WO2016165704A2

WO2016165704A2 - Control device for a vehicle, and method

Info

Publication number: WO2016165704A2
Application number: PCT/DE2016/200168
Authority: WO
Inventors: Ralph GREWE; Bastian Zydek; Maxim Arbitmann; Matthias Komar; Adam Swoboda
Original assignee: Continental Teves Ag & Co. Ohg
Priority date: 2015-04-13
Filing date: 2016-04-04
Publication date: 2016-10-20
Also published as: WO2016165704A3; DE102015207729A1; DE112016000151A5

Abstract

The invention relates to a control device for a vehicle having a number, i.e. one or more, driver assistance systems, comprising: a computing unit designed to calculate an occupancy grid for the surroundings of the vehicle from sensor data, said grid indicating whether a region in the vehicle surroundings is occupied by an object; and a map memory having a surroundings map of the vehicle surroundings, navigable regions of the vehicle surroundings being marked in said surroundings map, wherein the computing unit is designed to generate a surroundings grid by overlaying the occupancy grid and the surroundings map and to transmit this to the driver assistance systems for the purpose of controlling the vehicle. The invention also relates to a corresponding method.

Description

Description title

CONTROL DEVICE FOR A VEHICLE AND METHOD

Field of the invention

The present invention relates to a control ^device for a vehicle with a number of driver assistance systems. Furthermore, the present invention relates to a corresponding method.

State of the art

Although the present invention will be described below mainly in connection with passenger cars, it is not limited thereto, but may be used with any type of vehicle.

Modern vehicles provide a variety of driver assistance systems that can assist the driver in driving his vehicle. Such driver assistance systems ^¬ can support the driver, for example, when holding a lane by giving him a signal when the vehicle in front is about to leave the lane, for example, on a highway, without the driver had previously operated the indicators of the car.

In addition to such pure information functions, the driver assistance systems can also actively support the driver while driving the vehicle. For example, modern driver assistance systems automatically accelerate and decelerate the vehicle and maintain a given distance to a preceding vehicle.

Future driver assistance systems will at least temporarily relieve the driver of driving the vehicle. The driver no longer has to actively control such a vehicle and can devote himself to other things while driving.

Such driver assistance systems that enable autonomous driving of the vehicle require comprehensive and detailed information about the surroundings of the vehicle. In particular, such driver assistance systems must receive information from which they can derive which area is passable front of the vehicle and which surface is not be ^¬ mobile front of the vehicle because there eg another vehicle befin ^¬ det. This information is usually provided to the driver assistance systems in the form of an occupancy grid wel ^¬ ches is formed of sensor data which are detected by vehicle sensors. For example, radar sensors and cameras in the vehicle can be evaluated. Such occupancy ^¬ grid but not make it possible to distinguish whether a free area is a road or eg a meadow. In order to perform such a distinction, more complex image and signal processing steps Runaway ^¬ leads have to be.

Disclosure of the invention

It is therefore an object of the present invention to provide an improved environment detection for vehicles. This object is achieved by a control device having the features of independent patent claim 1 and a method having the features of independent claim 10.

Accordingly, it is provided:

A control device for a vehicle having a number, ie one or more, of driver assistance systems, having a computing device which is designed to calculate an occupancy grid from sensor data about the surroundings of the vehicle, which indicates whether an area in the surroundings of the vehicle is one Object is occupied, and with a card ^¬ memory, which has an environment map of the environment of the vehicle, wherein in the area map passable Berei ^¬ che the environment of the vehicle are characterized, wherein the computing device is formed by a superposition of the occupancy grid and the surrounding map Generate ambient grid ^¬ ter and to transmit to the driver assistance systems for Steue ^¬ tion of the vehicle.

It is also provided:

A method of controlling a vehicle with a number, that is, one or more of the driver assistance systems, comprising calculating an occupancy grid of sensor data about the surroundings of the vehicle, which indicates whether an area in the vicinity of the vehicle is occupied by an object, Be ^¬ riding provide an environment map of the surroundings of the vehicle, which identifies passable areas of the surroundings of the vehicle, generating an environmental ^grid by superposing the occupation grid and the surroundings map, transmitting the environmental grid to the driver assistance systems for controlling the vehicle. Advantages of the invention

The present invention of underlying knowledge is that it is difficult to distinguish based on the moving ^¬ compelling own sensors passable and not passable areas in the vicinity of the vehicle. The the present invention idea underlying it is now because ^¬ rin to carry this knowledge into account and complement the Fahrzeugei ^¬-related sensors that provide a current image of the vehicle Conversely ^¬ advertising, with further information about the vehicle environment.

For this purpose, the invention provides that an occupancy grid is calculated from sensor data about the surroundings of the vehicle and, in addition, an environment map is used which identifies passable areas in the surroundings of the vehicle. In this case, the allocation grid can be calculated by the computing device itself. Alternatively, the allocation grid can also be calculated by one of the driver assistance systems and provided to the control device or the computing device.

For the driver assistance systems of the vehicle is generated based on a superposition of the occupancy grid and the surrounding environment map ^¬ a surrounding lattice, which can be used by them as a basis for control of the vehicle.

The occupancy grid may in particular have information about temporary obstacles, such as other vehicles, eg havari ^¬ te vehicles on the roadside, walls or posts on the roadside, which are passed, or the like. The area map, in contrast, can provide basic information about provide the trafficability of an area of the surroundings of the vehicle.

By the superposition of the occupancy grid with the surrounding environment map ^¬ a grid environment can thus be provided which allows for improved detection of navigable areas for enhanced functions, such as an autonomous control of the vehicle. At the same time, it is possible to ensure reliable detection of areas which can be driven in emergency situations, for example when evading a jam end.

Advantageous embodiments and further developments emerge from the dependent claims and from the description with reference to the figures.

In one embodiment, the control device may comprise a number of sensors which are adapted to collect data about an environment of the vehicle and outputting the entspre ^¬ sponding sensor data. Additionally or alternatively, the computing device may be coupled to the driver assistance systems and configured to receive the sensor data from the driver assistance systems. This makes it possible to equip the control device with its own sensors and use. Concurrently, the controller can also be used with the existing vehicle sensors in the driver assistance systems Assis ^¬ but limiting the number of electronic systems in the vehicle and thus its complexity can be redu ^¬ ed.

In one embodiment, the computing device may be configured to superimpose the environment map and the gating grid such that those cells in the environmental grid are marked as passable for which no object is displayed in the Bele ^¬ supply grid and for which a navigable area is identified in the environment map. Such a link is a kind of "and" link and can be done very easily.

To allow for easy superposition of the occupancy grid and the environment map, the occupancy grid and the environment map, for example, can be provided in a common Koordinatensys ^¬ tem. In this case, the coordinate system can be, for example, a global coordinate system with a fixed coordinate origin. Alternatively, for example, a vehicle-fixed coordinate system can be used.

For example, in one embodiment, the environment map may be permanently stored in the map memory. For example, the card memory may include a hard disk, a solid state disk, RAM, ROM, EEPROM, optical media, or the like. Alternatively, the card memory can only serve as a buffer, which receives a respective relevant section of a global map. Such a relevant section of the surroundings of the vehicle can be, for example, a section with a given radius about a current position of the vehicle, a route planned by a navigation system on which the vehicle is moving or the like. This relevant part can for example be transmitted via a wireless Datenübertra ^¬ supply, eg by means of GSM, UMTS, LTE, WiFi, Bluetooth or the like to the control device or in the card memory.

In one embodiment, the environment map may be formed as a grid and a binarized one for each cell of the grid. value that indicates whether the area marked by the respective cell is passable. Is in the environment map for each cell of the grid only a binary value stored, and not, as in the occupancy grid ^¬ a probability value, for example, an 8-bit value, the memory requirements for the environment map may be significantly reduced.

Furthermore, the data of the environment ^map in the Kartenspei ^¬ cher can be stored compressed and unpacked or decompressed for processing by the computing device.

In one embodiment, the environment map may be formed as an equidistant grid. This allows for very easy creation and processing of the environment map. With a cell size of about 10cm x 10cm, there is nevertheless a high storage requirement for the area map.

In one embodiment, therefore, the environment map may be formed as a grid having smaller squares at the junctions between passable areas and non-drivable areas than in areas of passable areas or areas of non-drivable areas. For example, a data structure for the environment map can be used, which allows an adaptation of the cell size to the respective present Informa ^¬ tion. Such a data structure can be eg a quadtree. High-resolution information can thus in particular ^¬ sondere be provided in the transitions between navigable and non-navigable areas. At the same time, the memory requirement for the environment map can be significantly reduced. In one embodiment, the environment map may be formed as a grid whose cells are rectangular and have a greater extent in the roadway longitudinal direction than in the roadway transverse direction. This embodiment of the environment map takes account of the fact that a higher spatial resolution of the other ^¬ environment map or the grid environment resulting in late ^¬ tral direction is necessary for the control of the vehicle than in the longitudinal direction. The space requirement required for the area ^map can be further reduced by this. For example, can be used for a Map As ^¬ tenstruktur that enables adjustment of the cell size to the respective existing Informa ^¬ tion and can be used not only square cells. Such a data structure can be eg a Bintree.

In one embodiment, the environment map may be formed as a grid having two axes, with one of the axes following the course of the roadway centerline. This makes it possible to easily provide an environment map in which the longitudinal direction always follows the roadway.

In one embodiment, the environment map may be formed as a vector-based map in which individual streets or the like are defined by vectors. To superimpose such an environment map with the allocation grid, the computing device can convert the relevant section of the vector-based map into a corresponding grid. For this purpose, the computing device can, for example, use a suitable coordinate transformation. The vector-based representation of the environment map can further reduce the Spei ^¬ cherbedarf for the environment map. In one embodiment, traffic areas around the vehicle marked in ^¬ records may be in the environment map traffic areas, no access areas and make only emergency ^¬. This allows a fine distinction between ^¬ ranges that can be used for comfort functions as passable areas and areas that may be used only in emergency situations, such as an evasive maneuver. This can prevent, for example, a comfort function, such as an autonomous control of the vehicle, driving the hard shoulder. At the same time, it can be ensured that an evasive function uses it as a backup area.

In one embodiment, the computing device can be designed to calculate the environmental ^grid based on the occupation ^grid and the regions identified as passable regions in the environment ^map . Additionally or alternatively, the computing device may be configured to calculate an emergency grid based on the occupancy grid and in the environment map as a drivable only in emergency areas Mark ^¬ th fields, and to transmit to the driver assistance systems to control the vehicle. This allows those in ^¬ formations provide separately for the individual driver assistance systems that are relevant for this.

In one embodiment, the control device may be configured as a hardware in the vehicle, which is eg coupled via a bus system of the vehicle, for example a CAN bus, a FlexRay bus, an Ethernet-based bus or the like, to the control units that provide the driver assistance function ^¬ nen provide. The control device can at least partially but also designed as a program or program module be, for example, which is executed in a control unit, wel ^¬ ches also provides the functions of a driver assistance system ready ^¬.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations of features of the invention which have not been explicitly mentioned above or described below with regard to the exemplary embodiments. In particular, the expert will also add individual aspects as Ver ^¬ improvements or additions to the respective basic form of the present invention.

Brief description of the drawings

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings. It shows:

1 shows a block diagram of an embodiment of a control device according to the invention;

2 shows a flow chart of an embodiment of a method according to the invention;

FIG. 3 is an illustration of an embodiment of an environment map according to the present invention; FIG. and 4 is an illustration of another embodiment of an environment map according to the present invention.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - have been given the same reference numerals.

Embodiments of the invention

1 shows a block diagram of an embodiment of a control device 1 according to the invention, which is arranged in a vehicle 2. The vehicle 2 comprises in addition to the control apparatus 1 ^¬ a driver assistance system 3, which is coupled to the control device 1 and a radar sensor sixteenth

The driver assistance system 3 queries the sensor data 5 of the radar sensor 16 and processes them to perform the corresponding driver assistance function. At the same time, the driver assistance system communicates 3, the sensor data 5 to the control device 1. The radar sensor 16 detects, for example, the object located in front of the vehicle 7. In Fig. 1 the object is 7 le ^¬ diglich exemplified as rectangle. The object 7 can be representative of a number of vehicles, objects on the roadside or the like.

In the control device 1, the computing device 4 receives the sensor data 5 and calculates therefrom a Belegungsgit ^¬ ter 6. The allocation grid 6 has a plurality of grid cells (see FIG. 3), each of the grid cells an area of the environment of the vehicle 2 indicates. For every the grid cells is calculated by the computing device 6 is a probability value. Each probability value indicates with which probability the area which identifies the respective grid cell is occupied by an object 7.

The control device 1 further has a card memory 8 in which an environment map 9-1 is stored. In the area map 9-1 is deposited, which areas that the map 9-1 represents, are passable and which areas are not passable.

The computing device 4 is superimposed on the area map 9-1 with the availability grating 6, thereby producing an ambient grating 12 and transmits this 3 to the driver assistance system, the driver assistance system 3 controls based on the occupancy ^¬ grid 6, the vehicle 2. In Fig. 3, the driver assistance system 3 merely connected by way of example with the wheels of the vehicle 2. This is intended to show that the driver assistance system 3 can influence the acceleration and the lateral guidance of the vehicle 2. For example, the driver assistance system 3 can enable autonomous driving of the vehicle 2.

When superimposing the Map 9-1 with the Belegungsgit ^¬ ter 6, the computing device 4 can perform a kind of "and" link This means that the grid cells are characterized as passable in the surrounding lattice. In the Conversely ^¬ bung card 9-1 and the The grids map 9-1 and the grating 6 can have a common coordinate system, which simplifies the superimposition, but the surroundings map 9-1 and the grating 6 can also have different co-ordinates. Dinatensystem have that the arithmetic unit 4 correspondingly transformed for the superposition.

The environment map 9-1 may also have different formats. For example, the neighborhood map 9-1 may have equidistant square grid cells. Such an embodiment of the environment map 9-1 is shown in FIG. 3 Darge ^¬ represents. In this embodiment, the memory requirement of the neighborhood map 9-1 is high. This provides a very fast Ver ^¬ processing of Area 9-1 is possible.

In order to reduce the memory requirement for the area map 9-1, a variable resolution can be selected for the grid cells. For example, the grid cells at the junctions between passable areas 10 and non-drivable areas 11-1, 11-2 may be smaller than the grid cells in large passable areas 10 or non-drivable areas 11-1; 11-2 (see Fig. 4). As a data structure, for example, a so-called Bintree or the like can be used for storing the environment map 9-1. This is suitable for all embodiments in which the environment map 9-1 has quadric ^¬ grid cells.

A further reduction of the Benö for the Area 9-1 ^¬ preferential memory is possible when the fact is considered that a high spatial resolution is necessary only in the vehicle transverse direction or lateral direction and sufficient lower resolution in the vehicle longitudinal direction or the longitudinal direction. Consequently, in this embodiment, no square grid cells but rectangular grid cells are used. As a data structure, a so-called. Bintree or the like, for example, 9-1 can be ge ^¬ utilized for the storage of the environment map. Another possible embodiment of the environment map 9-1 is a vector-based or spline-curve-based map in which driveways, drivable areas and non-drivable areas are represented by vectors or spline curves delimiting the respective areas. Even with a vector based or a spline curve based environment card 9-1, the computing device can 4, the Koordinatentransformati ^¬ on between the vector coordinates of the environment map and 9-1 perform the grid coordinates of the occupancy grid. 6

Not shown in FIG. 1 is a possible wireless ^interface , which can be arranged in the control device 1. Via the wireless interface, the control ^device 1 can retrieve the environment map 9-1, for example, from a map server. In this case, the control device 1 can each retrieve the relevant section of the area map 9-1 from the map server. For example, the control apparatus 1 can obtain a section of the Area 9-1 showing the position of the vehicle 2 and a predetermined radius around this Posi ^¬ tion.

The area map 9-1 shows static conditions of the vehicle environment, which usually do not change unless, for example, by a construction site. Consequently, it can be considered that the information from the surroundings map 9-1 is correct. To reduce the memory requirements for storing the surrounding environment ^¬ map 9-1 on, thus a binary value can be used, which indicates whether an area is passable or not. For example, can be used in which a "1" indicating that the ent ^¬ speaking area is passable positive logic. Alternatively, a nega- tive logic are used, in which a "0" indicates that an area is passable.

The control device 1 of FIG. 1 is shown separately from the driver assistance system 3. For example, the control device 1 and the driver assistance system 3 can be coupled to one another via a vehicle bus, for example a CAN bus, a FlexRay bus or the like. In a further embodiment, however, the control device 1 can also be a component of the driver assistance system 3. For example, the control apparatus 1 as a program module or derglei ^¬ surfaces may be formed, which is executed by a processor of the driver assistance system. 3

FIG. 2 shows a flowchart of an embodiment of a method according to the invention for controlling a vehicle 2 with a number of driver assistance systems 3.

The method provides for calculating, Sl, an occupancy grid 6 from sensor data 5 about the surroundings of the vehicle 2, which indicates whether an area in the surroundings of the vehicle 2 is occupied by an object 7. Furthermore, an environment ^¬ card 9-1 - 9-3 the environment of the vehicle 2 is provided, S2, which identifies passable areas 10 of the environment of the vehicle 2. From the allocation grid 6 and the environment ^¬ card 9-1 - 9-3 an ambient grating 12 is generated by superposition, S3, which is transmitted to the driver assistance systems 3 for controlling the vehicle 2, S4.

In one embodiment, the method may include acquiring the sensor data 5 with a number of sensors 16 that are configured to collect data about an environment of the vehicle 2 to capture. Additionally or alternatively, the sensor data 5 can be received by the driver assistance systems 3.

In order to generate the environmental grating 12, the environment map 9-1-9-3 and the allocation grid 6 can be superimposed with a kind of "and" linkage, whereby in the environmental grating 12 those cells are marked as passable, for which there is no access in the allocation grid 6 Object 7 is displayed and for which in the area map 9-1 - 9-3 a fahrbaer ^¬ range 10 is marked.

The Map 9-1 - 9-3 can have different Ausprägun ^¬ gen that fits reasonable to different applications can be. For example, the area map 9-1 - 9-3 may be formed as a grid and for each cell of the grid, a binary value may be stored, which indicates whether the area marked by the respective cell is passable. The environment map 9-1 - 9-3 can have an equidistant grid, or be formed as a grid, which has smaller squares at the transitions between passable areas 10 and non-drivable areas than in areas of passable areas 10 or areas of non-drivable areas. Furthermore, the ambient grille 9-1 - 9-3 may be formed as a grid whose cells are rectangular and have a greater extent in the roadway longitudinal direction, as in the roadway transverse direction. In this case, map 9-1 - 9-3 may be formed in particular as a grid with two axes, wherein one of the axes follows the course of the road center line.

In a further embodiment of the method, the area map 9-1-9-3 not only marks passable areas 10 and non-passable areas 11. For example, too only in emergency cases passable areas 15 of the environment of the vehicle 2 are marked. Such areas may be, for example, a hard shoulder on the highway or the like, which should not be used during a normal ride.

Are in the areas which are to be driven only in emergency cases, ^¬, both the surrounding grid 12 may be provided, as well as an emergency lattice. In the emergency grid, the occupancy grid 6 and in the area map 9-1 - 9-3 can be superimposed as rich only in emergencies Be ^¬ rich 11. In the environmental grille 12, consequently, those areas are still characterized as passable, which are in the allocation grid 6 as vacant or unoccupied and the area map 9-1 - 9-3 as passable mar ^¬ kiert. In contrast, only the areas are marked as passable in the emergency grid, which are marked in the allocation grid 6 as free or unoccupied and in the area map 9-1 - 9-3 marked as passable only in emergencies. Alternatively, in the emergency grid, the areas may be marked as passable, which are marked in the allocation grid 6 as free or unoccupied and in the area map 9-1 - 9-3 as passable or only passable in an emergency.

FIG. 3 is an illustration of an embodiment of a neighborhood map 9-2 according to the present invention.

The area map 9-2 shows a road section, which starts ge ^¬ straight and runs at the end in a curve.

Left and right of the road each not befahr ^¬ bare areas or areas shown are 11-1 and 11-2, for example, meadows, fields, ponds, or may be like. The Map 9-2 further comprises lattice cells 13-1 to 13-n, which as a square grid cells 13-1 - 13-n out ^¬ forms.

In Fig. 3, it can be seen that the resolution of the neighborhood map 9-2 is the same for the entire neighborhood map 9-2.

Consequently, increasing the resolution results in a corresponding increase in memory requirements.

Fig. 4 is an illustration of another embodiment of a neighborhood map 9-3 according to the present invention with which the memory requirement of the neighborhood map 9-3 can be reduced. In FIG. 4, for clarity only the left section of the environment map is 9-2 Darge provides ^¬. 9-3 in the environment map the navigable preparation ^¬ surface 10 are shown as open squares or grid cells. The non-drivable areas are shown as simply painted Quad ^¬ rate or grid cells. In Fig. 4 areas 15 are further shown, which are passable only in emergency situations or Notfäl ^¬ len. These areas are located between the upper end of the non-drivable area 11-1 and the roadway. These areas 15 are shown as having an "X" durchgestri ^¬ chene squares.

The neighborhood map 9-3, like the neighborhood map 9-2, has square grid cells. However, the resolution of the individual grid cells is adapted to the respective conditions.

At transitions between the passable areas 10, the non-drivable areas 11-1 and the only passable areas in emergency situations 15, the resolution is highest. On the surfaces of the individual areas 10, 11-1 and 15, on If there are no transitions between the areas 10, 11-1 and 15, the size of the squares or grid cells is increased. As a result, the memory requirement of the area map 9- 3 can be significantly reduced. As a data structure for storing the environment maps 9-2 and 9-3 with square grid cells, for example, offers a Quadtree.

As already shown above, in a further embodiment, the shape of the grid cells can be chosen rectangular. For example, along a straight road, the length of the rectangles in the direction of the road could be made very large. The resolution in the longitudinal direction is therefore very small. In the lateral direction, ie towards the roadside, the resolution can be very high. This allows a further reduction of memory requirements. For storing an environment map with rectangular grid cells, in particular a bintree can be used. This supports the different sizes and expansions in different directions.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modi ^¬ fizierbar in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention. Reference sign

1 control device

2 vehicle

3 driver assistance system

4 computing device

5 sensor data

6 allocation grid

7 object

8 card storage

9-1 - 9-3 Area map

10 passable area

11-1; 11-2 non-drivable area

12 environmental grid

13-1 - 13-n grid cell

14 emergency grid

15 passable area in emergency situations

16 radar sensor

Claims

claims

1. Control device (1) for a vehicle (2) with a number of driver assistance systems (3), with a computing device (4) which is formed from sensor data (5) about the surroundings of the vehicle (2) an occupancy grid (6). which indicates whether an area in the vicinity of the vehicle (2) is occupied by an object (7) and with a map memory (8) which displays an environment map (9-1 - 9-3) of the surroundings of the vehicle (2), wherein in the area map (9-1 - 9-3) passable areas (10) of the environment of the vehicle (2) are characterized, wherein the computing device (4) is formed by an overlay of the occupancy grid (6) and the environment map (9-1 - 9-3) to generate an environment grid (12) and to transmit to the driver assistance systems (3) for controlling the vehicle (2).

2. Control device (1) according to claim 1, having a number of sensors (16) which are designed to record data about an environment of the vehicle (2) and to output the corresponding sensor data (5), and / or wherein the computing device ( 4) is coupled to the Fahrerassistenzsyste ^¬ men (3) and is adapted to receive the sensor data (5) from the driver assistance systems (3).

3. Control device (1) according to one of claims 1 and 2, wherein the computing means (4) is formed, the surrounding ^¬ environment map (9-1 - 9-3) to superimpose and the occupancy grid (6) such that in the surrounding grid (12) those cells are characterized as passable, for which in the Be ^¬ positioning grid (6) no object (7) is displayed and for wel ^¬ che in the area map (9-1 - 9-3) a passable area (10) is marked.

4. Control device (1) according to one of claims 1 to 3, wherein the environment map (9-1 - 9-3) is ausgebil ^¬ det as a grid and for each cell of the grid, a binary value ^¬ terlegt indicates that whether the area marked by the respective cell is passable.

5. Control device (1) according to one of claims 1 to 4, wherein the environment map (9-1 - 9-3) is formed as an equidistant grid; and / or wherein the environment map (9-1 - 9-3) is formed as a grid, which has at the transitions between passable areas (10) and non-drivable areas smaller squares on ^¬ than in areas of passable areas (10) or surfaces not drivable areas.

6. Control device (1) according to one of claims 1 to 4, wherein the environment map (9-1 - 9-3) is ^{ausgebil ¬} det as a grid, whose cells are rectangular and have a greater extent in the roadway longitudinal direction, as in the roadway transverse direction ,

The control device (1) according to claim 6, wherein the environment map (9-1 - 9-3) is formed as a grid having two axes, one of the axes following the course of the road centerline.

8. Control device (1) according to one of claims 1 to 7, wherein in the area map (9-1 - 9-3) passable areas (10) and non-drivable areas and only in emergencies be ^¬ mobile areas (11) of the environment Vehicle (2) gekenn ^¬ draws are.

9. control device (1) according to claim 8, wherein the computing device (4) is formed, the surrounding ^¬ grating (12) based on the allocation grid (6) and in the environment map (9-1 - 9-3) as passable areas (10) designated areas; and / or wherein said computing means (4) is formed an emergency ^¬ grid based on the occupancy grid (6) and in the environment map (9-1 - 9-3) and drivable only in emergencies preparation ^¬ surface (11) to selected areas calculated and to the driver assistance systems (3) to control the vehicle (2) over ^¬ average.

10. A method for controlling a vehicle (2) with a number of driver assistance systems (3), comprising:

Calculating (Sl) an occupancy grid (6) from sensor data (5) on the environment of the vehicle (2), which indicates whether a Area in the vicinity of the vehicle (2) is occupied by an object (7),

Providing (S2) a neighborhood map (9-1 - 9-3) of the other ^¬ environment of the vehicle (2) which is drivable regions (10) indicates the area around the vehicle (2),

Generating (S3) an environmental grating (12) by superimposing the grating (6) and the environment map (9-1 - 9-3),

Transmitting (S4) the ambient grating (12) to the Fahreras ^¬ assistance systems (3) for controlling the vehicle (2).

11. The method of claim 10, comprising:

Acquiring the sensor data (5) with a number of sensors (16) configured to acquire data about an environment of the vehicle (2); and or

Receiving the sensor data (5) from the driver assistance systems (3).

12. The method according to any one of claims 10 and 11, wherein the environment map (9-1 - 9-3) and the occupancy grid (6) are superimposed such that in the surrounding grid (12) those cells are marked as passable, for which in no object (7) is displayed in the allocation grid (6) and for which a ^moveable area (10) is marked in the surroundings map (9-1 - 9-3).

13. The method according to any one of claims 10 to 12, wherein the environment map (9-1 - 9-3) is ausgebil ^¬ det as a grid and for each cell of the grid, a binary value is ^¬ terlegt, which indicates whether the area marked by the respective cell is passable; and / or where the map of the surroundings (9-1 - 9-3)

is designed as an equidistant grid, or

is formed as a grid having at the transitions between passable areas (10) and non-drivable areas smaller squares than in areas of passable areas (10) or areas of non-drivable areas, or - is formed as a grid whose cells are rectangular and in the roadway longitudinal direction have a greater extent, as in the roadway transverse direction, the environment map (9-1 - 9-3) is designed in particular as a grid with two axes, wherein one of the axes Ver ^¬ the track center line follows.

14. The method according to any one of claims 10 to 13, wherein in the area map (9-1 - 9-3) passable areas (10) and non-drivable area and only in an emergency be ^¬ mobile areas (11) of the environment of the vehicle (2 be) labeled in ^¬ records.

15. The method of claim 14, wherein the surrounding grid (12) based on the occupancy ^¬ grid (6) and in the environment map (9-1 - 9-3) is calculated as be ^¬ mobile marked areas (10) regions; and or wherein an emergency grid is calculated based on the occupancy grid (6) and in the area map (9-1 - 9-3) as only in emergency cases passable areas (11) marked areas.