WO2012076444A1

WO2012076444A1 - Method for assisting a driver while driving a motor vehicle and driver assistance system

Info

Publication number: WO2012076444A1
Application number: PCT/EP2011/071699
Authority: WO
Inventors: Thorsten Meyer
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2010-12-11
Filing date: 2011-12-05
Publication date: 2012-06-14
Also published as: DE102010054214A1

Abstract

The invention aims to disclose a solution to how the probability of an error during provision of a function for assisting the driver while driving a motor vehicle can be reduced to a minimum. For this purpose, a method is provided for assisting the driver while driving the motor vehicle (8) with the aid of a driver assistance system (1), in which sensor data about the environment of the motor vehicle (8) is captured with the aid of a sensor device (11). A function for assisting the driver is provided by the driver assistance system (1) using the sensor data. An error based on erroneous interpretation of the sensor data is detected during provision of the function. Then error data (F) characterising the erroneous interpretation and position data (P) which are associated with the error data (F) and which characterise a current global position of the motor vehicle (8) as the error location is stored in a memory device (10). A driver assistance system (1) for carrying out such a method is also provided.

Description

A method of assisting a driver in driving a motor vehicle and

Driver assistance system

The invention relates to a method for assisting a driver of a

Motor vehicle when driving the motor vehicle using a driver assistance system. A sensor device detects an environment of the motor vehicle, and sensor data are provided to the surroundings of the motor vehicle by means of the sensor device. The driver assistance system adjusts using the sensor data

Functionality by which the driver is assisted in guiding the motor vehicle. The invention additionally relates to a driver assistance system which is designed to carry out such a method.

Driver assistance systems for motor vehicles are state of the art. They serve to assist the driver when driving the motor vehicle. It concerns here such driver assistance systems, which by means of a sensor device - which may include, for example, a camera and / or a radar device and / or an ultrasonic sensor and the like - capture the environment of the motor vehicle or the vehicle environment and analyze the recorded sensor data. Based on the sensor data, functionalities or applications are then provided to assist the driver. The functionalities may be, for example, the output of a warning, an active intervention in a brake system of the motor vehicle, the activation of a

Headlamps, an active intervention in the steering of the motor vehicle and the like act.

However, a driver assistance system is never faultless. Errors occur, namely so-called false or false detections. The environment of the motor vehicle is sometimes misinterpreted. A misinterpretation of the sensor data will then immediately result in an error in the provision of functionality. Thus, it may happen, for example, that a driver assistance system incorrectly interprets a light of a reflector detected in the image as a light of an oncoming motor vehicle and then automatically switches from high beam to low beam based on image data from a camera, although in fact the detected light is a light reflected by the reflector of your own motor vehicle. The mistake in the

Provision of functionality - here the faulty or unwanted switching from the high beam to the low beam - is therefore a consequence of a faulty interpretation of the sensor data - here a faulty classification of the detected light. Erroneous interpretations of sensor data thus cause subsequent errors in the provision of applications to assist the driver.

It is an object of the invention to provide a solution, as in a method of the type mentioned, the driver assistance system can be operated with particularly low errors, so that the probability of error in providing the functionality is reduced to a minimum.

This object is achieved by a method with the features of claim 1, as well as by a driver assistance system having the features of claim 16. Advantageous embodiments of the invention are the subject of the dependent claims and the description.

An inventive method is used to assist a driver when driving a motor vehicle. The driver is assisted by means of a driver assistance system of the motor vehicle. There are sensor data to an environment of

Motor vehicle detected, namely using a sensor device. To assist the driver, the driver assistance system uses the sensor data to generate a

Functionality or application provided. According to the invention, it is provided that an error in providing the functionality is detected, which is based on a faulty interpretation of the sensor data. Error data characterizing or describing the erroneous interpretation of the sensor data, as well as the

Error data associated with position data that characterize a current global or geographical position of the motor vehicle as a fault location, stored in a memory device.

Thus, the effect according to the invention is achieved by recognizing on the one hand the error in providing the functionality that is the result of a misinterpretation of the sensor data, and on the other hand the position data - these describe the global position of the motor vehicle in the faulty provision of the functionality - assigned the error data - this is the faulty interpretation of the sensor data, such as "reflector classified as vehicle light" - in one

Memory device to be stored. The invention takes advantage of the fact that some errors of driver assistance systems occur repeatedly or reproducibly in certain places and most motorists often several times the same Drive on the track. The invention now goes the way to detect or "learn" an error occurred at a certain place and thus to improve the reliability of the driver assistance system through such a "self-learning process". The method according to the invention has the advantage that the driver assistance system can access the stored error data and the position data at any time and can avoid the error that has once occurred when the functionality is provided when the fault location is present again. The driver assistance system "learns" the faults during operation of the motor vehicle, so that the likelihood of a fault in providing the functionality with time is getting lower

Likelihood of error in providing the functionality is thus reduced to a minimum.

To determine the respective current global position of the vehicle, the driver assistance system may include a navigation receiver, which contains the

Provides positional data. It can be a GPS (Global Positioning System) receiver.

The erroneous interpretation can, for example, have the content that an object detected on the basis of the sensor data is incorrectly interpreted or classified. If the sensor data are image data recorded by a camera, then the misinterpretation may be, for example, a confusion of a reflector, on which the light of the own motor vehicle is reflected, with the headlight of an oncoming motor vehicle. It can thus errors in

Providing the functionality to be avoided on a faulty

Interpretation of a detected object based.

In one embodiment, the error is detected based on the sensor data,

in particular exclusively based on the sensor data. This has the advantage that no further data is required to detect the error. The error can indeed be determined on the basis of the sensor data, which already exists anyway.

This may, for example, be such that, in order to detect the error, the sensor data acquired after the erroneous provision of the functionality is compared with the sensor data that was acquired before the provision of this functionality. In this way, it is possible to detect, for example, an error in the control of a headlamp. For example, after detecting the headlight of an oncoming motor vehicle from the high beam to the low beam of your own Switched headlamps, so a mistake in providing this functionality, for example, be recognized that the apparent or supposed foreign headlights when switching to dipped beam immediately darkened significantly. It stands here the realization that here, for example, a reflector was mistakenly interpreted as a foreign vehicle light. By comparing the sensor data acquired after the provision of the functionality with the sensor data acquired before the provision of the functionality, the reliability of a driver assistance system can thus be improved, which is designed to control a headlight as a function of detected lights of other motor vehicles.

Another example relates to a driver assistance system, which is designed to assist the driver when parking the motor vehicle in a parking space. The functionality here includes calculating a parking path along which the motor vehicle can be parked in the parking space. Such a parking track is usually determined based on ultrasound data of an ultrasonic sensor as sensor data. An erroneous interpretation of this ultrasound data may consist in that the driver assistance system interprets an ultrasound signal of a foreign source as its own ultrasound signal and thus detects an object or an obstacle that actually does not exist. The following error in the provision of functionality can be the calculation of a wrong or a complex parking ticket here. During the process of parking, the driver assistance system can compare the ultrasound data acquired before the calculation of the parking path with the currently acquired ultrasound data and determine that the originally detected object does not exist at all. The driver assistance system can then correct the parking path. Even with such a situation, the method according to the invention proves to be advantageous: namely, error data can be stored which characterize the erroneous interpretation of the ultrasound data, for example "foreign sound interpreted as reflection".

Associated with these error data can also be stored position data that identify the global position of the motor vehicle. Is this located?

Motor vehicle at a later time again at this fault location, the driver assistance system can take into account the stored error data in the calculation of the parking path.

The sensor device can in principle be any desired sensor device. It can thus include at least one camera and / or at least one radar device and / or at least one ultrasound sensor and / or at least one laser scanner. Functionality can thus be based on radar data of a radar device as sensor data to be provided. Additionally or alternatively, a functionality based on image data of a camera can be provided as sensor data. Additionally or alternatively, a functionality based on ultrasound data of an ultrasonic sensor can be provided as sensor data. In addition or alternatively, a

Functionality also based on data from a laser scanner as sensor data

to be provided.

If the functionality is provided on the basis of image data of a camera, then this functionality can have the content that, based on the image data, a light from the

Motor vehicle different vehicle is detected and, taking into account the detected light, a headlight of the own motor vehicle is driven, is switched about from the high beam to the low beam. The driver assistance system can thus be a light automation system which detects and classifies lights in a camera image of the scene in front of the motor vehicle. This embodiment thus provides for the reliability of such a lighting automation system.

Thus, to the error data describing the erroneous interpretation of the sensor data, the position data is assigned, which identify the current global position of the motor vehicle or the fault location; and the error data is stored in the memory device together with the position data. The advantages of the invention are particularly fully apparent when the driver assistance system accesses this error data and the position data in order to avoid or suppress the error that has once occurred when the functionality is provided at a later time. The following procedure proves to be particularly advantageous: If the motor vehicle is again at the fault location, the sensor data can be discarded or interpreted in a different way than the faulty one. In this way, it is possible to avoid the subsequent error in providing the functionality and thus the

Reliability of the driver assistance system to improve overall. Namely, the error in providing the functionality can be suppressed.

Discarding the sensor data means that this data is not taken into account at the fault location at all, so that the subsequent error can not occur when the functionality is provided. If the sensor data is interpreted in a different way than the faulty one, then the following error in providing the

Functionality can be prevented. It can also be provided that, in the event of a renewed presence of the fault location, the sensor data is only discarded or rejected other than the erroneous way, if an additional criterion is met. In this way, it is possible to continue to make the driver assistance system plausible.

This additional criterion can include, for example, that the error has already occurred several times at the same fault location, that is to say that a predetermined number of the same fault has already been detected at the fault location. In other words, the sensor data can only be discarded or interpreted differently if the

Error data the same position data were stored several times. This predetermined number may, for example, be in a value range of two to five. This embodiment provides the reliability of the driver assistance system from the viewpoint of plausibility. The error is only suppressed or avoided if it is actually a reproducible error specific to that particular error location.

In addition to the position data, other data can also be assigned to the error data and stored in the memory device. After the error has been detected, it is also possible to store direction data which characterize a direction of movement of the motor vehicle at the error location. This can do that

Driver assistance system continues to be plausibility. Namely, the additional criterion may also include that with a predetermined accuracy - about ± 5 ° or ± 7 ° or more - the instantaneous direction of movement of the motor vehicle coincides with the direction of movement indicated by the stored direction data. This embodiment is based on the fact that there may be situations in which the sensor data is misinterpreted only when traveling from a certain direction, while when driving from another direction this sensor data can be interpreted correctly. Thus, a situation is avoided in which the sensor data is discarded or otherwise interpreted, although this is not necessary at all.

In the memory device also other data can be stored, namely together with the error data and the position data. If the functionality is provided on the basis of image data of a camera as sensor data and the erroneous interpretation that an object interpreted on the basis of the image data is classified incorrectly, the following data can be stored after recognition of the error when providing the functionality: Data identifying a position of the detected object in an image taken at the fault location, and / or

Data representing a motion vector of the object in the error location

recorded images, ie the direction of movement and / or the speed of movement of the object, and / or

Data characterizing a color of the object, and / or

Data identifying a size of the object.

With this data, a further plausibility of the driver assistance system is possible: The additional criterion may include that the renewed existence of the fault location on the basis of currently captured images with a predetermined

Accuracy is detected that:

the position of the object in the current image corresponds to the position indicated by the stored data and / or

the motion vector of the object in the current images corresponds to the motion vector indicated by the stored data and / or the color of the object in the current image corresponds to the color indicated by the stored data and / or

the size of the object in the current image is the size specified by the stored data.

It can thus be created a reliable and high-precision driver assistance system.

The storage device may also be a storage device common to a plurality of driver assistance systems or a plurality of functionalities. For a variety of functionalities that support the driver when driving the motor vehicle, at least one error can be detected in each case, and the respective error data can with the assigned position data in the common

Memory device to be stored. The functionalities can each be provided by different driver assistance systems, or several functionalities can be provided by a single driver assistance system.

After the error has been detected, data in the memory device can also be used

are stored, the current date - and especially the current time - specify. Then the error data and the assigned position data can are then deleted from the memory device, if a predetermined period of time has elapsed since the recognition of the error or since the storage of the data without the sensor data being discarded due to the stored error data or being interpreted in a manner other than the faulty one. In other words, the entries of the error data and the position data as well

if appropriate, further data are then deleted if a predetermined period of time has elapsed since the entry of these data into the memory device and these data were not used. This period of time may, for example, be in the range from one day to one month. Such a procedure has the advantage that the valuable storage space in the storage device can be saved and used for new entries.

It can also be provided that the data mentioned also from the

Memory means are deleted if a predetermined period of time has elapsed since the last discarding of the sensor data or the last interpretation of the sensor data in a manner other than the faulty. This period can also be in a range from one day to one month. Thus, the storage space can also be saved.

In one embodiment, the error data and the assigned position data - and optionally also other data - are transmitted to another vehicle, such as by means of a communication interface of the motor vehicle. These

Communication interface can be used for wireless communication with others

Be formed vehicles. Additionally or alternatively, error data as well as associated position data and, if appropriate, further data of another vehicle can also be received by means of such a communication interface and stored in the

Memory device to be stored. The memory device can thus also be supplemented by further entries of other vehicles, so that an overall comprehensive database is provided in the memory device, which ensures the reliability of the driver assistance system.

With the aid of a communication interface of the motor vehicle mentioned above, the error data and the assigned position data can also be transmitted to a remote computing station of a manufacturer of the driver assistance system. It is thus possible for the manufacturer to optimize the driver assistance system. The storage device may be arranged in the motor vehicle or else it may be outside the motor vehicle, for example in a base station. In the latter case, the storage device is then available to a plurality of motor vehicles which can access the stored data via a wireless communication channel.

Preferably, the memory device is a non-volatile memory.

Regardless of where the memory device is arranged, the content of the memory device-that is to say at least the error data and the position data-can be copied into an in-vehicle volatile memory during operation of the driver assistance system. Then the data can be accessed quickly, much faster than the non-volatile memory device.

If the storage device is arranged in the motor vehicle, then its content can also be deleted on the basis of an input that an operator at a

Operating device performs. The driver may also be given the option of activating or deactivating the storage device with the aid of the operating device.

A driver assistance system according to the invention is designed to assist a driver in driving a motor vehicle. The driver assistance system includes a sensor device for detecting an environment of the motor vehicle and the

Providing sensor data to the environment. It also includes one

A computing device for providing functionality for assisting the driver based on the sensor data. The computing device can when providing the

Functionality detect an error, which is based on a faulty interpretation of the sensor data. The computing device can after detecting the error

Store error data associated with position data in a memory device. The error data characterize the erroneous interpretation of the sensor data, while the position data identify a current global position of the motor vehicle as a fault location.

The preferred embodiments presented with reference to the process according to the invention

Embodiments and their advantages apply correspondingly to the driver assistance system according to the invention. The invention also relates to a motor vehicle, which is an inventive

Driver assistance system includes.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All the features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures are not only in the respectively indicated combination but also in others

Combinations or used alone.

The invention will now be described with reference to individual preferred embodiments, as well as with reference to the accompanying drawings.

Show it:

1 is a logical block diagram of a driver assistance system according to a

Embodiment of the invention; and

2 is a schematic representation of a motor vehicle with a

Driver assistance system according to an embodiment of the invention.

In the figures, the same and functionally identical elements are the same

Provided with reference numerals.

Fig. 1 shows a schematic representation of a logical block diagram of a

Driver assistance system 1, as it can be used in a motor vehicle to assist a driver when driving the motor vehicle. The functional blocks shown in FIG. 1 essentially represent logical modules or

Components that each have a different function. The functional blocks can be, for example, individual software programs and / or individual hardware components of the driver assistance system 1. You could also say that the logical

Block diagram, as shown in Fig. 1, a flowchart of a method according to an embodiment of the invention.

A first functional block 2 represents a conventional driver assistance system of a motor vehicle, such as a light automation system, which is based on Image data of a camera detects lights of oncoming motor vehicles and controls a headlight of the own motor vehicle. However, the function block 2 can in principle represent any driver assistance system which provides a functionality or application for assisting the driver. In the first functional block 2, therefore, sensor data are detected and analyzed by a sensor device-for example image data by a camera. On the basis of the sensor data, for example, an object external to the vehicle is recognized and classified, for example a light from a vehicle

oncoming motor vehicle. It is decided in the first function block 2, whether a functionality to assist the driver to be provided or not, such as whether issued a warning and / or from the high beam to low beam

should be switched and / or a parking to be calculated.

From the first function block 2 on the one hand output variables G are output;

On the other hand, the first function block 2 provides control commands S. The control commands S represent an output of the driver assistance system 1, by means of which, for example, a component of the motor vehicle can be controlled so that said functionality or application is provided for assisting the driver. The control commands S are delivered by the function block 2 to a further function block 3, which has the function to forward the control commands S or optionally to suppress. The functional block 3 can thus suppress the provision of the functionality to assist the driver. He can forward the control commands S or prevent the forwarding of the control commands S.

The output variables G include, for example, the sensor data mentioned, as well as information about the current status of the function block 2, such as information about whether the control commands S are output or not, or the functionality should be provided or not.

The outputs G are delivered to a function block 4, which serves to detect an error in the provision of functionality. Of the

Function block 4 recognizes the error on the basis of the output variables G, that is to say in particular based on the sensor data. If an error in the provision of the functionality is detected based on the sensor data, the function block 4 outputs error data F, namely to a further function block 5. The error data F indicate a

Misinterpretation of the sensor data by the function block 2, which in the

Generation of the control commands S or in the provision of functionality

was made and on which the error in the provision of functionality based. At the same time, the function block 5 also receives position data P which characterizes the current global or geographical position (fault location) of the motor vehicle when the fault is detected. In function block 5, the error data F is assigned to the position data P and simultaneously in a common

Memory device is stored, which is symbolized by another function block 6.

The output variables G, as well as the position data P, which characterize the respective current global position of the motor vehicle, also receives a further function block 7, which continuously checks during operation of the motor vehicle, whether the motor vehicle approaches the stored fault location. The function block 7 can also output suppression commands U to the function block 3. Due to the suppression commands U, the function block 3 can prevent the forwarding of the control commands S. The function block 7 compares the instantaneous global position of the motor vehicle with the position stored in the memory device 6 (fault location). If it is determined in the function block 7 that the motor vehicle approaches the fault location, then the function block 7 compares the current output variables G with the fault data stored in the memory device 6, which describe the misinterpretation of the sensor data.

So if the motor vehicle is again at the fault location, it checks

Function block 7 based on the output variables G, whether the currently recorded sensor data are interpreted incorrectly or not. This can be the functional block 7 on the basis of a comparison of the output G - they also include the said current status of the function block 2 - with the stored error data F recognize. If such a misinterpretation is recognized, the

Suppression commands U issued. In this case, the error in the

Provision of functionality prevented.

FIG. 2 shows a motor vehicle 8 with a driver assistance system 1 according to an embodiment of the invention. The driver assistance system 1 includes a computing device 9, in which, for example, those shown in FIG

Function blocks 2 to 7 can be implemented or included. The

Computing device 9 may also include a memory device 10 (function block 6 of FIG. 1), in which said error data F and the position data P can be stored. The driver assistance system 1 may also include a camera 1 1 placed behind a windshield 12, for example. The camera 1 1 can detect the surrounding area in front of the motor vehicle 8. The camera 1 1 captures image data which is sensor data. These image data are sent to the

Calculator 9 transmitted. The camera 1 1 is in fact electrically coupled to the computing device 9. The computing device 9 can deliver control commands S to a control device 16, which is designed to control headlights 13, 14 of the motor vehicle 8. Due to the control commands S, the control unit 16, for example, switch from the high beam to the low beam and vice versa.

The driver assistance system 1 is here a light automation system. The

Computing device 9 can on the basis of the image data lights oncoming

Detect motor vehicles and after detecting such a light, the control commands S to the controller 16, due to which the control unit 16 switches from the high beam to the low beam.

In the computing device 9, a GPS receiver 15 may be provided, which provides the position data P. However, the GPS receiver 15 can also be a component that is different from the computing device 9; then the GPS receiver 15 is electrically coupled to the computing device 9 and transmits the position data P to the computing device 9.

Thus, the computing device 9 can switch from the high beam to the low beam when a light detected from the image data is classified as a light of an oncoming motor vehicle. However, there may be a misinterpretation of the image data: If, for example, a reflector is located in front of the motor vehicle 8, the light detected by the image data may be the reflected light of the

Spotlight 13, 14 act. If now switched from the high beam to the low beam, so a mistake in the provision of this functionality can be recognized in that the apparent vehicle light when dimming the own headlights 13, 14 immediately also significantly darker. The faulty switching from the high beam to the low beam thus represents a following error, which is the result of the erroneous interpretation of the image data. If such an error is detected by the computing device 9, it stores in the memory device 10 both the position data P, which describe the global position of the motor vehicle 8 at the fault location, and the error data F, which describe the erroneous interpretation of the image data, such as " Reflector as

Vehicle light interprets. "For this purpose, further data can be stored in the computing device 10: Directional data describing the direction of movement of the motor vehicle 8 when the error occurs, and / or

Data describing the position of the detected light in the image, and / or data describing the direction of movement and / or movement speed of the detected light in the captured images, and / or

Data describing the color of the light, and / or

Data describing the size of the detected light.

If the said data are stored in the memory device 10 at the fault location, then during the operation of the driver assistance system 1, the current position data P of the GPS receiver 15 and the stored data are continuously stored

Position data P indicating the fault location is checked to see if the motor vehicle 8 is approaching the fault location. If this is the case, then the computing device 9 (see function block 7 in FIG. 1) checks whether an object exists in the currently recorded image data that corresponds to the known error object, ie the reflector. For this purpose, the currently recorded image data are compared with the stored data. Exceeds the degree of similarity between the ones indicated by the stored data

Characteristics of the reflector and the detected based on the currently recorded image data properties of an object a certain level, interpreted the computing device 9, the currently detected object as a fault object or the reflector. In this case, the output of the control commands S due to the faulty

Identification of the light suppressed. It is thus the faulty Abbiendung the headlights 13, 14 prevented. This can be such that the control commands S are suppressed if it is recognized again on the basis of currently acquired images with a predetermined accuracy when the fault location again exists that: the position of the object in the current image corresponds to the position indicated by the stored data and / or

Claims

claims

1 . A method of assisting a driver in driving a motor vehicle (8) by means of a driver assistance system (1) by:

Detecting sensor data to an environment of the motor vehicle (8) by means of a sensor device (1 1) and

Providing functionality for assisting the driver by the driver

Driver assistance system (1) based on the sensor data,

marked by

Detecting an error in providing the functionality based on an erroneous interpretation of the sensor data, and

- Storing error data (F), which the faulty interpretation

characterize, and the error data (F) associated position data (P), the current global position of the motor vehicle (8) as a fault location

in a memory device (6, 10).

2. The method according to claim 1,

characterized in that

the erroneous interpretation implies that an object detected based on the sensor data is misinterpreted.

3. The method according to claim 1 or 2,

characterized in that

based on the sensor data the error is detected.

4. The method according to claim 3,

characterized in that

for detecting the error, the sensor data acquired after the provision of the functionality with the detected before providing the functionality

Sensor data are compared.

5. The method according to any one of the preceding claims,

characterized in that

the functionality is provided on the basis of image data of a camera (1 1) as sensor data.

6. The method according to claim 5,

characterized in that

the functionality includes that on the basis of the image data, a light of a different vehicle from the motor vehicle (8) is detected and under

Considering the detected light, a headlight (13, 14) of the

Motor vehicle (8) is driven.

7. The method according to any one of the preceding claims,

marked by

if the motor vehicle (8) is again at the fault location, discarding the sensor data or interpreting the sensor data in a manner other than the faulty one.

8. The method according to claim 7,

characterized in that

if the fault location is present again, the sensor data is only discarded or interpreted in the other than the faulty manner if an additional criterion is satisfied.

9. The method according to claim 8,

characterized in that

the additional criterion includes that a predetermined number of the same error has been detected at the fault location.

10. The method according to any one of the preceding claims,

characterized in that

after detection of the error also direction data that characterize a direction of movement of the motor vehicle (8) at the fault location, assigned to the

Error data (F) in the memory device (6, 10) are stored.

1 1. Method according to claim 8 or 9 and 10,

characterized in that

the additional criterion includes that with a predetermined accuracy the instantaneous direction of movement of the motor vehicle (8) coincides with the direction of movement indicated by the stored direction data.

12. The method according to any one of the preceding claims,

characterized in that

the functionality is provided on the basis of image data of a camera (1 1) as sensor data,

- the erroneous interpretation implies that one based on the image data

detected object is interpreted incorrectly and

after detection of the error also further data, a position of the detected object in an image recorded at the fault location and / or a motion vector of the object in the image and / or a color of

Characterize object and / or a size of the object, associated with the position data (P) in the memory device (6, 10) are stored.

13. The method according to claim 12,

characterized in that

the additional criterion includes that upon the renewed presence of the fault location on the basis of currently acquired images with a predetermined accuracy, it is recognized that:

the position of the object in the current picture corresponds to the position indicated by the stored data and / or

the motion vector of the object in the current pictures corresponds to the motion vector indicated by the stored data and / or

- The color of the object in the current image corresponds to the color specified by the stored data and / or

- the size of the object in the current image corresponds to the size indicated by the stored data.

14. The method according to any one of the preceding claims,

characterized in that

after detection of the error also data indicating the current date associated with the error data (F) in the memory means (6, 10)

are stored, and that the error data (F) and the assigned position data (P) are then deleted from the memory means (6, 10) if a predetermined period of time has elapsed since the detection of the error, without discarding the sensor data or to another were interpreted as the erroneous way.

15. The method according to any one of the preceding claims,

characterized in that

the error data (F) and the assigned position data (P) are transmitted to another vehicle by means of a communication interface of the motor vehicle (8) and / or error data (F) and associated position data (P) of another vehicle are received and stored in the memory device (6, 10)

be stored.

16. A driver assistance system (1) for assisting a driver when driving a motor vehicle (8), comprising:

a sensor device (1 1) for detecting an environment of

Motor vehicle (8) and for providing sensor data to the environment and

a computing device (9) for providing a functionality for

Supporting the driver based on the sensor data,

characterized in that

the computing device (9) is designed to detect an error based on a faulty interpretation of the sensor data upon provision of the functionality, and to recognize error data (F) after the error has been detected, which characterize the erroneous interpretation, assigned to position data (P), which characterize a current global position of the motor vehicle (8) as a fault location, in a memory device (6, 10) store.