Methods, apparatus and storage media for testing sensor systems in motor vehicles

Abstract

This invention relates to a method for testing a sensor system for a motor vehicle, wherein the sensor system includes an environmental sensor configured to sense the surrounding environment of the motor vehicle. The method includes the steps of: receiving a reference object signal, the reference object signal representing a reference object detected by an environmental sensor external to the motor vehicle in the surrounding environment; receiving an object signal, the object signal representing an object detected by the environmental sensor in the surrounding environment of the motor vehicle; and comparing the object with the reference object to test the sensor system. The invention also relates to an apparatus, a computer program, and a machine-readable storage medium.

Description

Technical Field

[0001] This invention relates to a method for testing a sensor system for motor vehicles. The invention also relates to an apparatus, a computer program, and a machine-readable storage medium. Background Technology

[0002] Publication DE102017130 623A1 discloses a vehicle sensor training system. Summary of the Invention

[0003] The objective of this invention is to provide a solution for an effective sensor system for testing motor vehicles, wherein the sensor system includes an environmental sensor configured to sense the surrounding environment of the motor vehicle.

[0004] This task is solved by means of the present invention. Advantageous configurations of the present invention are the subject of various preferred embodiments.

[0005] According to a first aspect, a method is provided for testing a sensor system for a motor vehicle, wherein the sensor system includes an environmental sensor configured to sense the surrounding environment of the motor vehicle, the method comprising the following steps:

[0006] - Receive a reference object signal, the reference object signal representing a reference object in the environment surrounding the vehicle detected by environmental sensors outside the vehicle;

[0007] - Receive object signals, which represent objects in the environment surrounding the vehicle detected by environmental sensors;

[0008] - The object is compared with the reference object to test the sensor system.

[0009] According to the second aspect, an apparatus is provided, which is configured to perform all the steps of the method according to the first aspect.

[0010] According to a third aspect, a computer program is provided, the computer program including instructions that, when executed by a computer, such as the device of the second aspect, arrange the computer to implement the method according to the first aspect.

[0011] According to a fourth aspect, a machine-readable storage medium is provided, on which a computer program according to a third aspect is stored.

[0012] This invention is based on and includes the understanding that the aforementioned task can be solved by using an object in the vehicle's surrounding environment as a reference object for testing the sensor system, which is sensed by environmental sensors external to the vehicle. Thus, for example, the technical advantage of effectively providing a reference object for testing the sensor system is obtained.

[0013] Therefore, this technology offers a particular advantage: it enables the effective testing of sensor systems. Thus, for example, it allows for the efficient and advantageous identification of hardware and / or software faults within sensor systems.

[0014] According to one implementation, the method of the first aspect includes the step of testing the sensor system based on a comparison between an object and a reference object.

[0015] According to one embodiment, the environmental sensor external to the vehicle is an infrastructure environmental sensor. The infrastructure environmental sensor refers to the environmental sensor external to the vehicle, which is arranged within the infrastructure containing the vehicle.

[0016] Therefore, this technical advantage is particularly evident in this context: the infrastructure can be pre-defined as a reference object. Thus, it can be said that the infrastructure is a reference. This is especially feasible because the infrastructure is aware of its surrounding environment, in which, for example, objects known to the infrastructure are arranged.

[0017] Furthermore, infrastructure can effectively self-check in a favorable way, unlike motor vehicles moving or situated in an open-world scenario.

[0018] Furthermore, infrastructure can effectively identify changes in its surrounding environment, unlike the digital map-based sensor calibration within a vehicle. This calibration relies on the vehicle's ability to identify known objects in the world, such as those pre-defined by a digital map, and to verify or calibrate itself against these objects. However, the problem here is that these objects may change over time. For example, they may change due to damage, storms, or deliberate sabotage, or simply due to wear and tear over time. In such cases, the vehicle itself cannot, or cannot, determine sufficiently whether its environmental sensors are still functioning correctly. The consequence may be, for example, the need to disable automated driving functions. This means a reduction in the availability of such automated driving functions.

[0019] Conversely, the infrastructure can effectively identify changes in its surrounding environment, thereby providing a reliable reference for testing the sensor systems of motor vehicles.

[0020] Furthermore, infrastructure can perform self-testing on its infrastructure environmental sensors. In particular, if multiple environmental sensors are spatially distributed within the infrastructure, multiple redundant and diverse environmental sensors can be used for this self-testing.

[0021] Furthermore, using infrastructure to provide a reference object has the technical advantage of enabling the infrastructure to be maintained and inspected regularly, thus ensuring its reliable operation and providing a reliable reference object.

[0022] In this respect, infrastructure can be statistically considered to be more reliable than motor vehicles.

[0023] Therefore, the scheme described herein is based, in particular, on comparing and analyzing the respective objects sensed or detected by infrastructure and by motor vehicles.

[0024] In one implementation, multiple environmental sensors are provided on the exterior of the vehicle.

[0025] This in particular means setting up multiple infrastructure environment sensors according to one implementation method.

[0026] The implementation method associated with one environmental sensor outside a vehicle is similarly applicable to multiple environmental sensors outside a vehicle, and vice versa.

[0027] According to one implementation, the reference object is either a static reference object or a dynamic reference object.

[0028] According to one implementation, when the reference object is static, it is possible to distinguish between objects that are currently, i.e., momentarily, stationary, such as stationary motor vehicles, and objects that are always stationary or cannot move, i.e., cannot be moved, such as streetlights, in the surrounding environment.

[0029] This specifically means that, according to one implementation, a static reference object can be a movable object or a non-movable object.

[0030] Objects that cannot be moved include, for example, infrastructure components of an infrastructure.

[0031] According to one implementation, the infrastructure element is one of the following infrastructure elements: streetlights, light signaling devices, traffic signs, and buildings.

[0032] Dynamic or movable reference objects are, for example, one of the following: motor vehicles, bicycles, people, and animals.

[0033] The environmental sensor used in this specification includes, for example, one of the following: radar sensor, lidar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor, and video sensor.

[0034] The sensors in an environmental sensor system can be referred to as vehicle environmental sensors or vehicle interior environmental sensors.

[0035] According to one embodiment, the sensor system includes a data processing device configured to process environmental sensor data corresponding to the sensing of the vehicle's surrounding environment by means of environmental sensors, in order to detect and, in particular, classify objects in the vehicle's surrounding environment.

[0036] According to one implementation, the testing of a sensor system includes testing of environmental sensors and / or testing of data processing devices.

[0037] According to one embodiment, a reference object is described by at least one reference object parameter, wherein the object is described by at least one object parameter, and wherein comparing the object with the reference object includes comparing the at least one reference object parameter with the at least one object parameter.

[0038] Thus, for example, we obtain the following technical advantages: it can effectively describe reference objects and objects, making it possible to effectively perform comparisons between objects and reference objects.

[0039] According to one implementation, at least one reference object parameter and at least one object parameter are respectively elements selected from the following parameter group: position, size, color, surface properties, velocity, acceleration, and classification.

[0040] Thus, for example, we obtain the following technical advantages: the ability to use particularly suitable reference object parameters and particularly suitable object parameters.

[0041] According to one embodiment, a reference timestamp signal representing a reference timestamp is received, the reference timestamp indicating the detection time point of a reference object, wherein receiving a timestamp signal representing a timestamp indicating the detection time point of the object, wherein comparing the object with the reference object includes comparing the timestamp with the reference timestamp.

[0042] Thus, for example, we can obtain the technical advantage of being able to effectively distinguish between static and dynamic reference objects or objects.

[0043] According to one embodiment, control signals for at least partially automated control of lateral and / or longitudinal guidance of a motor vehicle are generated based on a comparison between an object and a reference object, wherein the generated control signals are output.

[0044] Thus, for example, we can obtain the technological advantage of being able to effectively guide motor vehicles, at least partially automatically.

[0045] The phrase "at least partially automated booting" includes one or more of the following: assisted booting, partially automated booting, highly automated booting, and fully automated booting.

[0046] "Assisted guidance" means that the driver of the motor vehicle continuously performs lateral or longitudinal guidance, while another driving task (i.e., control of longitudinal or lateral guidance) is automatically executed. This means that lateral or longitudinal guidance is automatically controlled while assisting in guiding the motor vehicle.

[0047] "Partially automated guidance" means that the longitudinal and lateral guidance of a motor vehicle is automatically controlled under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving within a lane marked by lane markings) and / or for a certain period of time. The driver does not need to manually control the longitudinal and lateral guidance. However, the driver must continuously monitor the automatic control of longitudinal and lateral guidance so that they can intervene manually if necessary. The driver must be prepared to take full control of the vehicle's guidance at any time.

[0048] "Highly automated guidance" means automatically controlling the longitudinal and lateral guidance of a vehicle within a specific timeframe and under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving within a lane marked by lane markings). The driver does not need to manually control the longitudinal and lateral guidance. The driver does not need to continuously monitor the automatic control of longitudinal and lateral guidance to intervene manually when necessary. When needed, a takeover request is automatically output to the driver to take over control of longitudinal and lateral guidance, especially with sufficient time margin. Therefore, the driver must potentially be able to take over control of longitudinal and lateral guidance. The limits of automatic control of lateral and longitudinal guidance are automatically identified. In highly automated guidance, the state of least risk cannot be automatically induced in every initial situation.

[0049] "Fully automated guidance" means that the longitudinal and lateral guidance of a vehicle is automatically controlled under specific conditions (e.g., driving on a highway, driving in a parking lot, overtaking an object, driving within a lane marked by lane markings). The driver does not need to manually control the longitudinal and lateral guidance. The driver does not need to monitor the automatic control of longitudinal and lateral guidance to intervene manually when necessary. Before the automatic control of lateral and longitudinal guidance ends, the driver is automatically requested to take over the driving task (i.e., control of the vehicle's lateral and longitudinal guidance), especially with sufficient time margin. If the driver does not take over, the system automatically returns to the state of least risk. The limits of automatic control of lateral and longitudinal guidance are automatically identified. The system automatically returns to the state of least risk in all situations.

[0050] According to one embodiment, after receiving both a reference object signal and an object signal, the time point at which the object is compared with the reference object is determined based on the computing power available for the comparison step, wherein the comparison step between the object and the reference object is performed at the determined time point.

[0051] Thus, for example, we obtain the technical advantage that the comparison is performed only when sufficient computing power is available for comparing the object with the reference object. In particular, we obtain the technical advantage that the comparison step can be performed efficiently. Furthermore, we obtain the technical advantage that other tasks in the motor vehicle, which have, for example, a higher priority than the comparison step, can continue to be performed efficiently. Therefore, for example, we can further perform the actual driving tasks of the motor vehicle using sufficient computing power.

[0052] In one implementation, one or more method steps are performed inside the vehicle and / or outside the vehicle in an infrastructure, particularly in a cloud infrastructure.

[0053] Thus, for example, we can obtain the technical advantage of being able to effectively execute each method step.

[0054] In one implementation, one or more method steps are recorded, particularly in a blockchain.

[0055] Thus, for example, this technical advantage is achieved: the method can be analyzed retrospectively based on the record after it has been executed or implemented. This technical advantage is particularly evident in records within a blockchain, which are tamper-proof and forgery-proof.

[0056] A blockchain is specifically a continuously expandable list of data sets (called "blocks") linked together using one or more cryptographic methods. Each block specifically contains a cryptographically secure hash (distribution value) of the previous block, a timestamp, and transaction data.

[0057] According to one implementation, the reference object signal is comprised of a unicast communication message specific to the vehicle or a broadcast communication message.

[0058] Thus, for example, this technical advantage is achieved: it can effectively provide the reference object signal to the motor vehicle.

[0059] According to one implementation method, the method according to the first aspect is a computer-implementable method.

[0060] According to one implementation method, the method of the first aspect is implemented or executed by means of the device of the second aspect.

[0061] The features of the equipment are similarly derived from the corresponding features of the method, and vice versa. This in particular means that the technical functions of the equipment according to the second aspect are similarly derived from the corresponding technical functions of the method according to the first aspect, and vice versa.

[0062] The phrase "at least one" specifically means "one or more".

[0063] The expression "or" specifically means "and / or".

[0064] According to one embodiment, the method according to the first aspect includes detecting a reference object using environmental sensors located outside the vehicle.

[0065] According to one embodiment, the method according to the first aspect includes detecting an object using an environmental sensor of a sensor system.

[0066] According to one implementation, the entire system, including vehicles and infrastructure, and particularly the communication between vehicles and infrastructure, is secure. This means that vehicles and infrastructure can, for example, trust each other to transmit corresponding data, i.e., that the detected object or the detected reference object has not been altered, for example, by a hacker. This is ensured, for example, through certificates.

[0067] This specifically means that the reference object signal, or object signal, can be digitally signed. For example, these reference object signals, or object signals, can be signed using a digital certificate or digital key.

[0068] The same applies in a similar manner to reference timestamps or timestamps.

[0069] According to one implementation, if the comparison step between the object and the reference object shows that the object and the reference object are consistent within a predetermined consistency range, then the sensor system is determined to be functioning correctly.

[0070] However, if the object and the reference object are not, for example, within a predetermined range of consistency, then it is determined, for example, that the sensor system is not functioning correctly.

[0071] This in particular means that, in comparisons, it is assumed, for example, that there should be a limited and adjustable bias based on the permissible measurement inaccuracy.

[0072] However, if the object does not conform to the reference object within the allowable deviation, it can be considered that the sensor system is no longer functioning correctly.

[0073] In this case, for example, it may be possible to configure at least some of the automated driving functions using the sensor system to be particularly limited and / or disabled.

[0074] If the deviation between the object and the reference object remains within a predetermined tolerance, then, for example, it can be configured such that at least part of the automated driving function using the sensor system continues to operate in a restricted mode, specifically until the vehicle is still guided to a safe state. A safe state is, for example, a parked or stopped vehicle.

[0075] A restricted mode, for example, means that in this restricted mode, the vehicle is guided at a lower maximum vehicle speed than the vehicle speed in the unrestricted mode. Attached Figure Description

[0076] Embodiments of the invention are shown in the accompanying drawings and described in more detail in the following description. The drawings show:

[0077] Figure 1 A flowchart illustrating a method for testing a sensor system for a motor vehicle;

[0078] Figure 2 Show the device;

[0079] Figure 3 Showing a machine-readable storage medium; and

[0080] Figure 4 The infrastructure is shown. Detailed Implementation

[0081] Figure 1 A flowchart illustrating a method for testing a sensor system for a motor vehicle is provided, wherein the sensor system includes an environmental sensor configured to sense the surrounding environment of the motor vehicle, and the method includes the following steps:

[0082] - Receive 101 reference object signal, the reference object signal representing a reference object in the surrounding environment of the vehicle detected by means of environmental sensors outside the vehicle;

[0083] - Receive 103 object signals, the object signals representing objects detected by environmental sensors in the environment surrounding the vehicle;

[0084] - Compare this object with the reference object 105 in order to test the sensor system.

[0085] In one implementation, step 101 is performed before step 103, or vice versa. In another implementation, steps 101 and 103 are performed simultaneously.

[0086] According to one implementation, calibration data for calibrating the sensor system is obtained based on a comparison between the object and a reference object.

[0087] According to one implementation, the calibration of the sensor system includes the calibration of environmental sensors.

[0088] According to one embodiment, the method according to the first aspect includes calibrating an environmental sensor based on calibration data.

[0089] According to one implementation, the method of the first aspect includes obtaining test results based on a sensor system test, said test being based on a comparison of an object with a reference object.

[0090] According to one implementation, the test results indicate whether the sensor system has hardware and / or software faults.

[0091] Hardware failures could be, for example, environmental sensors that are no longer positioned correctly.

[0092] Figure 2 Device 201 is shown.

[0093] The device 201 is configured to implement all the steps of the method according to the first aspect.

[0094] According to one embodiment, device 201 includes an input terminal configured to receive a reference object signal and an object signal.

[0095] According to one implementation, the input is configured to receive a reference timestamp signal and a timestamp signal.

[0096] According to one embodiment, device 201 includes a processor configured to compare an object with a reference object in order to test a sensor system.

[0097] For example, the processor is configured to test the sensor system based on a comparison between the object and a reference object.

[0098] According to one implementation, the processor is configured to calibrate the sensor system for testing based on the sensor system.

[0099] Therefore, according to one implementation, the processor is configured to calibrate the sensor system based on the test results.

[0100] Therefore, according to one implementation, the processor is configured to obtain calibration data based on the test results.

[0101] Figure 3 Machine-readable storage medium 301 is shown.

[0102] A computer program 303 is stored on a machine-readable storage medium 301. The computer program 303 includes instructions that, when executed by a computer, instruct the computer to perform the method according to the first aspect.

[0103] Figure 4 Infrastructure 401 is shown. Infrastructure 401 includes a road 403 on which motor vehicles 405 travel.

[0104] Motor vehicle 405 includes sensor system 406. Sensor system 406 includes video sensor 409 of video camera 407.

[0105] The video camera 407 is mounted on the roof of the vehicle 405.

[0106] Infrastructure 401 contains another video camera 411, including another video sensor 413.

[0107] There is object 415 within infrastructure 401.

[0108] Another video camera 411 uses another video sensor 413 to sense the object 415.

[0109] In addition, the sensor system 406 of the motor vehicle 405 includes a video camera 407 and a video sensor 409 that senses an object 415.

[0110] Therefore, on the one hand, the detection target 415 is located on the side of the motor vehicle.

[0111] On the other hand, object 415 was detected on the infrastructure side.

[0112] The object 415 detected on the infrastructure side serves as a reference for the test sensor system 406. This means that the object 415 detected on the infrastructure side is a reference object.

[0113] In this regard, the object detected on the vehicle side will be compared with a reference object in order to test the sensor system.

[0114] In an embodiment not shown, the sensor system 406 of the vehicle 405 includes one or more environmental sensors, either replacing or additional to the video camera 407. Such environmental sensors are, for example, one of the following: radar sensor, lidar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor, and video sensor.

[0115] In embodiments not shown, one or more environmental sensors are provided, either in place of or attached to another video camera 411, and these environmental sensors are spatially distributed within the infrastructure 401. Such environmental sensors are, for example, one of the following: radar sensors, lidar sensors, ultrasonic sensors, magnetic field sensors, infrared sensors, and video sensors.

[0116] In one implementation, when a vehicle approaches infrastructure, it queries the infrastructure for one or more reference objects, wherein the proximity can be obtained, for example, from a digital map.

[0117] In one implementation, the infrastructure then responds to such an inquiry by sending a reference object signal to the inquiring vehicle corresponding to one or more reference objects.

[0118] According to one implementation, in addition to the reference object signal, the infrastructure also sends one or more of the following data to the vehicle: time description, location description, size description, color description, surface description (e.g., edges), speed / acceleration description, and classification, such as person, car, motorcycle.

[0119] In one implementation, the infrastructure responds to inquiries, particularly arbitrary inquiries, by sending reference object signals to all vehicles within the infrastructure. This means that the infrastructure sends broadcast communication messages that include these reference object signals.

[0120] According to one implementation, the infrastructure periodically, and in particular without querying, sends reference object signals to all vehicles.

[0121] In one implementation, the vehicle sends an object signal to the infrastructure.

[0122] In one implementation, both the vehicle and the infrastructure send a reference object signal or an object signal, so that the comparison step can be performed not only inside the vehicle but also on the infrastructure side.

[0123] According to one implementation, the object is compared with a reference object, particularly in a motor vehicle, within an infrastructure, and / or not only in a motor vehicle but also within an infrastructure.

[0124] In one implementation, the environmental sensors of the sensor system are calibrated based on the result of a comparison between the object and a reference object.

[0125] According to one implementation method, the calibration is performed based on calibration data.

[0126] According to one implementation method, calibration data is obtained based on test results.

[0127] According to one implementation, calibration data is obtained inside the vehicle, on the infrastructure side, or not only inside the vehicle but also on the infrastructure side.

[0128] According to one implementation, calibration data obtained inside the vehicle is compared with calibration data obtained on the infrastructure side.

[0129] According to one implementation, the calibration results are verified based on calibration data, especially when using internal verification procedures.

[0130] In one implementation, the sensor system is re-examined, for example, based on another object and another reference object.

[0131] According to one implementation, one or more method steps are performed in a motor vehicle and / or in infrastructure.

[0132] According to one embodiment, an operation indication signal is obtained based on the test results of a sensor system test, wherein the operation indication signal represents one operation indication or multiple operation indications.

[0133] Operating instructions may include, for example, continuing to drive because everything is normal.

[0134] Operating instructions may include, for example, instructions that trigger a safety condition due to a malfunction.

[0135] According to one implementation, the comparison step and / or the testing step of the sensor system and / or the calibration step of the environmental sensors are performed, for example, offline or, for example, delayed, i.e., after a certain period of time. The reason for this could be, for example, that computing power at that time needs to be used for the actual driving task. This means that online processing could potentially hinder the driving task.

[0136] According to one implementation, each method step is recorded, especially along with the data obtained or at least a significant portion of the data obtained, particularly in a counterfeit-proof manner, such as by means of blockchain.

[0137] In one implementation, the data or results are analyzed and, in particular, forwarded anonymously to one or more different interest groups. Such interest groups may include, for example, OEMs, ADAC (Allgemeiner Deutscher Automobil Club), or suppliers of automotive components (e.g., environmental sensors).

[0138] According to one implementation, the entire system, including vehicles and infrastructure, and particularly the communication between vehicles and infrastructure, is secure. This means that vehicles and infrastructure can, for example, trust each other to transmit data accordingly, i.e., that the detected object or the detected reference object has not been altered, for example, by a hacker. This is ensured, for example, through certificates.

[0139] This specifically means that the reference object signal, or object signal, can be digitally signed. For example, these reference object signals, or object signals, can be signed using a digital certificate or digital key.

[0140] The same applies in a similar way to reference timestamps or timestamps.

[0141] According to one implementation, if the comparison step between the object and the reference object shows that the object and the reference object are consistent within a predetermined consistency range, then it is determined that the sensor system is functioning correctly.

[0142] However, if the object does not conform to the reference object within a predetermined range of conformity, it can be determined, for example, that the sensor system is not functioning correctly.

[0143] This in particular means that, in comparisons, it is assumed, for example, that there should be a limited and adjustable bias based on the permissible measurement inaccuracy.

[0144] However, if the object does not match the reference object within the allowable deviation, then it can be considered that the sensor system is no longer functioning correctly.

[0145] In this case, for example, it is possible to set at least some of the automated driving functions using the sensor system to be partially restricted and / or disabled.

[0146] If the deviation between the object and the reference object remains within a predetermined tolerance range, then, for example, it can be configured so that at least some of the automated driving functions using the sensor system continue to operate in a restricted mode, specifically until the vehicle is guided to a safe state. A safe state is, for example, a parked or stopped vehicle.

[0147] A restricted mode, for example, means that in this restricted mode, vehicles should be guided at a lower maximum vehicle speed than in the unrestricted mode.

Claims

1. A method for testing a sensor system (406) of a motor vehicle (405), wherein, The sensor system (406) has an environmental sensor configured to sense the surrounding environment of the motor vehicle (405), and the method includes the following steps: - Receive a reference object signal, the reference object signal representing a reference object in the surrounding environment of the vehicle (405) detected by means of environmental sensors outside the vehicle; - Receive object signals, the object signals representing objects in the surrounding environment of the motor vehicle (405) detected by the environmental sensors; - Compare the object with the reference object (105) to test the sensor system (406). The process includes receiving a reference timestamp signal representing a reference timestamp, the reference timestamp indicating the detection time point of the reference object; receiving a timestamp signal representing a timestamp, the timestamp indicating the detection time point of the object; and the comparison between the object and the reference object including comparing the timestamp with the reference timestamp.

2. The method according to claim 1, wherein, The reference object is described by at least one reference object parameter, and the object is described by at least one object parameter, wherein the comparison between the object and the reference object includes comparing the at least one reference object parameter with the at least one object parameter.

3. The method according to claim 2, wherein, The at least one reference object parameter and the at least one object parameter are elements selected from the following parameter group: position, size, color, surface properties, velocity, acceleration, and classification.

4. The method according to any one of claims 1 to 3, wherein, Based on the comparison between the object and the reference object, control signals are generated for at least partially automated control of the lateral and / or longitudinal guidance of the motor vehicle (405), wherein the generated control signals are output.

5. The method according to any one of claims 1 to 3, wherein, After receiving both the reference object signal and the object signal, the time point for comparing the object with the reference object is determined based on the computing power available for the comparison step, wherein the comparison step between the object and the reference object is performed at the determined time point.

6. The method according to any one of claims 1 to 3, wherein, One or more method steps are implemented inside the motor vehicle and / or outside the motor vehicle in the infrastructure.

7. The method according to any one of claims 1 to 3, wherein, Record one or more method steps.

8. The method according to any one of claims 1 to 3, wherein, The reference object signal is comprised of a unicast communication message specific to the motor vehicle (405) or a broadcast communication message.

9. The method according to claim 6, wherein, One or more methodological steps are implemented in the cloud infrastructure.

10. The method according to claim 7, wherein, One or more method steps are recorded in the blockchain.

11. An apparatus (201) configured to perform all steps of the method according to any one of claims 1 to 10.

12. A computer program product (303) comprising instructions that, when executed by a computer, arrange the computer to perform the method according to any one of claims 1 to 10.

13. A machine-readable storage medium (301) on which the computer program product (303) according to claim 12 is stored.

Images