WO2019219419A1 - Procédé de traitement de données de capteur, dispositif de traitement de données de capteur, dispositif de traitement d'une interrogation d'un véhicule ego pour un autre véhicule, ordinateur de traitement de données de capteur et ordinateur pour traiter une interrogation d'un véhicule ego pour un autre véhicule - Google Patents

Procédé de traitement de données de capteur, dispositif de traitement de données de capteur, dispositif de traitement d'une interrogation d'un véhicule ego pour un autre véhicule, ordinateur de traitement de données de capteur et ordinateur pour traiter une interrogation d'un véhicule ego pour un autre véhicule Download PDF

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Publication number
WO2019219419A1
WO2019219419A1 PCT/EP2019/061489 EP2019061489W WO2019219419A1 WO 2019219419 A1 WO2019219419 A1 WO 2019219419A1 EP 2019061489 W EP2019061489 W EP 2019061489W WO 2019219419 A1 WO2019219419 A1 WO 2019219419A1
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WIPO (PCT)
Prior art keywords
vehicle
request
data
sensor data
sensor
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PCT/EP2019/061489
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German (de)
English (en)
Inventor
Mehrdad SALARI KHANIKI
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Zf Friedrichshafen Ag
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Publication of WO2019219419A1 publication Critical patent/WO2019219419A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the invention is based on a method for processing sensor data and an arrangement for processing sensor data and an arrangement for processing a request of an ego vehicle for another vehicle and a computer for processing sensor data and a computer for processing a request from an ego Vehicle for another vehicle according to the preamble of the independent claims.
  • US 2015/0248131 A1 already discloses support for autonomous vehicles in predetermined situations. There, such an autonomous vehicle sends a request as to whether a particular driving operation can be performed based on attached data. This is either sent to a person via radio link or a system via radio link and then the person or system checks how the request can be answered.
  • the method according to the invention for processing sensor data of at least one sensor system for an ego vehicle the method according to the invention for processing a request of an ego vehicle by another vehicle and the arrangement according to the invention for processing sensor data of at least one sensor system for an ego vehicle and the invention Arrangement for processing a request of an ego vehicle for another vehicle, the computer according to the invention for processing sensor data, and the computer according to the invention for processing a request for an ego vehicle for another vehicle with the features of the independent claims have the advantage that now no longer a central instance such as a person or a system must be requested, but the vehicles and the infrastructure to each other to verify the sensor data and / or derived data.
  • an existing structure of vehicles can be accessed and the invention further describes how individual vehicles or the infrastructure itself become such entities that can verify the sensor data and / or data derived therefrom other vehicles or infrastructure.
  • a cooperative structure of the vehicles is possible with each other.
  • infrastructure elements such as traffic lights or intelligent traffic signs or displays can also be included in this process and also verify their sensor data and / or data derived therefrom via this network or also verify the sensor data and / or vehicle data derived from it, if the infrastructure also has or has access to such sensors.
  • a method for processing sensor data of at least one sensor system for an ego vehicle, which provides for generating the sensor data by means of the at least one sensor system, sending a request by means of first radio signals with a request for verification of at least part of the sensor data and / or data derived therefrom, receiving a response by means of second radio signals to the request with a verification result and assigning an authorization in dependence on the verification result that the ego vehicle is allowed to answer at least one further request of another vehicle or infrastructure.
  • a method for processing a request of an ego vehicle by another vehicle, wherein reception of the request by means of first radio signals is provided, checking in dependence on vehicle data, whether the further vehicle is corrected to process the request, a comparison from first sensor data and / or first data derived therefrom from the request with second sensor data and / or second data of the further vehicle derived therefrom to generate a verification result if the test is successful and sending the verification result in response by means of second radio signals.
  • an arrangement for processing sensor data of at least one sensor system for an ego vehicle is proposed, with at least one sensor system that generates the sensor data, a transmission device that requests a request by means of first radio signals with a request for verification of at least part of the sensor data and / or data derived therefrom, a receiver device that receives a response to the request with a verification result, an awarding device, which specifies an authorization depending on the verification result that the ego vehicle is allowed to answer at least one further request of another vehicle or infrastructure.
  • an arrangement for processing a request of an ego vehicle for another vehicle comprises a receiver for receiving the request by means of first radio signals, a test device for checking in dependence on vehicle data, whether the further vehicle is authorized to process the request, a comparator for comparing first sensor data and / or derived first data the request with second sensor data and / or derived second data of the other vehicle to produce a verification result, if the test is successful. Furthermore, a transmitter for sending the verification result is provided in response by means of second radio signals.
  • a computer which is configured to process sensor data of at least one sensor system for an ego vehicle.
  • the computer has a first interface for providing the sensor data.
  • a second interface is provided for sending a request to a transmitting device, wherein the request has the request to verify at least part of the sensor data and / or data derived therefrom.
  • the computer has a third interface which provides a response to the request with the verification result.
  • an allocation device is provided, which awards an authorization in dependence on the verification result that the ego vehicle is allowed to answer at least one further request from another vehicle or an infrastructure.
  • a computer is also provided which is configured to process a request of an ego vehicle for another vehicle.
  • the computer has a fourth interface for providing a request of an ego vehicle.
  • the computer has a testing device for checking as a function of vehicle data on whether the other vehicle is authorized to process the request.
  • a comparator for comparing first sensor data and / or first data derived therefrom from the request with second sensor data and / or second data of the further vehicle derived therefrom is provided in the computer to generate a verification result if the test is successful.
  • a fifth interface is provided for providing the verification result in response to sending.
  • Processing means any process step of sensor data that forwards, modifies, derives or otherwise manipulates this sensor data.
  • Sending and receiving the sensor data is also included.
  • the sensor data are data that generates a sensor system that represents a physical value of a measured variable.
  • the data derived therefrom can be generated from the sensor data by all possible signal processing steps and methods. For example. For example, in a video sensor, an environmental interpretation of the data may be understood as derived data. An object identification can also be used as derived data.
  • the derived data have the advantage that they are independent of the type of sensor or the sensor type.
  • Sensor-fused data should also be understood as derived data. For example, various sensor data, for example radar and lidar, and camera data can be simultaneously verified.
  • environment sensors but also location data and other sensor data can be understood that are reasonably verifiable by other vehicles.
  • speed data and data derived therefrom which can be detected by an acceleration sensor system, for example, could thus be verified.
  • the ego vehicle means the vehicle on which the method according to the invention for processing sensor data and the arrangement for processing the sensor data work. Ultimately, however, both the ego vehicle and the further vehicle have implemented the arrangements according to the invention and the methods according to the invention in order to be able to participate in the network mutually.
  • a vehicle is understood to mean, in particular, a passenger car but also any other vehicle that participates in road traffic. Whereby it is also possible that vehicles move on water or in the air. The same applies to the infrastructure.
  • the intended function of a sensor is understood to be that measurement data are generated by a physical principle. That a physical quantity, for example, a light signal in a lidar system is converted into an electrical signal, for example, a voltage through the sensor.
  • These sensor data which possibly represent only a part of the sensor data from the vehicle, are sent with a request by means of first radio signals with a request for verification of at least part of the sensor data sent.
  • Transmission is understood to mean transmission by means of radio signals.
  • an existing in the vehicle mobile phone or a permanently installed mobile phone module or any other type of radio transmission such as WLAN or Bluetooth but also optical transmission techniques can be used.
  • the request can be transmitted in a given data frame, it can be transmitted clocked or even case by case.
  • the request is to be understood as a request that the receiving arrangement understands to perform the specified verification verification of the sensor data.
  • Verification means the following, namely that the sensor data with the compared sensor data behave in such a way to one another, that they are the same. Thus, a given error is accepted, if this error is exceeded, then a verification can not be made.
  • the received sensor data could also have a time stamp, so that the verifying vehicle can also assign the time-correlated data.
  • the response of the verifying vehicle is thus received by means of radio signals in turn mobile radio signals or other radio signals or optical signals.
  • the first and second radio signals may be in the same wavelength range, so that, for example, they differ by other modulation techniques than by different frequencies. This depends on the radio modules used.
  • the ego vehicle can now receive this response and evaluate the verification result. If the verification result is such that the own sensor data has actually been verified, then the ego vehicle will be granted an authorization for this sensor data in order to also process the requests of other vehicles or an infrastructure accordingly and also the verification for the sensor data of these vehicles and the Infrastructure to answer.
  • the method is to be understood by the other vehicle.
  • This further vehicle responds to the inquiry of the ego vehicle by receiving the request by means of the first radio signals, and then to carry out the check by a check device in dependence on vehicle data, as to whether the other vehicle is authorized to process the request.
  • this further vehicle checks by its own vehicle data, which include that the other vehicle may also edit or verify this type of sensor data. If this is not the case, then the method aborts here and either a negative response is sent or none at all, depending on how the method is set up. If, however, the further vehicle has the right to verify this sensor data, then the comparison of the first sensor data, which was sent along with the request, with second sensor data of the other vehicle, which now processes this request to produce the verification result.
  • This comparison is made with statistical methods, how large the difference of the sensor data is to each other. For example. Sensor data are sent via a detected object and the other vehicle has also detected this object and based on the object characteristics, the further vehicle can determine whether the ego vehicle and the other vehicle have collected the same object data or at least within such a band of error that of a identically identified object can be spoken. The verification result, at least if it is positive, is sent in response by means of second radio signals, which may be identical to the first radio signals.
  • the authorization of the verifying vehicle can be assigned in various ways.
  • the verifying vehicle may have a certificate that includes this authorization.
  • This certificate can be obtained by already verified sensor data for a certain period of time or it can be checked continuously.
  • An alternative to this certificate is an order by ego vehicle that wants to have its sensor data checked.
  • the certificate may be determined by the available hardware and / or software on the verifying vehicle. So if the vehicle is even able to process the order for verification because it has the necessary computing power and / or algorithms.
  • the time-oriented check of the certificate ie after the expiration of a certain time can be supplemented or replaced by an event control such as an accident, software update or the like, ie when the state of the vehicle changes.
  • an expiry of the certificate could also be due to the use of a new sensor generation or the existence of new legal regulations.
  • the certificate can only be valid for certain sensor data or driving situations. This use of the certificate can significantly increase the reliability of the overall system. It could be envisaged that vehicles that perform the verification for others will be awarded the certificate.
  • a transmission device which has a request by means of first radio signals, with the request for verification of at least a part of the sensor data sent and a receiver device which receives a response to the request with a verification result.
  • the allocation device which awards an authorization depending on the verification result that the ego vehicle is allowed to answer at least one further request of another vehicle or an infrastructure, is therefore provided in the order.
  • This arrangement is therefore arranged in the ego vehicle. However, it is also arranged in the other vehicle when the roles change. It is the same with the arrangement for processing a request of an ego vehicle for another vehicle.
  • a receiver is provided, which, as shown above, is arranged according to the transmitting device to receive such requests.
  • the testing device is provided, which can be implemented on a vehicle computer or simply a computer. In order to check, depending on the vehicle data, whether the other vehicle is authorized to answer the request.
  • a comparator can also be provided on this vehicle computer for comparing the first sensor data from the request with the second sensor data of the further vehicle in order to generate a verification result.
  • a transmitter for sending the verification result in response by means of second radio signals is also provided in this arrangement which is arranged in the further vehicle. This arrangement is also present in the ego vehicle. So a network can arise over radio signals.
  • This procedure can be extended as follows.
  • An authorized vehicle receives a request from another vehicle requesting to verify this sensor data.
  • the authorized vehicle is not able to process this sensor data because it is currently busy with other verification tasks or data processing. It has received more requests than it can handle itself.
  • this other vehicle is not in the communication range of the requesting vehicle, but it is within the range of the congested vehicle.
  • Well that can be overloaded Vehicle forward this information / request to the other authorized vehicle, with the request for verification.
  • the verification result is sent back to the congested vehicle to forward the verification result to the requesting vehicle. So the overloaded vehicle plays the role of a router or a relay station.
  • both the sensor data preparation for sending the request for verification as well as the verification itself and then the evaluation of the verification result and the assignment of the authorization in which case at least two computers are used, one in the requesting vehicle and one in the verifying vehicle.
  • the computer can be realized by various processors, in particular multicore processors.
  • the assistant, the authorization module and the test device are designed as software modules. It is possible that at least part of it may be provided as a circuit.
  • the interfaces of the computer are, for example, from the computer or from one of the processors outgoing lines or it may also be software interfaces.
  • An advantageous aspect of the invention is that the Ego vehicle receives with the answer a reliability information for the verification result, wherein the authorization is additionally awarded in dependence on the reliability information.
  • This reliability information is determined from comparing the other vehicle with the above statistical procedure. If, for example, the deviation is very high between the sensor data of the ego vehicle and the further vehicle, this can influence the assignment of the authorization of the ego vehicle. For example. could be provided here that the authorization is granted for a shorter time than for the authorization, if the reliability information has a high reliability than a lower one.
  • the authorization as just stated, can be limited in time; which are always inquired or it can also be checked case-dependent, if it still exists. Any combination of these possibilities is conceivable.
  • the verification does not take place steadily, but rather when a request is received (event-driven).
  • the computing capacity can be saved and associated costs are greatly reduced.
  • the request is sent again as a function of the verification result.
  • the vehicle may send another request to obtain higher security or, in the negative case, to recognize that the sensor data is unverifiable , Then, for example, the ego vehicle can indicate to make a workshop visit, since the sensor data are no longer reliable.
  • it can be provided to use only a part of the sensor data, in particular with higher uncertainty, if activation decisions are to be made for an actuator system.
  • the ego vehicle it is advantageous for the ego vehicle to receive multiple responses to the request and to issue the authorization in dependence on a plurality of verification results. Since the request is sent not only to a single specific vehicle, but to all possible recipients, it happens that the ego vehicle also receives several replies. By applying statistical methods, greater clarity can also be obtained about the different verification results and, if the verification results are unambiguous, the authorization can be granted accordingly or again the authorization only for a shorter time than if the verification results are all unambiguous.
  • the verification result only relates to a subset of the sensor data. This would be the case, for example, if the verifying vehicle only has a corresponding sensor type. the type of sensor that affect a part of the sensor data.
  • the request has at least one of the following data: sensor type, sensor type, sensor generation, vehicle type, vehicle manufacturer.
  • corresponding data in the further vehicle it can be determined from these data whether a verification can even be carried out. Ie. the test equipment will also check this data as it is transmitted to determine if the other vehicle, even if it has the right to verify sensor data, is at all suitable for that sensor data. Based on this data can be determined by appropriately stored data, if this is possible.
  • the part of the first sensor data is compared with the second sensor data, which corresponds to the sensor type of the second sensor data. It is therefore clear that, for example, only radar data are compared with radar data. However, this is not necessarily so, video data could be compared to radar data or radar data to LiDAR data. This is done anyway in the vehicles themselves in order to achieve a higher reliability of the object recognition, for example. So a sensor redundancy can be implemented here.
  • Fig. 7 is a second block diagram of the invention.
  • Fig. 1 shows an overview of a network, as it can form according to the invention.
  • An infrastructure 10 is shown which, for example, represents traffic lights, traffic signs or displays which act intelligently and the vehicles 11, 12 and 13, which likewise operate in accordance with the method according to the invention.
  • the vehicles 1 1, 12 and 13 and the infrastructure 10 send requests Req. and receive answers res. from the requested vehicle or from the infrastructure. In principle, this is presented here in such a way that it does not always have to be such that each of the vehicles or the infrastructure also sends a response res.
  • the infrastructure 10 and the vehicles 11, 12 and 13 manage to verify their sensor data as far as possible. This leads to an improved driving behavior of the vehicles 1 1, 12 and 13 and to an improved action of the infrastructure 10, because the data coming from the sensors now demonstrably have a higher quality.
  • step 200 the sensor data are read by the sensors in the vehicles 1 1,
  • the infrastructure 10 generated.
  • Environment sensors such as radar, LiDAR or video are used or ultrasound or positioning data such as GPS.
  • At least part of this data is sent in method step 201 with the request to verify this sensor data.
  • This transmission can be achieved by existing mobile phones or by fixed mobile phone modules or other radio signals (C2X standardized format such as DENM message or the like based on IEEE 802.1 1 p) or optical transmission.
  • C2X standardized format such as DENM message or the like based on IEEE 802.1 1 p
  • optical transmission In method step 202, the receipt of a response then takes place from the further vehicle or the infrastructure. This answer may include the verification of the sensor data or even that this sensor data can not be verified.
  • the verification of the sensor data could be carried out, then in step 203 in the ego vehicle, for example 12, which had sent the request and received the response, granted the authorization, at least for a certain time, sensor data for to be able to verify the data verified by another vehicle.
  • radar data of the vehicle 12 has now been verified by the vehicle 13
  • the vehicle 12 itself can now also verify radar data from other vehicles or the infrastructure 10 itself.
  • the vehicle itself sends evaluations, for example object detections, and receives a verification for this. This would make the verification more independent of the sensor type.
  • a verification of radar data could also be performed by LiDAR data or camera data or a combination thereof.
  • the entitlement could be granted for a certain time or up to a certain event. At the end of this time, the vehicle 12 would now have to send another request to be able to continue to verify itself and to be sure that its own data is verified.
  • FIG. 3 shows a block diagram of an embodiment of the arrangement for processing the sensor data according to the invention.
  • a plurality of environment sensors, radar, LiDAR, video and ultrasound (US) are specified here, which are evaluated by a computer platform R their data. This is all in the vehicle 12.
  • the computer R determines a drive signal for the actuators A, for example, a steering, a braking intervention, a gas or give a sharper circuit of active and passive safety systems.
  • the computer R causes via the transmitting device SE the sending of a request for verification of the sensor data, the environment sensors radar, LiDAR, video, ultrasound or data derived therefrom such as an object detection.
  • Other examples are as well as locating data, but also data about the movement of the vehicle, which may originate from acceleration sensors, for example.
  • the transmitting device SE brings this data to be verified into a data telegram which is sent via the radio signals 30 by means of the antenna ANT.
  • the transmitting device SE then also takes the amplification and all the necessary steps for the generation of a radio signal 30.
  • the antenna EANT receives the radio signals 31, which in the present case have a response to the request.
  • This signal is evaluated by the receiving device EM or receiver and the user data from these radio signals and the associated data telegram are transmitted to the computer R, so that the computer R is informed whether there is a verification or not. If this is the case, the computer R can now carry out an authorization for the vehicle 12 for verifying sensor data or data derived therefrom from other vehicles or an infrastructure.
  • the computer R can also by a distributed computer technology, d. H. can be represented by multiple processors, but it can also be a large calculator box - a supercomputer that can handle all the data.
  • This block diagram is naturally simplified and does not show every step such as the use of filters in the transmission and reception line. Only the blocks necessary for understanding the invention are shown.
  • step 400 vehicle 13 requests Req. receive. This can be done by mobile radio or other radio signals as shown above.
  • method step 401 it is checked by a checking device whether the vehicle 13 is authorized to verify the request from the vehicle 12. If this is not the case, the method jumps back to step 400 or alternatively, the method can also be terminated hereby. If, however, the vehicle 13 is authorized to carry out a verification of such a request, the comparison of the sensor data or data derived therefrom with its own sensor data or derived data ensues in method step 402.
  • step 403 the verification of the requested sensor data is sent. It can be provided that if the verification fails, then the process is completed. However, it can also be provided that a missing verification is transmitted. In particular, reliability information can also be transmitted, which then indicates to the vehicle 12 the reliability with which the verification could be carried out. Depending on this, the vehicle 12 can then, for example, determine how long it wants to view its sensor data as verified.
  • Fig. 5 shows an example of a data message that is sent from the vehicle 12 to the vehicle 13 as a request.
  • field F in the header u. a. indicated that this is such a request that the sensor data SD, which follow thereafter to be verified.
  • the sensor data can also be derived data, such as an object detection.
  • the channel coding is provided, i. H.
  • a redundancy is provided, which makes it possible to conclude by transferring lost data.
  • Fig. 6 shows a data telegram which the vehicle 13 sends in response to the request.
  • a header field H is provided which identifies this data telegram in response to the request, so that the correct vehicle can also process this request.
  • the verification data are included, the example. can also contain the reliability information.
  • the channel coding is taken into account by means of an error correction method.
  • FIG. 7 shows a block diagram of a device for processing a request that has been sent, for example, by the ego vehicle 12.
  • the request comes to the vehicle 13 containing the present device as well as all other vehicles participating in this network.
  • the antenna 50 which may be identical to the other antennas, the signals are picked up and processed by the receiver EM.
  • This receiver EM takes from the data telegram the sensor data and the request that they should be verified and transmits this to the computer R.
  • the computer R has as a software module to a test device PE, which checks whether the vehicle 13 is at all entitled, such Verification to perform. If this is the case, the data is forwarded to the comparator VG, which is also present as a software module in the computer R. There, the comparison is carried out by means of statistical methods or a simple difference. Depending on this comparison, a verification is determined by the computer R and transmitted to the transmitting device SE, which transmits the verification result via the antenna 51 in response via the radio signals 31.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé de traitement de données de capteur (SD) générées par au moins un système capteur (radar, LiDAR, vidéo, US) pour un véhicule ego (12). Une demande est envoyée au moyen de premiers signaux radio (30) avec une demande (Req.) de vérification d'au moins une partie des données de capteur. Ensuite, une réponse, au moyen de deuxièmes signals radio (31), à la demande avec un résultat de vérification (V) est reçue. Une autorisation est attribuée en fonction du résultat de la vérification (V) que le véhicule ego (12) peut répondre à au moins une autre demande d'un autre véhicule (11, 13) ou infrastructure (10). En conséquence, les procédures sont affichées du côté récepteur et les accords correspondants sont affichés.
PCT/EP2019/061489 2018-05-16 2019-05-06 Procédé de traitement de données de capteur, dispositif de traitement de données de capteur, dispositif de traitement d'une interrogation d'un véhicule ego pour un autre véhicule, ordinateur de traitement de données de capteur et ordinateur pour traiter une interrogation d'un véhicule ego pour un autre véhicule WO2019219419A1 (fr)

Applications Claiming Priority (2)

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DE102018207658.8A DE102018207658B4 (de) 2018-05-16 2018-05-16 Verfahren zum Verarbeiten von Sensordaten, Anordnung zur Verarbeitung von Sensordaten, Anordnung zum Verarbeiten einer Anfrage eines Ego-Fahrzeugs für ein weiteres Fahrzeug, Rechner zum Verarbeiten von Sensordaten sowie Rechner zum Verarbeiten einer Anfrage eines Ego-Fahrzeugs für ein weiteres Fahrzeug
DE102018207658.8 2018-05-16

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