Method for operating a sensor in a vehicle

Abstract

The invention relates to a method for operating a sensor (3) in a vehicle (1), wherein vehicle electronics (2) of the vehicle (1) measure at least one parameter of a traffic object (5, 5') different from the vehicle (1) by means of the sensor (3), and output at least one measured value on the basis of a sensor setting, and wherein the vehicle electronics (2) receive at least one data set from at least one traffic object (5, 5') different from the vehicle (1). The vehicle electronics (2) determine or calculate at least one comparison value of the parameter on the basis of the at least one data set, and the sensor setting is calibrated on the basis of the comparison value.

Description

[0001] Method for operating a sensor in a vehicle

[0002] The invention relates to a method for operating a sensor in a vehicle, wherein the vehicle's electronics use the sensor to measure at least one parameter of a traffic object different from the vehicle and output at least one measured value based on a sensor setting, and wherein the vehicle electronics receive at least one data set from at least one traffic object different from the vehicle, wherein the vehicle electronics determine or calculate at least one comparative value of the parameter based on the at least one data set and calibrate and / or validate the sensor setting based on the comparative value.

[0003] It also relates to a vehicle comprising vehicle electronics and at least one sensor for detecting at least one parameter from other traffic objects in the vicinity of the vehicle, wherein the sensor is connected to a measurement processing unit, wherein the measurement processing unit is connected to the vehicle electronics and the measurement processing unit is configured to receive information from the sensor, to generate a measurement value from this based on a sensor setting and to transmit the measurement value to the vehicle electronics, and wherein the vehicle has a communication unit for communicating with other traffic objects, wherein the communication unit is connected to the vehicle electronics and is configured to receive data sets from other traffic objects and forward them to the vehicle electronics.

[0004] Particularly in the area of ​​autonomous vehicles and vehicles with advanced driver assistance systems (ADAS), a driver assistance system is used as part of the vehicle's electronics to control or assist the vehicle. This system typically receives sensor data from the vehicle's sensors as well as data from a communication network. The vehicle's sensors are primarily designed to collect data about the vehicle's immediate surroundings and the vehicle itself, such as detecting other road users, lanes, and road layouts, or monitoring the vehicle's speed, position, and direction of travel. Data from the communication network can also relate to traffic objects, such as their type, size, position, direction of travel, and speed, but it is not limited by the sensors' range.However, such driver assistance systems can also serve to support a driver by providing warning signals or suggestions to make the journey safer, more efficient or more pleasant.

[0005] Crucially, at least one sensor must measure and provide parameters from other traffic objects so that the vehicle electronics can react correctly depending on the other road users. It is essential that the sensor readings are as accurate as possible to ensure an optimal response to each situation.

[0006] Sensors can be altered by factors such as contamination, aging, damage, or changes in orientation due to mechanical impact (e.g., bumping), potentially causing their signals to be attenuated, shifted, or rendered less accurate. This can lead to significant problems and a substantial deterioration in data quality. As a result, the response of the vehicle's electronics can be impaired, leading to malfunctions and potentially compromising vehicle safety.

[0007] US patent 2021221390 A1 discloses a system that receives various measurements and corresponding data sets at multiple times and sequentially calibrates the sensor using these data pairs. However, this only results in an inadequate calibration.

[0008] The object of the invention is therefore to provide a method and a vehicle that enables improved response of the vehicle electronics and increases driving safety.

[0009] This problem is solved according to the invention by the calibration comprising evaluating several comparison values, several measured values, and / or several combinations of values ​​from at least one comparison value and at least one measured value using a statistical method, and calculating a correction value and using it for calibration.

[0010] This is also achieved by connecting a calibration unit to the measurement processing unit and the communication unit. This unit is configured to determine or calculate a reference value for the parameter based on at least one data set and to calibrate the sensor settings of the measurement processing unit based on this reference value. This is accomplished by evaluating multiple reference values, multiple measured values, and / or multiple combinations of at least one reference value and at least one measured value using a statistical method, calculating a correction value, and using it for calibration. The data set provides the vehicle with a second data source for the measured parameter(s) in addition to its own sensors. For example, the position of a vehicle as a traffic object can be determined very precisely via GNSS and shared with other vehicles.From this, the distance and position to the vehicle can be derived and compared with the vehicle's sensors. This allows the accuracy of the vehicle sensors to be checked, evaluated, calibrated, and / or validated, preferably continuously. This enables the sensor's accuracy to be continuously monitored and improved, and also compensates for any subsequent manipulations of the sensor that reduce its accuracy. This results in particularly precise measurements, which improves the response of the vehicle electronics and increases safety.

[0011] Sensor settings refer to a logic or calculation used to derive a usable measurement value from the raw sensor data. Sensor settings typically correct sensor-specific orientations, offsets, and other characteristics or inaccuracies.

[0012] Calibration refers to changing the sensor setting based on a detected deviation, which can be determined using at least one reference value. Calibration can involve changing an offset, a multiplier, or any other properties of the sensor setting.

[0013] It may be stipulated that the vehicle electronics only perform calibration under certain conditions. For example, calibration may be omitted if the reference value is essentially identical to the measured value. It may also be stipulated that calibration is only performed if a discrepancy has been confirmed by comparing several reference values ​​and / or several measured values, and / or if the reference value exhibits a certain level of accuracy or quality.

[0014] The measurement processing unit can be integrated with the sensor, be a separate unit, and / or be integrated with the vehicle electronics. For example, the measurement processing unit can be part of the sensor electronics, which preferably includes a processing unit. Similarly, the calibration unit can be integrated with the vehicle electronics, with the sensor, the measurement processing unit, and / or be a separate unit. The calibration unit and / or the measurement processing unit can, for example, be part of the sensor electronics, which preferably includes a processing unit. The parameter can be a single parameter, a value, or a collection of parameters or values. For example, the parameter of a traffic object can include its speed, position, acceleration, direction of travel, orientation, wheel swivel angle, lighting status, or similar information.For example, parameters of other traffic objects include their relative position to the vehicle or absolute position, distance, type of object, and current state (e.g., the moisture level or temperature of the road surface). It could also include, for example, the angle of the sensor to the vehicle.

[0015] The sensor or sensors may accordingly include a LIDAR, camera, stereo camera, radar infrared, GNSS (with and without RTK (Real-time kinematic positioning)), velocity measurement and / or acceleration measurement system.

[0016] Traffic objects can encompass all objects or subjects, or parts thereof, that participate in, regulate, control, or otherwise influence traffic. Examples include other road users such as other vehicles, pedestrians, or other traffic objects. Roads, lanes, lane markings, traffic signs, traffic lights, and other symbols like crosswalks can also be traffic objects. Similarly, obstacles that affect traffic, such as barricades, barriers, trees, stones, and the like, can also be considered traffic objects.

[0017] The vehicle electronics can receive the data set from the other traffic object by the traffic object transmitting the data set to the vehicle electronics. This can happen directly, either through a direct connection between the vehicle and the traffic object, or by establishing such a connection beforehand, for example via radio, Bluetooth, and / or another communication method or standard. Alternatively, it can happen indirectly, via at least one intermediary communicator. This communicator could be, for example, a server that is connected to both the vehicle and the traffic object, communicates with them, and exchanges data.

[0018] For the purposes of this invention, a server is a computer, computer component, or device comprising at least one computer, configured to communicate at least partially with the vehicle or other traffic objects and to exchange data. Typically, each server has at least one database or is connected to one in which data of the traffic objects is stored so that this data can be retrieved and transmitted by other traffic objects, such as the vehicle. In this context, it may be provided that the data set is received directly from the at least one traffic object other than the vehicle, preferably via vehicle-to-everything (V2X) or vehicle-to-vehicle (V2V) communication. Therefore, it is also advantageous if the communication unit is a vehicle-to-everything (V2X) or vehicle-to-vehicle (V2V) unit.Alternatively or additionally, it may also be provided that the data set is obtained via a server external to the vehicle, which receives and collects data from other traffic objects.

[0019] Furthermore, it is advantageous if the traffic object, which is different from the vehicle and whose parameter is being measured, is the traffic object from which the vehicle receives the data set. This means that the data set originates from this traffic object. It can be arranged that the traffic object transmits the data set directly to the vehicle, or that the traffic object transmits the data set indirectly, for example, via a server. If, for instance, the parameter is a relative distance, the distance to a traffic object, such as an approaching motorcycle, can be measured by the sensor, and a corresponding measurement value can be output.The same motorcycle can, for example via V2V, transmit precisely defined position data to the vehicle, which can then calculate a comparison value for the distance from this position data as well as its own measured position data and, if necessary, calibrate the sensor setting if the comparison value deviates too much from the measured value.

[0020] Alternatively or additionally, it can also be provided that the traffic object, other than the vehicle, whose parameter is measured, is another traffic object from which the vehicle receives the data set. For example, the road surface temperature can be measured by a traffic object in the form of a motorcycle or a weather station and then transmitted to the vehicle. However, the road surface temperature is a parameter of another traffic object, namely the road surface itself.

[0021] It may be intended that the data set includes the comparison value of the parameter, or that the data set itself is the comparison value. In the latter case, no calculation of the comparison value is necessary.

[0022] It may also be stipulated that the data set includes at least one further parameter or value from which the reference value of the parameter is calculated. For example, a relative position of a traffic object can be calculated as a parameter from an absolute position of the traffic object as a data set. A detail of the position can also be used as a parameter. For example, an angle of the traffic object relative to a longitudinal axis of the vehicle can be recorded as a parameter, and the sensor can be calibrated accordingly, if necessary.

[0023] It may also be stipulated that at least one additional data set from another source is used to calculate the comparison value. For example, to calculate the relative position of another traffic object to the vehicle, a data set representing the traffic object's position, as well as a data set specifically determined by the vehicle representing its position, may be used.

[0024] Furthermore, the sensor calibration may include comparing the measured value and the reference value, and preferably calculating at least one difference value from them. This difference value can then be used directly for calibration. It can also be used to decide whether to perform the calibration. In particular, the sensor may be validated when the difference is zero or below a tolerance value. Validation in this context means confirming that, at least currently, no calibration or readjustment of the sensor is necessary.

[0025] Furthermore, it is advantageous to calibrate the sensor only when the difference between the measured value and the reference value exceeds a predetermined threshold. This ensures that no calibration is performed that does not result in any significant change and therefore only consumes resources without contributing to the sensor's accuracy for future measurements.

[0026] It may be possible to calculate at least one reference value of the parameter in such a way that it corresponds to the parameter at the time the sensor measured the value. This is particularly advantageous if the parameter changes rapidly over time. For example, it is useful to compare the reference value and the measured value of a relative position at the same time if the vehicle or traffic object is moving.

[0027] It is also advantageous if at least one data set includes information regarding the accuracy of at least a part of that data set, and if the vehicle electronics use this accuracy information to decide whether to use the data set, and / or which part of the data set, to calculate the reference value, and / or how heavily the data set is weighted in the calculation of the reference value. For example, a data set concerning the absolute position of a moving traffic object could contain information on how accurately the position was determined. This can have a significant impact on the calibration.For example, if the data set indicates that the position was determined with very low accuracy, it may be advantageous not to include the calculated reference value(s) in the calibration, or to include them only with reduced weighting, or not to use the data set at all.

[0028] It is particularly advantageous to receive multiple data sets and determine or calculate multiple reference values, and to calibrate the sensor settings based on these reference values, preferably calculating at least one reference value from each individual data set. This allows calibration to be performed not only on a single reference value, but on a plurality of reference values, thus increasing accuracy.

[0029] It can be provided that two comparison values ​​are calculated from at least two data sets, representing the same parameter at different times, and that at least two measured values ​​of the parameter are output at these times. The calibration process includes comparing each comparison value with the measured value at the corresponding time. In other words, at least two value combinations are generated, each consisting of at least one comparison value and at least one measured value. From each of these value combinations, at least one difference value can be calculated. This further increases the accuracy of the calibration.

[0030] Accordingly, it can also be provided that two comparison values ​​are calculated from at least two data sets, representing the parameter for two different traffic objects, and that at least two measured values ​​of the parameter for these traffic objects are output. Furthermore, the calibration includes comparing each comparison value with the measured value of the corresponding traffic object. This also increases accuracy, as the comparison values ​​are generated based on data sets from different traffic objects. Since these data sets are typically measured by different sensors of the different traffic objects, errors due to sensor tolerances can be reduced.

[0031] A particular advantage is that the calibration includes evaluating multiple reference values, multiple measured values, and / or multiple combinations of values ​​consisting of at least one reference value and at least one measured value using a statistical method, and preferably calculating a correction value. The statistical method can, for example, include statistically evaluating the difference values. For instance, the statistical method can include calculating a mean and / or median, for example, from the difference values.

[0032] Furthermore, it can be advantageous to weight at least two reference values ​​and / or at least two measured values ​​differently during calibration. This allows values ​​with varying degrees of accuracy or timeliness to be incorporated into the calibration to different extents, according to these characteristics. The weighting can be based on the type of method used to determine the value, the sensor used to determine the value, and / or on accuracy data of the method and / or the sensor used.

[0033] The invention will subsequently be explained in more detail with reference to a non-limiting embodiment shown in the figures. The figures show:

[0034] Fig. 1 shows a schematic top view of a vehicle according to the invention, which carries out the method according to the invention while moving along a road;

[0035] Fig. 2 is a schematic view of a part of the vehicle from Fig. 1.

[0036] Figure 1 shows a vehicle 1 comprising vehicle electronics 2 and a sensor 3. In this embodiment, the sensor 3 is configured as a position sensor, for example as a LiDAR sensor, radar sensor, or camera. The vehicle electronics 2 are connected to the sensor 3.

[0037] Vehicle 1 is moving along a road 4 in one lane in a direction R along its longitudinal axis L. Another traffic object 5, in this example another vehicle, is approaching on the road 4. It is moving along the adjacent lane in the opposite direction R'.

[0038] Sensor 3 is aligned along the longitudinal axis L and thus detects the traffic object 5. A measured value is calculated based on the sensor signals and a sensor setting. However, due to an angular offset 6 of sensor 3, which is not taken into account by the sensor setting, the traffic object 5 is perceived by the sensor as if it were moving in the same lane – represented by the erroneously measured traffic object 5'. As a result, the position of the traffic object 5 is incorrectly determined by sensor 3. The traffic object 5 has a GNSS system with RTK for precise position determination and a V2V communication unit 7, which transmits its position, direction of movement, and speed as a data set to other nearby vehicles, such as vehicle 1.

[0039] Figure 2 illustrates the internal structure of a vehicle component. Sensor 3 is connected to the vehicle electronics 2 via a measurement processing unit 8. The sensor transmits raw data to the measurement processing unit 8, which uses a sensor setting to determine at least one measured value from the raw data and forwards it to the vehicle electronics. This measured value is also transmitted to a calibration unit 9.

[0040] A communication unit 10 is connected to the vehicle electronics 2 and receives the data set of the traffic object 5. This data set can be processed or forwarded unprocessed by the vehicle electronics 2 to the calibration unit 9. In an alternative embodiment, the calibration unit 9 can be directly connected to the communication unit 10.

[0041] The calibration unit 9 calculates a comparison value based on the data set and then, if necessary, sends a setting signal to the measurement processing unit 8 based on the measured value and the comparison value, thereby calibrating the sensor setting according to the setting signal.

[0042] The measurement processing unit 8 and / or calibration unit 9 can also be implemented as part of the sensor 3 or the vehicle electronics 2.

[0043] In this version, the absolute position of the traffic object 5 can be used as a parameter. The measured value then corresponds to a measured position of the traffic object 5, and a comparison position is calculated or extracted from the data set. The calibration device 9 compares these positions and detects a discrepancy resulting from the angular offset 6. Accordingly, the adjustment signal can change the sensor setting such that the aiming angle of the sensor 3 is altered by the angular offset 6. This results in a more accurate measurement when the next traffic object is detected.

[0044] Alternatively, the relative angle between the longitudinal axis L of the vehicle and the traffic object 5 can also be used as a parameter. In this case, the measured value is the corresponding angle, which in this example would be 0°. A comparison value in the form of a comparison angle, which here would be approximately 30°, would then be calculated from the data set.

Claims

P A T E N T A N S P R Ü C H E 1. A method for operating a sensor (3) in a vehicle (1), wherein a vehicle electronics unit (2) of the vehicle (1) measures at least one parameter of a traffic object (5, 5') different from the vehicle (1) using the sensor (3) and outputs at least one measured value based on a sensor setting, and wherein the vehicle electronics unit (2) receives at least one data set from at least one traffic object (5, 5') different from the vehicle (1), wherein the vehicle electronics unit (2) determines or calculates at least one reference value of the parameter based on the at least one data set and calibrates and / or validates the sensor setting based on the reference value, characterized in that the calibration includes the determination of several reference values, several measured values,and / or several combinations of values ​​from at least one comparison value and at least one measured value are evaluated using a statistical procedure and a correction value is calculated and used for calibration.

2. Method according to claim 1, characterized in that the data set is obtained directly from the at least one traffic object (5, 5') other than the vehicle (1), preferably via a Vehicle-to-everything (V2X) or a Vehicle-to-Vehicle (V2V) communication.

3. Method according to claim 1 or 2, characterized in that the data set is obtained via a vehicle-external server which receives and collects data from other traffic objects (5, 5').

4. Method according to one of claims 1 to 3, characterized in that the traffic object (5, 5') whose parameter is measured, which is different from the vehicle (1), is the traffic object (5, 5') from which the vehicle receives the data set.

5. Method according to one of claims 1 to 4, characterized in that the data set includes the comparison value of the parameter.

6. Method according to one of claims 1 to 5, characterized in that the data set comprises at least one further parameter or value from which the comparison value of the parameter is calculated.

7. Method according to one of claims 1 to 6, characterized in that the calibration of the sensor (3) comprises comparing the measured value and the reference value, preferably providing that at least one difference value is calculated from them.

8. Method according to claim 7, characterized in that the sensor (3) is then calibrated when the difference value between measured value and reference value exceeds a predetermined threshold value.

9. Method according to one of claims 1 to 8, characterized in that at least one comparison value of the parameter is calculated such that it corresponds to the parameter at the time when the sensor (3) has measured the measured value.

10. Method according to one of claims 1 to 9, characterized in that at least one data set comprises at least one piece of information regarding the accuracy of at least one part of this data set and the vehicle electronics (2) decides on the basis of the information regarding the accuracy whether the data set and / or which part of the data set is used to calculate the comparison value and / or how much the data set is weighted in the calculation to calculate the comparison value.

11. Method according to one of claims 1 to 10, characterized in that several data sets are received and several comparison values ​​are determined or calculated and that the sensor setting is calibrated on the basis of these comparison values, wherein it is preferably provided that at least one comparison value is calculated from each individual data set.

12. Method according to one of claims 1 to 11, characterized in that two comparison values ​​are calculated from at least two data sets which represent the same parameter at different times and that at least two measured values ​​of the parameter are output at these times and that the calibration comprises comparing each comparison value and the measured value of the corresponding time.

13. Method according to one of claims 1 to 12, characterized in that two comparison values ​​are calculated from at least two data sets, which represent the parameter relating to two different traffic objects (5, 5') and that at least two measured values ​​of the parameter relating to these traffic objects (5, 5') are output and that the calibration comprises comparing each comparison value and the measured value of the matching traffic object (5, 5') with each other.

14. Method according to one of claims 1 to 13, characterized in that at least two comparison values ​​and / or at least two measured values ​​are weighted differently during calibration.

15. Vehicle (1) comprising vehicle electronics (2) and at least one sensor (3) for detecting at least one parameter of other traffic objects (5, 5') in the vicinity of the vehicle (1), wherein the sensor (3) is connected to a measurement processing unit (8), wherein the measurement processing unit (8) is connected to the vehicle electronics (2) and the measurement processing unit (8) is configured to receive information from the sensor (3), to generate a measurement value from this information based on a sensor setting, and to transmit the measurement value to the vehicle electronics (2), and wherein the vehicle comprises a communication unit (10) for communicating with other traffic objects (5, 5'), wherein the communication unit (10) is connected to the vehicle electronics (2) and is configured to receive data sets from other traffic objects (5, 5') and to forward them to the vehicle electronics (2), characterized in thatthat a calibration unit (9) is connected to the measurement processing unit (8) and the communication unit (10) and is configured to determine or calculate a reference value of the parameter based on at least one data set and to calibrate the sensor setting of the measurement processing unit (8) based on the reference value by evaluating several reference values, several measured values, and / or several combinations of values ​​consisting of at least one reference value and at least one measured value using a statistical procedure and calculating a correction value and using it for calibration.

16. Vehicle (1) according to claim 15, characterized in that the sensor (3) comprises at least one LIDAR, camera, stereo camera, radar infrared, GNSS, GNSS with RTK, speed measurement and / or acceleration measurement system.

17. Vehicle (1) according to claim 15 or 16, characterized in that the communication unit (10) is a vehicle-to-everything or a vehicle-to-vehicle unit.

18. Vehicle (1) according to one of claims 15 to 17, characterized in that the vehicle (1) is equipped to carry out a method according to one of claims 1 to 15.

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