Method and device for operating a motor vehicle sensor, sensor system and motor vehicle

Abstract

The invention relates to a method for operating a sensor of a motor vehicle, comprising the following steps: determining a self-trajectory of the sensor, generating an adaptation signal for adapting at least one operating parameter of the sensor on the basis of the determined self-trajectory, and outputting the adaptation signal in order to adapt at least one operating parameter of the sensor on the basis of the adaptation signal. The invention also relates to a device, a sensor system, a motor vehicle, a computer program and a machine-readable storage medium.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for operating a sensor of a motor vehicle. The invention further relates to a device, a sensor system, a motor vehicle, a computer program and a machine-readable storage medium. BACKGROUND

[0002] Radar systems for measuring distances, relative speeds and angles of objects, such as vehicles and obstacles, are increasingly used in motor vehicles for safety functions and comfort functions. In recent years, the use of radars with synthetic aperture has been investigated in the automotive field. The principle of synthetic aperture allows a particularly precise measurement of angles in the self-motion of a radio radar sensor in such a way that radar measurements at different local positions are used as a synthetic antenna aperture (antenna area). The synthetic aperture is achieved in that the transmitting and receiving antenna is at different local positions at the time point of each individual radar measurement due to the self-motion of the radar and can thus be processed in a computational manner as if there were a large antenna aperture along the driving trajectory. Thereby, a separation capability between closely adjacent targets in the angle measurement is possible with a single transmitting and receiving antenna, which is not realizable with a real antenna aperture. This is in particular due to the fact that a large synthetic aperture can be achieved by the self-motion of the radar, which is not practical or possible with a real antenna aperture due to the large number of necessary antenna elements.

[0003] The publication DE 10 2017 128 194 A1 discloses a vehicle self-localization in the case of the use of a car radar with synthetic aperture.

[0004] The publication DE 10 2017 129 933 A1 discloses a method for detecting environmental information by means of a radar system with synthetic aperture. SUMMARY

[0005] The task on which the invention is based is to provide a solution for efficiently operating a sensor of a motor vehicle.

[0006] The task is solved by means of the method, the device, the sensor system, the motor vehicle, the computer program and the machine-readable storage medium of the invention. Advantageous configurations of the invention are the subject matter of the respective preferred embodiments.

[0007] According to a first aspect, a method for operating a sensor of a motor vehicle is provided, the method comprising the following steps:

[0008] deriving a self-trajectory of the sensor;

[0009] generating an adaptation signal for adapting at least one operating parameter of the sensor on the basis of the determined ego trajectory; and

[0010] outputting the adaptation signal in order to adapt at least one operating parameter of the sensor on the basis of the adaptation signal.

[0011] According to a second aspect, a device is provided, which is designed to carry out all steps of the method according to the first aspect.

[0012] According to a third aspect, a sensor system is provided, which comprises a sensor and a device according to the second aspect.

[0013] According to a fourth aspect, a motor vehicle is provided, which comprises a device according to the second aspect or a sensor system according to the third aspect.

[0014] According to a fifth aspect, a computer program is provided, which comprises instructions, which, when the computer program is implemented by a computer, for example by a device according to the second aspect, arrange the computer to carry out the method according to the first aspect.

[0015] According to a sixth aspect, a machine-readable storage medium is provided, on which a computer program according to the fifth aspect is stored.

[0016] The application is based on and comprises the insight that the above-mentioned task is solved by determining an ego trajectory of the sensor, wherein the sensor is operated on the basis of the determined ego trajectory. This is achieved, inter alia, by adapting at least one operating parameter of the sensor on the basis of the determined ego trajectory. To this end, an adaptation signal is generated and output on the basis of the determined ego trajectory for adapting the at least one operating parameter.

[0017] Thereby, inter alia, the following technical advantage is achieved: The sensor of the motor vehicle can be efficiently operated in view of the ego trajectory. Thereby, for example, necessary calculations can be minimized, which are carried out, for example, in the context of an evaluation of a measurement performed or performed by means of the sensor.

[0018] Thereby, for example, the following technical advantage is further achieved: The sensor signal of the sensor can be processed, for example, in real time. This is particularly advantageous, inter alia, when the measurement of the sensor is used to operate a driver assistance system of the motor vehicle on the basis thereof.

[0019] According to one embodiment, the adaptation signal comprises a control signal for controlling the sensor. Thus, the adaptation comprises, inter alia, a control of the sensor. Thereby, for example, the following technical advantage is achieved: The sensor can be efficiently operated or controlled. The control comprises, for example, a setting of one or more operating parameters of the sensor and / or one or more of the measurement characteristic quantities described below.

[0020] According to an embodiment, the sensor of the motor vehicle is a radio radar sensor. The radio radar sensor is for example a SAR radar sensor.

[0021] The abbreviation "SAR" stands for "Synthetic Aperture Radar", which can be translated with "virtual aperture". A translation with "synthetic aperture" is also common.

[0022] Thus, especially also, the SAR radar sensor is a radio radar sensor with a virtual aperture or with a synthetic aperture. The synthetic aperture is generated by the sensor movement during the measurement. Here, a frequency change of the echo frequency of the target is generated by the Doppler effect, at which the transmitted signal is reflected. This frequency change can be converted into a target angle. The sensor or radio radar sensor, in which information about the target angle is obtained from the Doppler measurement, is referred to below as a SAR sensor or SAR radar sensor.

[0023] According to an embodiment, it is provided that the determination of the ego trajectory of the sensor comprises an estimation of the ego trajectory of the sensor. Especially also, the ego trajectory can be estimated. The determined ego trajectory is in this case especially an estimated ego trajectory.

[0024] Thereby, for example, the following technical advantage is achieved: The ego trajectory can be determined efficiently.

[0025] According to an embodiment, it is provided that the sensor signal of at least one further sensor of the motor vehicle and / or the sensor signal of the sensor is received, wherein the ego trajectory is determined on the basis of the sensor signal, wherein the at least one further sensor is an element selected from the following sensor group: inertial sensor, especially single- or multi-axial acceleration sensor or single- or multi-axial rotation sensor; magnetometer sensor; satellite navigation sensor (GNSS), especially GPS sensor, GLONASS or Galileo sensor; distance measurement sensor; environmental sensor, especially radio radar sensor, video sensor, laser radar sensor, ultrasound sensor, infrared sensor.

[0026] Thereby, for example, the following technical advantage is achieved: The ego trajectory can be determined efficiently.

[0027] Especially also, it can be for example that not only a satellite navigation sensor is used for estimating the ego trajectory. Rather, according to an embodiment, it can be provided in addition or alternatively, for example, that past environmental sensor data of an environmental sensor are used in order to estimate the ego trajectory. Thus, for example, a movement relative to an object classified as a standziel can be determined on the basis of the environmental sensor data of the environmental sensor, so that the ego trajectory can be determined or estimated on the basis of this movement.

[0028] Thus, for example radio radar data of a radio radar sensor can be used to determine the respective movement.

[0029] For example, in addition to or instead of radar data, lidar sensor data, video data, ultrasound sensor data and / or infrared sensor data can also be used to determine the movement.

[0030] Here, in particular, use is made of the fact that the motor vehicle has an inertia, as a result of which the environmental sensor data can be used efficiently to determine the ego trajectory.

[0031] In one embodiment, in particular, it is provided that the sensor signals of the sensor are also used to determine the ego trajectory.

[0032] Thus, if the sensor of the motor vehicle is a radio radar sensor, according to one embodiment the radio radar sensor data can be used to determine the ego trajectory of the radio radar sensor.

[0033] According to one embodiment, it is provided that the at least one operating parameter is an element selected from the following parameter groups: evaluation algorithm parameters specifying an evaluation algorithm for evaluating sensor measurements; aperture parameters specifying an aperture length, in particular a virtual aperture length, of the sensor; image size parameters specifying an image size of a sensor image of the sensor; resolution parameters specifying a resolution and / or pixel size of a sensor image of the sensor; measurement feature parameters specifying at least one measurement feature of a measurement to be performed by means of the sensor.

[0034] Thereby, for example, the following technical advantage is achieved: Particularly suitable operating parameters can be efficiently adapted in order to efficiently operate the sensor.

[0035] According to one embodiment, the evaluation algorithm comprises an imaging algorithm. By means of the imaging algorithm, for example, a sensor image is determined on the basis of the sensor signals of the sensor.

[0036] If the sensor is a video sensor, the image or sensor image is a video image.

[0037] If, for example, the sensor is a radio radar sensor, the image or sensor image is a radio radar image.

[0038] If, for example, the sensor is a lidar sensor, the image or sensor image is a lidar image or lidar point cloud.

[0039] If, for example, the sensor is an ultrasound sensor, the image or sensor image is an ultrasound sensor image.

[0040] If, for example, the sensor is an infrared sensor, the image or sensor image is an infrared sensor image.

[0041] The expressions "virtual aperture" and "synthetic aperture" can be used synonymously.

[0042] According to one embodiment provision, the sensor is a time-of-flight measurement sensor, in particular a radar sensor, in particular a SAR radar sensor, wherein the at least one measurement characteristic is an element selected from the group of the following measurement characteristics: spacing between pulses; pulse shape parameter (e.g. slope of an FMCW ramp; bandwidth of a pulse; transducer rate for generating and detecting a pulse; pulse duration). A pulse generally refers to a radar waveform which is suitable for range-doppler evaluation, such as a linear FMCW ramp, an OFDM symbol or a coded signal, in particular.

[0043] Thereby, for example, the following technical advantage is achieved: The sensor can be operated efficiently. Furthermore, thereby, for example, the following technical advantage is achieved: The measurement performed by means of the sensor can be performed efficiently.

[0044] According to one embodiment provision, at least one instantaneous dynamic characteristic of the sensor, in particular the ego speed and / or the ego acceleration, is ascertained, wherein the adaptation signal is generated on the basis of the at least one instantaneous dynamic characteristic.

[0045] Thereby, for example, the following technical advantage is achieved: The adaptation signal can be generated efficiently.

[0046] According to one embodiment provision, the method according to the first aspect is implemented or performed by means of the device according to the second aspect.

[0047] The technical functionality of the method according to the first aspect is derived analogously from the respective technical functionality of the device according to the second aspect, and vice versa. In particular, this means that method features are derived from respective device features, and vice versa.

[0048] The expression "or" means "and / or".

[0049] The expression "and / or" means "and / or".

[0050] According to one embodiment provision, the method according to the first aspect is a method carried out by a computer.

[0051] According to one embodiment provision, the time-of-flight measurement sensor has a transmitting antenna and a receiving antenna.

[0052] According to one embodiment provision, the time-of-flight measurement sensor has a combined transmitting / receiving antenna.

[0053] According to one embodiment, the propagation time measuring sensor has an analog front end for generating the wave form and for conditioning the received signal.

[0054] According to one embodiment, the propagation time measuring sensor comprises an analog-digital converter (A / D) which is set up to probe the received signal of the propagation time measuring sensor.

[0055] According to one embodiment, a digital computing unit is provided which is set up to process a digital signal, i.e. a sensor signal, which represents a measurement performed by means of the sensor.

[0056] According to one embodiment, the digital computing unit is comprised by the sensor.

[0057] According to one embodiment, the digital computing unit is comprised by the device according to the second aspect.

[0058] According to one embodiment, the digital computing unit is comprised by the sensor system according to the third aspect or by the motor vehicle according to the fourth aspect.

[0059] According to one embodiment, a plurality of digital computing units is provided, so that the device or the sensor system or the motor vehicle can each comprise its own digital computing unit.

[0060] In one embodiment, a non-linearity of the determined ego trajectory is determined, wherein the adaptation signal is generated on the basis of the determined non-linearity.

[0061] The determination of the non-linearity comprises, for example, determining a second derivative from the position and / or time of the determined ego trajectory.

[0062] According to one embodiment, a deviation of the determined non-linearity from a linearity is determined, wherein the adaptation signal is generated on the basis of the determined deviation.

[0063] In one embodiment, the sensor is a sensor with synthetic aperture, in particular a radar sensor with synthetic aperture (SAR sensor).

[0064] In one embodiment, the method comprises limiting the determined ego trajectory to a trajectory which comprises the position of the sensor at a plurality of time points, in particular in a ramp sequence, during the measurement period of the sensor, however at least at three different time points. These time points can, but need not, coincide with the emission of pulses, for example radar pulses. The adaptation signal is then generated, in particular on the basis of the limited ego trajectory.

[0065] The expression "at least one" means "one or more". BRIEF DESCRIPTION OF DRAWINGS

[0066] Embodiments of the application are illustrated in the accompanying drawings and will be described in more detail in the following description. The drawings show:

[0067] Figure 1 a flow chart of a method for operating a sensor of a motor vehicle is shown,

[0068] Figure 2 a device is shown,

[0069] Figure 3 a machine-readable storage medium is shown,

[0070] Figure 4 a sensor system is shown,

[0071] Figure 5 a motor vehicle is shown,

[0072] Figure 6 a first connection block diagram is shown,

[0073] Figure 7 a second connection block diagram is shown, and

[0074] Figure 8 a third connection block diagram is shown.

[0075] The same reference signs are used in the following description for the same features. DETAILED DESCRIPTION

[0076] Figure 1 a flow chart of a method for operating a sensor of a motor vehicle is shown, the method comprising the following steps:

[0077] deriving 101 a self trajectory of the sensor;

[0078] generating 103 an adaptation signal for adapting at least one operating parameter of the sensor on the basis of the derived self trajectory; and

[0079] outputting 105 the adaptation signal in order to adapt at least one operating parameter of the sensor on the basis of the adaptation signal.

[0080] According to an embodiment provision, the method according to the first aspect comprises adapting at least one operating parameter of the sensor on the basis of the output adaptation signal.

[0081] Figure 2 A device 201 is shown.

[0082] The device 201 is set up to carry out all steps of the method according to the first aspect.

[0083] The device 201 comprises an input 203 which is set up to receive a sensor signal of at least one further sensor of the motor vehicle and / or of the sensor.

[0084] The device 201 further comprises a processor 205 which is set up to perform or carry out the steps of determining a self-trajectory of the sensor and of generating an adaptation signal.

[0085] The processor 205 is for example set up to determine a self-trajectory of the sensor on the basis of the sensor signal. For example, the processor 205 is set up to determine at least one instantaneous dynamic characteristic on the basis of the sensor signal.

[0086] For example, the processor 205 is set up to determine at least one instantaneous dynamic characteristic of the sensor, wherein the adaptation signal is generated on the basis of the at least one instantaneous dynamic characteristic.

[0087] The device 201 further comprises an output 207 which is set up to output the adaptation signal in order to adapt at least one operating parameter of the sensor on the basis of the adaptation signal.

[0088] The processor 205 is for example a digital computing unit.

[0089] Figure 3 A machine-readable storage medium 301 is shown.

[0090] A computer program 303 is stored on the machine-readable storage medium 301. The computer program 303 comprises instructions which, when the computer program 303 is implemented by a computer, arrange the computer to carry out the method according to the first aspect.

[0091] Figure 4 A sensor system 401 is shown.

[0092] The sensor system 401 comprises a sensor 403 and a device 201 according to the Figure 2 The device 201 is for example integrated in the sensor 403.

[0093] According to one embodiment, the device 201 can be integrated in the sensor 403.

[0094] According to one embodiment, the device 201 is not integrated in the sensor 403, i.e. is constituted separately from the sensor.

[0095] The sensor 403 is for example a radio radar sensor, in particular a SAR radar sensor.

[0096] Figure 5 A motor vehicle 501 is shown.

[0097] The motor vehicle 501 comprises a device 201 according to the Figure 2 The device 201 is for example integrated in the sensor 403.

[0098] The motor vehicle 501 comprises a SAR radar sensor 503.

[0099] Furthermore, the motor vehicle 501 comprises a GNSS sensor 505.

[0100] The GNSS signals, i.e. the position signals, of the GNSS sensor 505 are provided to the input 203 of the device 201.

[0101] Correspondingly, the adaptation signals are output to the SAR radar sensor 503 by means of the output 207.

[0102] That is to say, the SAR radar sensor 503 is operated on the basis of the output adaptation signals. This is achieved, inter alia, by adapting one or more operating parameters of the SAR sensor 503. This is based on the output adjustment signals.

[0103] In one embodiment not shown, instead of or in addition to the GNSS sensor 505, the motor vehicle comprises one or more further sensors.

[0104] Figure 6 A first connection diagram 600 is shown, which exemplarily illustrates the approach described herein for operating sensors of a motor vehicle.

[0105] According to the first connection diagram 600, a first inertial sensor 601, a second inertial sensor 603, a third inertial sensor 605 and a GNSS sensor 607 are provided.

[0106] The individual sensor signals of these four sensors 601, 603, 605, 607 are used to estimate a self-trajectory of a SAR radar sensor 619 on the basis of these sensor signals. This estimation is performed according to a function block 609.

[0107] The estimated self-trajectory is provided to a function block 611, according to which a non-linearity of the estimated self-trajectory is evaluated. This evaluation comprises, for example, determining or calculating a second derivative of the self-trajectory.

[0108] On the basis of the evaluated non-linearity, in particular on the basis of the second derivative, a decision is made between a first imaging algorithm 615 and a second imaging algorithm 617 in order to generate a radar image on the basis of radar signals of the SAR radar sensor 619.

[0109] To this end, the evaluated non-linearity or determined second derivative, i.e. the result, according to the position and / or according to the time is provided to a function block 613, according to which a decision is made between the two imaging algorithms 615, 617.

[0110] Furthermore, the estimated ego trajectory is also provided to the functional block 613, so that in addition to the evaluated non-linearity or the determined derivative, the ego trajectory itself is used in order to decide which of the at least two executed imaging algorithms should be used.

[0111] Furthermore, an especially optional functional block 621 is provided, which is used, for example, to abstract the possibly different data formats of the results of the two imaging algorithms 615, 617 independently of the algorithms used, in order to provide a uniform interface.

[0112] The radar signals are evaluated by means of the selected imaging algorithm in order to produce a radar image 623.

[0113] Figure 7 A second connection block diagram 700 is shown, which exemplarily illustrates the approach described here for operating a sensor of a motor vehicle.

[0114] Here, as a difference to the first connection block diagram 600, the evaluated non-linearity or the determined second derivative of the ego trajectory is used to adapt aperture parameters or image size parameters or resolution parameters of the SAR radar sensor 619, for example.

[0115] This is done by selecting the appropriate parameters accordingly, which is done according to the functional block 701.

[0116] These parameters are used as input variables for the imaging algorithm 703.

[0117] By means of the imaging algorithm 703, a radar image 623 is calculated on the basis of these parameters and the radar signals of the SAR radar sensor 619.

[0118] Figure 8 A third connection block diagram 800 is shown, which exemplarily illustrates the approach described here for operating a sensor of a motor vehicle.

[0119] As a difference to the second connection block diagram 700 according to Figure 7 In the third connection block diagram 800 according to Figure 8 at least one measurement feature of the SAR radar sensor 619 is calculated there on the basis of the adaptation criteria according to the connection block diagram 611.

[0120] For example, the interpulse distance and / or the pulse shape parameters (e.g. slope of the FMCW ramp, bandwidth of the pulse, transducer rate for generating and detecting the pulse, pulse duration) are adapted or set based on the estimated ego trajectory. The pulse generally refers especially to a radar waveform which is suitable for range-Doppler evaluation, such as a linear FMCW ramp, an OFDM symbol or a coded signal.

[0121] In summary, the approach described here is based on a novel adaptive handling and evaluation of a sensor for automotive applications, in particular a SAR radar sensor. The method can be applied, in particular, independently of the modulation to radar systems with synthetic aperture, such as fast chirp radar, pulse compression radar, OFDM radar. Here, the ego motion of the sensor, in particular a radio radar sensor, is determined during the measurement period in an advantageous manner and taken into account for the SAR evaluation or the adaptive matching of the modulation parameters.

[0122] The radio radar sensor preferably allows a measurement with an arbitrary trajectory, wherein by selecting the most suitable SAR imaging algorithm and / or its configuration, a computationally efficient SAR evaluation is allowed or rather set.

[0123] The approach can be implemented in an advantageous embodiment on the transmitter side to match the radar parameters for optimally utilizing the available computing resources and the given ego trajectory.

[0124] The core of the invention is therefore based, in particular, on performing an estimation of the ego trajectory of a sensor of a motor vehicle, in particular a SAR radar sensor, wherein a SAR imaging algorithm, parameters of the radar image and / or radar modulation parameters are adaptively matched on the basis of the estimated ego trajectory.

[0125] The SAR imaging algorithm and the radar modulation parameters are in particular subsumed under the general term "operating parameters of the sensor".

[0126] The technical advantage of this adaptive matching is in particular that the most efficient (SAR) imaging algorithm applicable to the driven ego trajectory can be used depending on the ego trajectory.

[0127] The required operations for calculating or rather deriving the sensor image, in particular the SAR radar image, can thereby be minimized. In addition, other radar parameters, in particular SAR parameters, such as the length of the synthetic aperture, the image size or rather the pixel size, can be adaptively selected depending on the ego trajectory, which in particular depends on the desired resolution.

[0128] Depending on the ego trajectory, the optimization selection and parameterization of the imaging algorithm is saved and the power loss and the latency can thereby be minimized while the quality of the output image remains sufficiently high.

[0129] Furthermore, in an advantageous manner, the adaptive selection of the most suitable imaging algorithm, in particular the most suitable SAR imaging algorithm, allows an algorithmic optimization matching to the scenario or rather the surroundings of the motor vehicle, which can thereby be detected more precisely than in the case of a non-adaptive approach. Here, in an advantageous manner, flexibility is in principle retained in terms of the driven ego trajectory.

[0130] The length of the virtual aperture can also be matched in an advantageous manner to the self-trajectory and the available computing resources and the SAR imaging algorithm to be used.

[0131] This matching can in turn be used in an advantageous manner to fulfill the prerequisites of computationally efficient algorithms. The available computing resources can thus be used optimally at all times and for each self-trajectory.

[0132] In one embodiment, a model-based state estimator is provided for processing the sensor signals, i.e. the sensor measurement data or sensor signals, of the respective sensor to estimate the self-trajectory.

[0133] On the basis of the determined criterion, which is evaluated in accordance with the estimated self-trajectory, the algorithm makes at least one decision which adaptively influences further measurements and / or processing. This decision can here relate to one or more of the following functional units:

[0134] • selection of the SAR imaging algorithm

[0135] • change of parameters of the SAR imaging algorithm, for example

[0136] o length of the virtual aperture

[0137] o SAR image size

[0138] o resolution and / or pixel size of the SAR image

[0139] • change of waveform parameters of the transmitted signal, for example

[0140] o interpulse or inter-slope spacing

[0141] o slope of the FMCW ramp

[0142] The criterion can for example lie in the evaluation of the non-linearity of the self-trajectory. For this purpose, a second derivative can be determined from the position and / or time of the self-trajectory. Depending on the value of the second derivative, the above-mentioned decisions are made adaptively. Here, a decision is made between two or more (not shown) alternative solutions, respectively.

[0143] If the adaptation relates to the imaging algorithm (cf. Figure 6 ), a distinction can be made between an algorithm which takes into account a non-linear trajectory and an algorithm which assumes a linear self-trajectory and thus has less computational complexity.

[0144] If the adaptation relates to the parameters (cf. Figure 7If the length of the SAR image, for example the length of the virtual aperture, is to be taken into account in the algorithm, then the smaller the deviation of the trajectory from the linear trajectory, and thus the longer the length can be chosen, in the case of an algorithm which involves a linear trajectory without exceeding the error measure. Conversely, if an algorithm must be used which can also process non-linear trajectories and thus is computationally more expensive, then the image size and / or the resolution and / or the pixel size of the SAR image can be reduced in order not to exceed the limited computing capacity (existing digital hardware). Real-time capability can thus also be ensured under these conditions.

[0145] If the adaptability involves the wave form (see Figure 8 ), then linearity of the spatial probe position can be achieved by selecting the pulse repetition duration in dependence on the instantaneous speed. Thus, different speeds or current accelerations can be compensated. The slope steepness can also be adapted in dependence on the ego speed. This in turn enables the use of fast algorithms.

[0146] The approaches shown in Figures 6 to 8 can also be combined with one another in a suitable manner. The ego trajectory can be realized in dependence on the measurement signals of one or more inertial sensors. Furthermore, the precision of the ego trajectory can be determined or improved with the aid of the SAR measurement data.

Claims

1. A method for operating a sensor (403, 503) of a motor vehicle (501), comprising the following steps: Determining the own trajectory of the sensor (403, 503); generating an adaptation signal for adapting at least one operating parameter of the sensor (403, 503) based on the determined own trajectory; and outputting the adaptation signal in order to adapt at least one operating parameter of the sensor (403, 503) based on the adaptation signal, wherein the own trajectory of the sensor (403, 503) is estimated, wherein the nonlinearity of the estimated own trajectory is evaluated, wherein the evaluation includes determining a second-order derivative of the estimated own trajectory, wherein, based on the second-order derivative, an imaging algorithm is used to generate a sensor image based on the sensor signal of the sensor (403, 503), wherein parameters are selected for the imaging algorithm, in which aperture parameters and / or image size parameters and / or resolution parameters of the sensor (403, 503) are adapted based on the estimated nonlinearity of the own trajectory or the determined second-order derivative, and wherein the sensor image is generated using the imaging algorithm and based on the sensor signal of the sensor (403, 503).

2. The method according to claim 1, wherein A sensor signal of at least one further sensor (505) of the motor vehicle (501) and / or a sensor signal of the sensor (403, 503) is received, wherein the own trajectory is determined based on the sensor signal, wherein the at least one further sensor (505) is an element selected from the group of the following sensors (403, 503): inertial sensor; magnetometer sensor; satellite navigation sensor; distance sensor; environmental sensor.

3. The method according to claim 1 or 2, wherein: The at least one operating parameter is in each case an element selected from the group of the following parameters: an evaluation algorithm parameter, which specifies an evaluation algorithm for evaluating the measurement of the sensor (403, 503); an aperture parameter, which specifies the length of the aperture of the sensor (403, 503); an image size parameter, which specifies the image size of the sensor image of the sensor (403, 503); a resolution parameter, which specifies the resolution and / or pixel size of the sensor image of the sensor (403, 503); A measurement characteristic variable parameter specifies at least one measurement characteristic variable of a measurement to be performed by means of the sensor (403, 503).

4. The method according to claim 3, wherein: The sensor (403, 503) is a propagation time measuring sensor, wherein the at least one measured characteristic variable is in each case an element selected from the group of the following measured characteristics variables: inter-pulse distance, pulse shape parameter.

5. The method according to any one of claims 1, 2 and 4, wherein: At least one instantaneous dynamic characteristic variable of the sensor (403, 503) is determined, wherein the adaptation signal is generated based on the at least one instantaneous dynamic characteristic variable. 6 . The method according to claim 1 , further comprising limiting the determined own trajectory to a trajectory which includes the position of the sensor at a plurality of points in time during a measurement cycle of the sensor.

7. The method according to any one of claims 1, 2 and 4, wherein: The sensor (403, 503) is a sensor with a synthetic aperture.

8. The method according to claim 2, wherein: The inertial sensor includes a single-axis acceleration sensor or a multi-axis acceleration sensor or a single-axis rotation sensor or a multi-axis rotation sensor.

9. The method according to claim 2, wherein: The satellite navigation sensor includes a GPS sensor, a GLONASS sensor or a Galileo sensor.

10. The method according to claim 2, wherein: The environmental sensors include radio radar sensors, video sensors, lidar sensors, ultrasonic sensors, and infrared sensors.

11. The method according to claim 3, wherein: The aperture is a virtual aperture.

12. The method according to claim 4, wherein: The transit time measuring sensor is a radio radar sensor.

13. The method according to claim 4, wherein: The pulse shape parameters include the slope of the FMCW ramp, the bandwidth of the pulse, the converter speed used to generate and detect the pulse, and the pulse duration.

14. The method according to claim 5, wherein The instantaneous dynamic characteristic quantity is the own velocity and / or the own acceleration.

15. The method according to claim 6, wherein The trajectory includes the positions of the sensor in a ramp sequence.

16. The method according to claim 7, wherein The sensor is a radio radar sensor.

17. The method according to claim 12 or 16, wherein: The radio radar sensor is a SAR radar sensor.

18. The method according to claim 6, wherein The trajectory comprises the position of the sensor at at least three different points in time during a measurement cycle of the sensor.

19. A device (201) configured to carry out all steps of the method according to any one of claims 1 to 18.

20. A sensor system (401) comprising a sensor (403, 503) and the device (201) according to claim 19.

21. A motor vehicle (501) comprising a device (201) according to claim 19 or a sensor system (401) according to claim 20.

22. A computer program product comprising a computer program (303), the computer program comprising instructions which, when the computer program (303) is executed by a computer, arrange the computer to carry out the method according to any one of claims 1 to 18.

23. A machine-readable storage medium (301) having stored thereon a computer program (303), the computer program comprising instructions which, when the computer program (303) is executed by a computer, arrange for the computer to carry out the method according to any one of claims 1 to 18.

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