SE1350897A1 - Sensor detection management - Google Patents

Abstract

SUMMARY Method (500) and calculation unit (110), for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of this established systematically deviating sensor detection. The method (500) includes receiving (501) a sensor detection associated with the geographic position, Than a vehicle sensor (120); comparing (502) the received (501) sensor detection with previously received sensor detections at the same geographic location; determining (503) a systematic deviation for sensor detections associated with the geographic position; sanding (504) of a notification of the systematic deviation of sensor detections at the geographical position of the driver assistance system (130) in the vehicle (100), thereby enabling a suppression of this systematically deviating sensor detection.

Description

TECHNICAL FIELD OF THE SENSOR DETECTION The invention relates to a method and a calculating unit in a vehicle. More particularly, the invention provides a mechanism for handling systematically deviating sensor detections made at a particular geographic location.

BACKGROUND A vehicle sometimes includes a driver assistance system comprising sensors such as radar, cameras and similar types of sensors which identify objects around the vehicle, such as lanes, signs, pedestrians and other surrounding vehicles.

In this context, vehicles refer to, for example, lorries, lorries, transport vehicles, passenger cars, emergency vehicles, vehicles, buses, motorcycles, fire engines, an amphibious vehicles, boats, aircraft helicopters or other similar motorized or unmanned means of transport, adapted for geographical transport to land, to sea or in the air.

These sensors are perfectly perfect and can therefore give off false detections of objects, or give objects incorrect properties so that, for example, a vagrant sign is interpreted as a person. This can have unintended consequences where a driver assistance system in the vehicle makes incorrect decisions. For example, such a false detection of a person in front of the driver's lane could generate an uninjured, and for the driver and fellow road users, most likely unexpected emergency braking, initiated by the driver assistance system.

Such behavior is not only unpleasant for the driver but can also generate accidents as surrounding road users are surprised by sudden and unexpected vehicle maneuvers. Furthermore, the vehicle's transport time can be required, fuel consumption can be increased 2 and emissions of emissions can be increased in the event of repeated unexpected emergency braking of the above kind.

Another safety hazard is that the driver simply falls on the imperfections of sensors and driver assistance systems and therefore disconnects or ignores this, which can pose a safety risk if a really unexpected obstacle, such as an algae or other game, suddenly appears in front of the vehicle.

Another disadvantage of cornering with existing driver assistance systems is that they react with yarning and / or regulating action when, for example, violating a line marking on the road, even in cases where this is unavoidable in order to be able to drive the vehicle on the current road section, for example to - 1610 of vag work, repainting of the line marking or the like. In this case, the driver of the vehicle has been employed by yarning and regulatory action in the onodan, which further lowers the driver's confidence in the driver assistance system.

It can be stated that much remains to be done to improve sensors and driver assistance systems in vehicles.

SUMMARY OF THE INVENTION It is therefore an object of this invention to improve the reliability of a driver assistance system in a vehicle, to solve at least some of the above problems and to achieve a vehicle improvement.

According to a first aspect of the invention, this targeting is achieved by a method in a calibration unit, for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system in a vehicle of this established systematically deviating sensor detection. The method comprises receiving a sensor detection associated with the geographical position, from a vehicle sensor. Furthermore, the method also comprises comparing the received sensor detection with previously received sensor detections at the same geographical position. Then a systematic deviation is determined for sensor detectors associated with the geographical position. When such a systematic deviation has been established, a notification of this systematic deviation for sensor detections at the geographical position of the driver assistance system in the vehicle is sent, in order thereby enabling a suppression of this systematically deviating sensor detection.

According to a second aspect of the invention, this targeting is achieved by a calibration unit, arranged to determine a systematically deviating sensor detection at a geographical position and also to inform a driver assistance system in a vehicle of this established systematically deviating sensor detection. The calibration unit 10 comprises a receiving circuit, arranged to receive a sensor detection associated with the geographical position from a vehicle sensor. The calculation unit also comprises a processor circuit which is arranged to compare the received sensor detection with previously received sensor detections at the same geographical position, and is also arranged to determine a systematic deviation for sensor detections associated with the geographical position. Furthermore, the calibration unit also comprises a sanding circuit, arranged to send a notification of the systematic deviation for sensor detections at the geographical position of the driver assistance system in the vehicle, in order to thereby make it possible to suppress this systematically deviating sensor detection.

By collecting information about objects that have been hit by at least one sensor and compiling the properties of these hit objects, such as type of object, geographical position, size, etc., one can draw conclusions about the sensor detection of the object. Sensor detections that can be considered incredible according to certain criteria, such as stagnant algae encountered in urban environments for a long time, can in all probability be classified as fault detections. This information can then be communicated to vehicles approaching an identified false signal and the front assistance functions can take this into account and suppress the yarning or atgard Than front assistance system at this geographical position.

However, in some embodiments, information can also be used to suppress warnings or to act when the vehicle exceeds a line marking on the road. 4 Even if the sensor detection of the line marking itself is correct, the conditions at this particular road section can cause many vehicles to exceed the line marking. This can be detected by studying accident statistics for places with elevated warning statistics. If an elevated accident statistic is not available on the relevant road section, it can be concluded that the elevated warning statistics are either the result of incorrect detections of road markings or that the vehicles of some natural shell do not follow the line marking on the road but do not expose themselves to increased danger. or incorrectly placed line marking or that vehicles simply often take out the bend in a certain curve and then exceed a line10 marking.

By suppressing such unnecessary warnings for infringements or fault detections, a driver assistance system can be obtained which generates fewer erroneous or unnecessary warnings / interventions, which leads to increased traffic safety due to predictability in the vehicle's behavior for the driver as well as for fellow road users. among the drivers, less irritation and less likelihood of the driver ignoring warnings than the driver assistance system, or disconnecting this. This achieves an improvement of the vehicle.

Other advantages and further features will become apparent from the following detailed description of the invention.

LIST OF FIGURES The invention will now be described in further detail with reference to the accompanying figures, which illustrate different embodiments of the invention: Figure 1 illustrates an embodiment of a vehicle according to an embodiment.

Figure 2 Illustrates an embodiment of the invention.

Figure 2 Illustrates an embodiment of the invention.

Figure 2Cillustrates an embodiment of the invention.

Figure 3 illustrates an embodiment of the invention.

Figure 4 illustrates an embodiment of the invention.

Figure shows a flow chart illustrating an embodiment of the invention.

Figure 6 is an illustration of a calculating unit in a system, according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION The invention is defined as a method and a calculation unit for determining a systematically deviating sensor detection at a geographical position and informing a driver assistance system in a vehicle of this established systematically deviating sensor detection, which can be realized in the embodiments described below. However, this invention may be practiced in many different forms and should not be construed as limited to the embodiments described herein, which are intended to illustrate and illustrate various aspects of the invention.

Additional aspects and features of the invention will become apparent from the following detailed description when considered in conjunction with the accompanying figures. However, the figures are to be considered only as examples of different embodiments of the invention and should not be construed as limiting the invention, which instead is limited only by the appended claims. Furthermore, the figures are not necessarily to scale, and are, unless otherwise specifically indicated, intended to conceptually illustrate aspects of the invention.

Figure 1 shows a vehicle 100. The vehicle 100 may, for example, be stationary, be prepared for a planned movement in a certain direction of travel 105, be in motion in the direction of travel 105 or be in motion in the opposite direction, i.e. reverse. 6 Pa or in the vehicle 100, at least one sensor 1 is mounted, which is arranged to detect an object 125.

The sensor 120 may comprise, or consist of, for example, a radar feeder, a laser feeder such as a LightDetection And Ranging (LIDAR), sometimes also called a LADAR or laser radar, a camera such as a Time-ofFlight camera (ToF camera), a stereo camera, a light field camera, a distance feeder based on ultrasonic scales or similar device configured for distance assessment.

A LIDAR is an optical food instrument that measures properties that have reflected light 10 to find the distance (and / or other properties) to a remote object 125. The technology is very reminiscent of radar (Radio Detection and Ranging), but instead of radio waves is used light. Typically, one measures the distance to an object 125 by feeding the time delay between a transmitted laser pulse and the recorded reflex.

A Time-of-Flight camera (ToF camera) is a camera system that takes a sequence of images and measures a distance to an object 125 based on the known light speed, by feeding the time access for a light signal between the camera and the object 125.

Furthermore, the vehicle 100 may include several sensors 120 in certain embodiments. These can be of the same type or of different types according to different embodiments.

An advantage of having more than one sensor 120 is that more reliable distance assessment can be made.

The sensor 120, or the sensors, can advantageously be placed on the inside of the vehicle, as inside the wheelhouse, where it is! Also protected against all external damage, theft and damage such as dirt, snags and the like. Thereby, the reliability of the sensor 120 can be improved and the service life of the sensor 120 can be required.

Alternatively, the sensor 120 may be located high up on the outside of the vehicle near the roof of the vehicle. As a result, the range of the sensor can be required, which means that object 125 can be detected at a longer distance, which means that the driver is given a longer reaction time to brake or make an evasive maneuver, in case the object 125 is a suddenly appearing human or game in kOrbanan.

The object 125 can be an arbitrary forennial, such as another vehicle, a lane sign, a cradle, a property, a tree, a pedestrian, an animal or the like. It is irrelevant to the invention whether the object 125 is in motion or stationary. The invention is also independent of whether the own vehicle 100 is stationary or in motion.

By having information collected about objects 125 that have been patrolled by at least one sensor 120 and the properties of these patented objects, such as type of object, geographical position, size, etc. to a computer system that can be, for example, local (in the vehicle 100) or centrally, one can draw conclusions about found objects 125. Objects 125 that can be considered incredible, for example a stagnant algae found in an urban environment for a long time, can be classified as error detections with high probability. This information can then be communicated to vehicles approaching an identified false template and the driver assistance functions can take this into account and suppress warning / action at this geographical position.

For example, a certain road sign 125 can be detected regularly, for a long time as a pedestrian by the sensor 120, a vehicle 100, or several different vehicles passing on a motorway. Since a pedestrian is very often stationed for a long time next to a motorway, the system can conclude that this is a false detection and notify the arriving vehicle passing the sign 125 and thus avoid incorrect interventions or warnings from the vehicle assistance system.

However, in some embodiments, information may also be used to suppress warnings and / or accidental actions as the vehicle 100 exceeds a line marking on the road. Such yarning for exceeded line marking is sometimes referred to as "Lane Departure Warning" (LDW). For example, when collected statistical data point to places with clearly elevated warning statistics without a corresponding increase in accident statistics, it can be concluded that the elevated warning statistics are either the result of incorrect detections of road markings, or that the vehicles of something natural do not follow the line marking on the road. the spirit does not expose itself to increased danger, due to, for example, road work, unclear or incorrectly placed line marking or that vehicles simply often take the bend in a certain curve and then exceed a line marking.

By suppressing such unnecessary warnings for line violations or fault detections, a driver assistance system can be obtained which generates danger erroneous, unnecessary or unnecessary warnings / interventions, leading to increased acceptance among drivers, less irritation and less likelihood that -Waren ignores warnings from the driver system or driver assistance this.

The invention can be practiced in a number of different forms, for example detections Than sensors in a plurality of vehicles can be compiled in a central database, and information regarding systematically deviating sensor detections at a certain geographical position is sent to vehicles approaching this geographical position. Examples based on this embodiment are explained in more detail in connection with the presentation of Figures 2A-2C.

In some embodiments, sensor detections are made by one or more sensors 120 in an individual vehicle 100, which are stored and analyzed locally in a database in the vehicle 100 and then used locally in the vehicle 100 the next time a certain geographical position is approached where a systematically deviating sensor detection is encountered. . Examples based on this embodiment are explained in more detail in connection with the presentation of Figure 3. In some embodiments, sensor detections are made by one or more sensors 120 in a vehicle 100, which are stored and analyzed locally in a database in the vehicle 100 and, when a systematic deviation sensor detection has been encountered, information about this is sent to one or more other vehicles in the vicinity via card hall communication when the vehicle 100 approaches the current geographical position the next time. Examples based on this embodiment are explained in more detail in connection with the presentation of Figure 4.

Figure 2A shows an embodiment of the invention. The sensor 120 in a first vehicle 100-1 detects an object 125, in this case a road sign. This sensor detection is sent via a wireless interface to a computing unit 110, which is centrally located, or accessible for access by a plurality of vehicles. An example of this is the vehicle manufacturer's supplierOrsportal, or other database accessible via the internet. The calculation unit 110 can then perform calculations on collected sensor detections and detect systematic deviations, from which it can be concluded that sensor detections at a certain geographical position are likely to be incorrect, or should be suppressed for some other reason. This information can then be sent out to all vehicles; to all vehicles connected to such a service, for example as subscribers; to vehicles located near the geographical position where the systematically deviating sensor detection has been made or to a specific specific vehicle 100-2, in different embodiments.

Figure 2B shows an embodiment of the invention similar to that shown in Figure 2A but illustrated from a driver's perspective from within the first vehicle 100-1.

The sensor 120 detects an object 125, has a cradle sign; an information taken in by the local driver assistance system 130-1, but interpreted as a deer, which may be visually impaired to the driver visually on a screen 135, in some embodiments. This information can then be transmitted via a sander 140-1 in the vehicle 100-1 to the calibration unit 110 over a wireless interface.

Such a wireless interface may, for example, be based on any of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Ratings for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), ( CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC) , or similar communication technology according to different embodiments.

The sensor 120 and the driver assistance system 130-1 are arranged to communicate partly with each other in order to receive signals and the food value and possibly also to trigger a supply, for instance at a certain time interval.

The communication between the sensor 120, the driver assistance system 130-1 and / or the transmitter 140-1 can also be done over the wireless interface in certain embodiments. In other embodiments, this communication may be via a wired interface, including a communication bus system consisting of one or more communication buses for interconnecting a number of electronic controllers (ECUs), or controllers, and various components and sensors 120 located on the vehicle 100. .

The communication bus of the vehicle may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or flagon other bus configuration.

The calculation unit 110 receives data collected by the sensor 120 and also other information associated with collected data, for example geographical location. The geographical position of the sensor detection can be determined, for example, by a satellite navigation system such as the Global Positioning System (GPS), Galileo, GLONASS or the like, which can be found in the vehicle 100, or for example in the driver's mobile phone. The geographical position can alternatively also be determined by triangulation of radio signals sent Than radio base stations with known geographical positions; by a sensor detection; by information from the vehicle's trip feeder and / or by manually entering the vehicle's driver.

The calibration unit 110 analyzes the received sensor detection by comparing it with previously received sensor detections at the same geographical position, in order to find a systematically deviating sample from what can be expected. Examples of when a systematic deviation for sensor detections associated with the geographical position can be determined may be when stagnant game is found in a large city of a number of sensor detections exceeding a certain predetermined spruce value, or cla a percentage of all sensor detections exceeding a certain predetermined spruce value . Another example could be when sensor detections indicate a stationary pedestrian in the middle of a motorway, a building located in the middle of a motorway and the like.

For example, the analysis in the calibration unit 110 may include mapping to a table with fixed grid values that reflect the probability that a particular sensor detection will occur. A non-exhaustive example of this is shown in Table 1. All specified spruce values shall be considered only as arbitrary examples of spruce values. environmental type sensor detection spruce response Urban environment wild Motorway Stagnant person Motorway Building on the carriageway Table 1 Another example of when systematic deviation for sensor detections can be encountered may be a comparison between sensor signals that indicates a warning violation at a certain geographical position does not correspond to increased frequency. this position. 12 Geographical position A Number of yarning and time period B Number of accidents / time period Spruce value G (ratio B / A <G) N 57 ° 41 '48.34 "572 0 0.01 E 1 55' 12.4" N 42 ° 36 ' 12.8 "0.1 E 35 ° 22 '8.86" N 63 ° 39' 12.5 "39 0 0.01 E 45 ° 45 '75.27" Table 2 Another example of how systematic deviation for sensor detections can be encountered can be when a comparison between sensor signals made in the vehicle 100I differ Than detections made by a reference sensor, which during manual Monitoring have been registered for, for example, fixed objects which on a lane such as road signs, lighting poles, telephone seat pairs and similar objects 125. Also in this embodiment it is possible to add In order to avoid suppressing a yarning for a pedestrian in the lane, which is just adjacent to, for example, a lane sign, see non-limiting example in Table 3.

Geographical position reference Sensor detection / time unit border N 57 ° 41 '48.34 "road sign 5 algae E 1 1 ° 55' 12.4" N 42 ° 36 '12.8 "road sign pedestrian E 35 ° 22' 8.86" N 63 ° 39 '12.5 " Lighting pole Tractor 13 E 0 45 '75.27 "Table 3 Since a systematic deviation can be determined at a geographical position, for example according to the flag of the criteria described above, the calculation unit 110 can send a notification of the systematic deviation for sensor detections at the geographical position to the driver assistance system 130-2 in the second vehicle 1002, to thereby enable a suppression of this systematically deviating sensor detection, which is ascribed in Figure 2C.

Such notification can be sent wirelessly to the other vehicle 100-2 and received by a receiver 140-2 in this vehicle 100-2. Such a wireless interface may, for example, be based on the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC) , or similar communication technology according to different embodiments.

The notification can be sent to all vehicles 100, to all vehicles 100 that are in connection with the geographical position, to all vehicles 100 that are registered or subscribed to a certain service that provides this information, or as a directed notification to a specific vehicle. 100-2 according to different embodiments.

According to some other embodiments, such notification may instead be sent to the other vehicle 100-2 via a software update, over a wireless or tad-bound interface. As a result, systematically deviating sensor detections can be suppressed in the second vehicle 100-2. Figure 3 shows an embodiment of the invention where the sensor 120, as well as the calculating unit 110, are located in the same vehicle 100 illustrated than a driver perspective from within the vehicle 100.

The sensor 120 detects an object 125, has a cradle sign; an information taken in by the local driver assistance system 130, but interpreted as a deer, which can be visually damaged for the driver visually on a screen 135, in some embodiments. This information can then be transmitted to the computing unit 110 over a wireless or wired interface, as exemplified above.

This embodiment can be used, for example, in a vehicle 100 which Icor along the same carriageway with a certain regularity, for example a city bus which runs along a certain fixed line.

Since the calculation unit 110 finds that a systematic deviation can be determined by comparing sensor detection with previously made sensor detections at the same geographical position.

Since such systematic deviation can be determined, for example, by applying flakes of the criteria described above, this information is sent to the vehicle driver assistance system 130 to suppress a yarning packaged by this sensor detection. In some embodiments, an action initiated from the vehicle driver assistance system 130 may be suppressed.

Figure 4 shows an embodiment of the invention where the sensor 120, as well as the calculation unit 110, is located in the same first vehicle 100-1, but where a notification of the systematic deviation for sensor detections at the geographical position of the driver assistance system 130 in a second vehicle 100 2, to thereby enable a suppression of this systematically deviating sensor detection.

Such a transfer can alternatively be made over a wireless interface, for example some of the ones exemplified above, to all vehicles within range of the wireless transfer; to all vehicles adjacent to the geographical position; to a vehicle 100-2 connected to a service which provides these detections of systematically deviating sensor detection.

Figure illustrates an example of an embodiment of the invention. The flow chart in Figure 5 depicts a method 500 in a calibration unit 110, for establishing a systematically deviating sensor detection at a geographical position and notifying a driver assistance system 130 in a vehicle 100 of this established systematically deviating sensor detection.

The calculating unit 110 may be located in the vehicle 100, in another vehicle, or outside the vehicle 100, accessible for communication with a plurality of vehicles. In order to be able to determine the systematic deviating sensor detection in a correct way, the method 500 may comprise a number of steps 501-504. It should be noted, however, that some of the described steps 501-504 may be performed in a slightly different chronological order from what the numbering order suggests and that some of them may be performed in parallel with each other, according to different embodiments. The method 500 comprises the following steps: Step 501 A sensor detection associated with a particular geographical position is received from a vehicle sensor 120.

Step 502 The received 501 sensor detection is compared with previously received sensor detections at the same geographical position.

The comparison in some embodiments includes a comparison of warning statistics followed by sensor detections at the geographical position and accident statistics for the same geographical position. Step 503 A systematic deviation for sensor detections associated with the geographical position is determined.

The determination of the systematic deviation can in certain embodiments be made when an increased sensor-triggered warning statistics, without increased accident statistics can be determined.

The determination of the systematic deviation for sensor detections associated with the geographical position may in certain embodiments include determining the type of vehicle environment at the geographical position, type of sensor detection and a plausibility assessment based on the probability that a certain sensor detection is made in a certain type of vehicle environment.

The determination of the systematic deviation for sensor detections associated with the geographical position may also include an assessment of the accuracy of sensor detections and a systematic deviation may be established when a ratio between a first type of sensor detection and a second type of sensor detection for the geographical position exceeds a spruce value.

Step 504 A notification of the systematic deviation of sensor detections at the geographical position is sent to the driver assistance system 130 in the vehicle 100, thereby enabling a suppression of this systematically deviating sensor detection.

The sanding of the notification of systematic deviation can be done to the vehicle 100 as this is adjacent to the geographical position where the incorrect sensor detection could be determined 503. In some embodiments the sanding of the notification of systematic deviation Ors to the vehicle 100 via a software update. Figure 6 shows an embodiment of a system 600 comprising, inter alia, a calculation unit 110, arranged to perform at least parts of the method 500 for determining a systematic deviating sensor detection at a geographical position and notifying a driver assistance system 130 in a vehicle 100 of this determined systematic deviation. sensor detection.

The calibration unit 110 comprises a receiving circuit 610, arranged to take a sensor detection associated with the geographical position of a vehicle sensor 120. Such signal reception can be done over a wireless interface according to certain embodiments.

For example, the wireless network may be based on the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000 ), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC) , or similar communication technology according to different embodiments.

According to certain other embodiments, the receiving circuit 610, and the sensor 120 are arranged for communication and information transmission over a wired interface. Such wired interfaces may include a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs), or controllers / controllers, and various components and sensors located on the vehicle 100.

The receiving circuit 610 and said sensor 120 are in turn arranged to communicate partly with each other, in order to receive signals and the food value and possibly also to trigger a supply, for instance at certain time intervals. Furthermore, the receiving circuit 610 and said sensor 120 are arranged to communicate, for example, via the communication bus of the vehicle, which may be constituted by one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or flagon other bus configuration; or by a wireless connection, for example according to the flag of the above-mentioned technologies for wireless communication.

Further, the computing unit 110 includes a processor circuit 620. The processor circuit 620 is arranged to compare the received sensor detection with previously received sensor detections at true geographical position, and also arranged to determine a systematic deviation for sensor detections associated with the geographical position.

The processor circuit 620 may furthermore in certain embodiments be arranged to compare warning statistics following sensor detections at the geographical position and accident statistics for the same geographical position, and may also be arranged to determine a systematic deviation, where an increased sensor-triggered warning statistics can be established without warning statistics. .

The processor circuit 620 may further be arranged to in certain embodiments determine the type of vehicle environment at the geographical position, determine the type of sensor detection, make a plausibility assessment based on the probability that a certain sensor detection is made in a certain type of vehicle environment and determine a systematic deviation for the sensor detection. associated with the geographical position based on this assessment of reasonableness.

The processor circuit 620 may further be arranged to check the accuracy of the sensor detections made at the geographical position and arranged to establish a systematic deviation for the sensor detections when a ratio between a first type of sensor detection and a second type of sensor detection for the geographical position exceeds a spruce value.

The processor circuit 620 may be, for example, one or more Central Processing Unit (CPU), microprocessor or other logic designed to interpret and execute instructions and / or to read and write data. The processor circuit 620 may handle data for inflow, outflow or data processing of data including also buffering data, control functions and the like.

The calibration unit 110 further includes a sanding circuit 630, arranged to transmit a notification of the systematic deviation of sensor detections at the geographical position of the driver assistance system 130 in the vehicle 100, thereby enabling a suppression of this systematically deviating sensor detection.

The sanding circuit 630 may in some embodiments be arranged to send the notification of the systematic deviation to the vehicle 100 as this is adjacent to the geographical position where the erroneous sensor detection could be determined.

The calibration unit 110 may further in certain embodiments comprise a memory unit 6 arranged to store received sensor detection associated with a geographical position. The memory unit 625 may be a storage medium for data, such as a memory card, flash memory, USB memory, hard disk or other similar data storage device, for example, a flag from the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), etc. in various embodiments.

Furthermore, according to certain embodiments, the invention includes a computer program for determining a systematically deviating sensor detection at a geographic position and notifying a driver assistance system 130 in a vehicle 100 of this established systematically deviating sensor detection by a method 500 according to any of steps 501-504, when the computer program a processor circuit 6i a calculation unit 110.

The method 500 according to at least some of the steps 501-504 for determining the systematically deviating sensor detection may be implemented by one or more processor circuits 620 in the computing unit 110 together with computer program code for performing the flag, some, some or all of the steps 501-504 described above. Thereby, a computer program including instructions for performing steps 501-504 as the program is loaded into the processor circuit 620.

This computer program described above in the vehicle 100 is in certain embodiments arranged to be installed in the memory unit 625 in the calculating unit 110, for example over a wireless interface as previously described.

The invention further comprises in certain embodiments a system 600 for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system 130 in a vehicle 100 of this established systematically deviating sensor detection.

The system 600 includes a vehicle sensor 120, arranged for sensor detection. The system 600 also includes a calculating unit 110, as described above. Furthermore, in some embodiments, the system 600 includes a driver assistance system 130.

The vehicle sensor 120 included in the system 600 may include, for example, a camera, a 3D camera, a radar feeder, a laser feeder and / or a distance feeder based on ultrasonic waves. Furthermore, the system 600 may include a plurality of vehicle sensors.

In some embodiments of the system 600, the vehicle sensor 120, the calculator 110 and the driver assistance system 130 may be located in the same vehicle 100. In other embodiments, the vehicle sensor 120 is located in a first vehicle 100-1 and the driver assistance system 130 in a second vehicle 100-2 while the calculator 110 may be located in any of these vehicles 100-1, 100-2, or at any position outside these vehicles 100-1, 100-2.

In certain embodiments of the system 600, the calculating unit 110 is arranged to communicate wirelessly with the vehicle sensor 120 and the driver assistance system 130, respectively, where the vehicle sensor 120 is located in a first vehicle 100-1, the driver assistance system 130 is located in a second vehicle 100-2. The invention also includes a vehicle 100, including a system 600 for determining a systematically deviating sensor detection at a geographic location. 22

Claims (19)

PATENT REQUIREMENTS A method (500) in a calibration unit (110), for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) cm this established systematically deviating sensor detection, (501) of a sensor detection associated with the geographical position, Than a vehicle sensor (120); comparing (502) the received (501) sensor detection with previously received sensor detections at true geographical position; determining (503) a systematic deviation for sensor detections associated with the geographic position; sanding (504) of a notification of the systematic deviation of sensor detections at the geographical position of the driver assistance system (130) in the vehicle (100), thereby enabling a suppression of this systematically deviating sensor detection. The method (500) of claim 1, wherein the comparing (502) comprises a comparison between warning statistics following sensor detections at the geographical position and accident statistics for the same geographical position, and determining (503) a systematic deviation is then made. increased sensor-triggered warning statistics without increased accident statistics can be determined. The method (500) of any of claims 1 or 2, wherein determining (503) a systematic deviation for sensor detections associated with the geographic position comprises determining the type of vehicle environment at the geographic position, type of sensor detection and a reasonableness assessment based on probability that a certain sensor detection Ors in a certain type of vehicle environment. The method (500) of any of claims 1-3, wherein determining (503) a systematic deviation for sensor detections associated with the geographic location comprises assessing the accuracy of sensor detections and determining a systematic deviation (503). ratio between a first type of sensor detection and a second type of sensor detection for the geographical position Exceeds a spruce value. The method (500) according to any one of claims 1-4, wherein the sanding (504) of the notification of systematic deviation Ors to the vehicle (100) when this is In connection with the geographical position where the incorrect sensor detection could be determined (503 ). The method (500) of any of claims 1-4, wherein the sanding (504) of the systematic deviation notification is applied to the vehicle (100) via a software update. A calculating unit (110), for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of this determined systematically deviating sensor detection, the calculating unit (110) being characterized by: a receiving circuit ( 610), arranged to receive a sensor detection associated with the geographical position of Iran a vehicle sensor (120); a processor circuit (620), arranged to compare the received sensor detection with previously received sensor detections at the same geographical position, and also arranged to determine a systematic deviation for sensor detections associated with the geographical position; a sanding circuit (630), arranged to send a notification of the systematic deviation of sensor detections at the geographical position of the driver assistance system (130) in the vehicle (100), thereby enabling a suppression of this systematically deviating sensor detection. The calibration unit (110) according to claim 7, wherein the processor circuit (620) is further arranged to compare warning statistics following sensor detections at the geographical position and accident statistics for the same geographical position, and 24 arranged to determine a systematic deviation, when an increase sensor-triggered warning statistics, without increased accident statistics can be determined. The calibration unit (110) according to any one of claims 7 or claim 8, wherein the processor circuit (620) is further arranged to determine the type of vehicle environment at the geographical position, to determine the type of sensor detection, or a reasonableness judgment based on the probability that a certain sensor detection Ors in a certain type of vehicle environment and establish a systematic deviation for sensor detections associated with the geographical position based on this reasonableness assessment. The calculation unit (110) according to claims 7-9, wherein the processor circuit (620) is further arranged to assess the tracking accuracy of the sensor detections made at the geographical position and arranged to determine a systematic deviation for the sensor detections when a ratio between a first type of sensor detection and a second type of sensor detection for the geographical position Exceeds a spruce value. The calibration unit (110) according to claims 7-10, wherein the sanding circuit (630) is arranged to transmit the notification of the systematic deviation to the vehicle (100) as this is in connection with the geographical position where the incorrect sensor detection could be determined. The calibration unit (110) according to claims 7-11, further comprising a memory unit (625), arranged to store received sensor detection associated with a geographical position. A computer program for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of this determined systematically deviating sensor detection by a method (500) according to any one of claims 1-6, da. the computer program is executed in a processor circuit (620) in a computing unit (110) according to any of claims 7-12. A system (600) for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of said established systematically deviating sensor detection, the system (600) comprising: a vehicle sensor (120). ), arranged for sensor detection; a calculating unit (110) according to any one of claims 7-12. The system (600) of claim 14, wherein the vehicle sensor (120) comprises: a camera, a 3D camera, a radar feeder, a laser feeder, an ultrasonic wave spacer. The system (600) of any of claims 14 or 15, wherein the vehicle sensor (120), the calculation unit (110) and the driver assistance system (130) are located in the same vehicle (100). The system (600) of any of claims 14-16, wherein the vehicle sensor (120) is located in a first vehicle (100-1), the driver assistance system (130) is located in a second vehicle (100-2), and wherein the calculation unit ( 110) is arranged to communicate wirelessly with the vehicle sensor (120) and the driver assistance system (130), respectively. The system (600) of any of claims 14-17, wherein the vehicle sensor (120) and the calculation unit (110) are located in a first vehicle (100-1), the driver assistance system (130) is located in a second vehicle (100-2). ) and where the calculating unit (110) is arranged to communicate wirelessly with the driver assistance system (130) in the other vehicle (100-2). A vehicle (100), comprising a system (600) according to any of claims 14-18, for determining a systematically deviating sensor detection at a geographical position. 1 / f1 1