und das wenigstens eine passierbare Objekt (200) in Form von zweiten Objektdatenwerten umfassen;  - acquiring (320) environmental data values representing the environment (250) of the at least one vehicle (100) and comprising at least one passable object (200) in the form of second object data values;
- Abgleichen (330) der eingelesenen Kartendatenwerten mit den erfassten Umgebungsdatenwerten nach vorgegebenen ersten Vergleichskriterien; und  - matching (330) the read-in map data values with the acquired environment data values according to predetermined first comparison criteria; and
- Betreiben (340) des wenigstens einen Fahrzeugs (100), abhängig von dem Abgleich der Datenwerte.  - operating (340) the at least one vehicle (100), depending on the alignment of the data values.
Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das wenigstens eine passierbare Objekt (200) ein unterfahrbares Objekt ist, insbesondere eine Brücke oder ein Tunnel. A method according to claim 1, characterized in that the at least one passable object (200) is an accessible object, in particular a bridge or a tunnel.
Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Betreiben (340) des wenigstens einen Fahrzeugs (100) derart erfolgt, dass die Höhe des wenigstens einen Fahrzeugs (100) berücksichtigt wird. A method according to claim 1, characterized in that the operation (340) of the at least one vehicle (100) takes place such that the height of the at least one vehicle (100) is taken into account.
Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die ersten A method according to claim 1, characterized in that the first
Objektdatenwerte das wenigstens eine passierbare Objekt (200) in Form von erfassten Sensordaten umfassen. Object data values which comprise at least one passable object (200) in the form of sensed sensor data.
Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Abgleichen (330) nach den vorgegeben ersten Vergleichskriterien derart erfolgt, dass bestimmt wird, ob das wenigstens eine passierbare Objekt (200) für das wenigstens eine Fahrzeug (100) zumindest vorübergehend passierbar oder nicht passierbar ist. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die A method according to claim 1, characterized in that the matching (330) according to the predetermined first comparison criteria is such that it is determined whether the at least one passable object (200) for the at least one vehicle (100) at least temporarily passable or not passable , A method according to claim 1, characterized in that the
Kartendatenwerte bezüglich des wenigstens einen passierbaren Objekts (200) aktualisiert werden. 7. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Betreiben (340) derart erfolgt, dass wenigstens eine Fahrassistenzfunktion des wenigstens einen Fahrzeugs (100), insbesondere wenigstens eine automatisierte  Map data values relating to the at least one passable object (200) are updated. 7. The method according to claim 1, characterized in that the operation (340) takes place such that at least one driver assistance function of the at least one vehicle (100), in particular at least one automated
Fahrassistenzfunktion des wenigstens einen Fahrzeugs (100), abhängig von dem Abgleich der Datenwerte ausgeführt und/oder modifiziert wird.  Driver assistance function of the at least one vehicle (100), is executed and / or modified depending on the adjustment of the data values.
8. Verfahren nach Anspruch 5 und 7, dadurch gekennzeichnet, dass wenn das wenigstens eine passierbare Objekt (200) als vorübergehend nicht passierbar erkannt wird als Fahrassistenzfunktion eine Notbremsung vorbereitet und/oder ausgeführt wird. 8. The method according to claim 5 and 7, characterized in that when the at least one passable object (200) is recognized as temporarily non-passable as a driver assistance function emergency braking prepared and / or executed.
9. Vorrichtung (1 10) zum Betreiben wenigstens eines Fahrzeugs (100) in Bezug auf wenigstens ein passierbares Objekt (200) in der Umgebung (250) des wenigstens einen Fahrzeugs (100) mit folgenden Mitteln: 9. Device (1 10) for operating at least one vehicle (100) with respect to at least one passable object (200) in the vicinity (250) of the at least one vehicle (100) by the following means:
- Erste Mittel (1 1 1 ) zum Einlesen (310) von Kartendatenwerten aus einer Karte (120), wobei die Kartendatenwerte das wenigstens eine passierbare - First means (1 1 1) for reading in (310) map data values from a map (120), wherein the map data values the at least one passable
Objekt (200) in Form von ersten Objektdatenwerten umfassen;Comprise object (200) in the form of first object data values;
- Zweite Mittel (1 12) zum Erfassen (320) von Umgebungsdatenwerten, welche die Umgebung (250) des wenigstens einen Fahrzeugs repräsentieren und das wenigstens eine passierbare Objekt (200) in Form von zweiten Objektdatenwerten umfassen; Second means (1 12) for acquiring (320) environmental data values representing the environment (250) of the at least one vehicle and comprising at least one passable object (200) in the form of second object data values;
- Drittel Mittel (1 13) zum Abgleichen (330) der eingelesenen  - Thirds means (1 13) to match (330) the read
Kartendatenwerten mit den erfassten Umgebungsdatenwerten nach vorgegebenen ersten Vergleichskriterien; und  Map data values with the acquired environmental data values according to predetermined first comparison criteria; and
- Vierte Mittel (1 14) zum Betreiben (340) des wenigstens einen Fahrzeugs (100), abhängig von dem Abgleich der Datenwerte.  - Fourth means (1 14) for operating (340) the at least one vehicle (100), depending on the comparison of the data values.
10. Vorrichtung (1 10) nach Anspruch 9, dadurch gekennzeichnet, dass die Mittel (1 1 1 , 1 12, 1 13, 1 14) derart ausgelegt sind, ein Verfahren gemäß wenigstens einem der Ansprüche 2-8 auszuführen. 10. Device (1 10) according to claim 9, characterized in that the means (1 1 1, 1 12, 1 13, 1 14) are designed such a method according to at least one of claims 2-8.
EP17710500.4A 2016-04-29 2017-03-06 Method and device for a motor vehicle for comparing surrounding area map data with surrounding area sensor data in order to ascertain the passability of a road object Withdrawn EP3449277A1 (en)

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CN109073749A (en) 2018-12-21
US20190092291A1 (en) 2019-03-28
DE102016207463A1 (en) 2017-11-02
US10889271B2 (en) 2021-01-12
WO2017186385A1 (en) 2017-11-02
JP6910375B2 (en) 2021-07-28
JP2019520623A (en) 2019-07-18

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