Method for operating an environmental detection device with a grid-based evaluation and with fusion, and environmental detection device

Abstract

The invention relates to a method for operating an environmental detection device (12) of a motor vehicle (10) for detecting an environment (22) of the motor vehicle (10), comprising the following steps: detecting the environment (22) using at least one first environmental sensor (14) of the environmental detection device (12) and at least one second environmental sensor (18) of the environmental detection device (12); transmitting the environment (22) detected by means of the first environmental sensor (14) and the environment (22) detected by means of the second environmental sensor (18) to an electronic computing unit (20) of the environmental detection device (12); performing a grid-based evaluation (24) of the transmitted, detected environment (22) by means of the electronic computing unit (20) for a first distance range (26) of the environment (22); performing a fusion (28) of the transmitted, detected environment (22) for a second distance range (30) different from the first distance range (26) by means of the electronic computing unit (20); evaluating the environment (22) by means of the electronic computing unit (20) on the basis of the grid-based evaluation (24) and the fusion (28). The invention also relates to an environmental detection device (12).

Description

Technical Field

[0001] The present invention relates to a method for operating an environment detection device of a motor vehicle to detect the environment of the motor vehicle according to claim 1. The present invention also relates to an environment detection device. Background Art

[0002] In the field of assisted and automated driving, there are known methods for identifying static obstacles using static grids or grids, and for identifying and tracking dynamic objects such as vehicles, trucks, pedestrians, or other known objects using advanced object fusion (also known as high-level object fusion). Vehicles are typically equipped with a large number of different environmental sensors. In high-level object fusion, object recognition and tracking (also known as tracking) are first performed on the sensor data from each individual environmental sensor. These lists of tracked objects are then fused together.

[0003] DE 10 2014 014 295 A1 discloses a method for monitoring the calibration of a plurality of sensor data from the environment of a motor vehicle, wherein the environmental sensors installed at installation locations in the motor vehicle are described by external calibration parameters with respect to external calibration parameters, wherein, in order to determine the decalibration of at least one environmental sensor, sensor data of different environmental sensors, which describe the same feature of the environment with the same characteristics, are evaluated by means of at least one decalibration criterion for comparing the sensor data.

[0004] Furthermore, DE 10 2009 006 113 A1 relates to a device and a method for providing a representation of the surroundings of a vehicle, the device comprising at least one first sensor device and at least one second sensor device and an evaluation device, wherein the sensor devices provide information about objects recognized in the surroundings of the vehicle in the form of sensor objects, wherein the sensor objects represent objects recognized by the respective sensor device and the sensor objects include at least one presence probability of the represented object as an attribute, and object fusion is performed on the sensor objects recognized by the at least one first sensor device and the at least one second sensor device, wherein fused objects are generated, to which at least one presence probability is assigned as an attribute, wherein the presence probabilities of the fused objects are fused based on the presence probabilities of the sensor objects, wherein the fusion is performed for the presence probability of one of the sensor objects in each case according to the respective sensor device that provides the respective sensor object. Summary of the Invention

[0005] The object of the present invention is to provide a method and an environment detection device, by means of which improved detection of the environment of a motor vehicle is possible.

[0006] This object is achieved by a method and an environment detection device according to the independent claims. Advantageous embodiments are given in the dependent claims.

[0007] One aspect of the present invention relates to a method for operating an environment detection device of a motor vehicle to detect the environment of the motor vehicle. The environment is detected using at least one first environment sensor and at least one second environment sensor of the environment detection device. The environment detected by the first environment sensor and the environment detected by the second environment sensor are transmitted to an electronic computing device of the environment detection device. The transmitted, detected environment is evaluated based on a grid for a first distance range of the environment by the electronic computing device. The transmitted, detected environment is fused by the electronic computing device for a second distance range different from the first distance range. The environment is evaluated based on the grid-based evaluation and fusion by the electronic computing device.

[0008] This allows for improved detection of the environment.

[0009] In particular, the present invention addresses the following problem: Grid-based estimation, which can also be specifically referred to as grid-based, is very robust but also requires a high computational workload. From a functional perspective, a maximum effective distance is desirable with high accuracy, but this also implies a maximum computational workload. Therefore, the present invention now provides for combining the grid-based estimation with fusion, which can also be referred to as high-level object fusion. In particular, a grid-based estimation is performed with a high computational workload in a first distance range, while a high-level object fusion is performed in a second distance range.

[0010] In other words, the present invention proposes combining the corresponding object list from high-level object fusion with the object list from the dynamic mesh, including object tracking, to manage conflicting requirements. This allows the advantages of both detection methods to be utilized.

[0011] In particular, the environment detection device can be used to detect and track objects in the environment, in other words, to track them. The objects can be static objects or dynamic objects.

[0012] In the case of environmental sensors, it can be provided in particular that for the first distance range, for example, ultrasonic sensors and / or cameras are used. For the second distance range, for example, radar sensors and / or lidar sensors can be used as environmental sensors.

[0013] According to an advantageous design, the first distance range is provided at a smaller distance from the motor vehicle than the second distance range. In other words, the grid-based evaluation takes place in particular in the vicinity of the motor vehicle, while the fusion takes place in a more distant environment of the motor vehicle. This makes it possible to provide a high resolution for the first distance range, i.e. the near range, by means of which objects can be reliably and precisely determined. In the second distance range, in particular by means of the fusion, a large effective distance can be achieved, so that objects at a distance can also be recognized and tracked.

[0014] It is furthermore advantageous that, for the grid-based evaluation, a dynamic grid is generated. The dynamic grid can also be referred to as a dynamic occupancy grid, in particular. The dynamic grid can be considered an extension of the static grid or static mesh. In particular, a grid-based object tracking also takes place in the dynamic grid. In particular, it can be achieved thereby that objects in the environment can be tracked or pursued or detected, which can be both static and dynamic. In particular, this can be advantageously carried out with the aid of the dynamic grid in dense environments and in the case of atypical objects that have not been observed beforehand. In the case of the grid, the environment is divided in particular into cells, and a number of properties are estimated for each cell. These grids are very robust, but require a large amount of computation. The required number of respective cells of the grid depends in particular on two factors. In particular, the first factor is the effective distance or distance range, and the second factor is the desired accuracy. It can be provided in particular in this case that the smaller the cells, the more cells are required for the same distance range. In contrast to the static mesh, in the case of the dynamic mesh, a speed and dynamic evidence are also stored for each cell.

[0015] It is furthermore advantageous that the first distance range is evaluated eccentrically with respect to the motor vehicle. It can be provided, for example, that the first distance range is arranged at least substantially circularly or elliptically around the motor vehicle. However, in particular in certain situations, the detection of the area in front of the motor vehicle is more important than the detection of the area behind the motor vehicle. It can be provided in particular then that the elliptical distance range is eccentric, for example pushed further in the direction of the front of the motor vehicle, so that the resolution in the eccentric area is higher towards the front than in the rear area. The dynamic mesh is generally designed with a larger viewing angle towards the front and towards the side, while a significantly smaller viewing angle is provided towards the rear. The resolution of the dynamic mesh corresponds here in particular to the desired accuracy of the static obstacles. Furthermore, the dynamic mesh covers in particular the area in which a high resolution of dynamic objects is required.

[0016] In another advantageous design, at least the first distance range is offset depending on the specific position of the motor vehicle and / or depending on the speed of the motor vehicle. For example, if the motor vehicle is in an urban environment, it can be provided that the first distance range is only slightly moved forward, so that the surroundings behind and to the side of the motor vehicle can also be reliably detected. For example, if the motor vehicle is driving on a motorway, the front area in front of the motor vehicle is particularly important, so that in this case in particular the first distance range is pushed forward. Furthermore, the displacement of the dynamic grid can also be carried out depending on the speed. This makes it possible to displace the grid accordingly depending on the speed and / or the position.

[0017] In particular, the position of the motor vehicle in the grid can also change over time, so that the proportion between the coverage to the front and to the rear changes. In an urban environment, the motor vehicle will concentrate in order to have the same coverage in all directions, and for example on a motorway the view to the front will be greater.

[0018] It is furthermore advantageous if, when evaluating on the basis of the grid and when fusing, an object list with the recognized objects is generated respectively and these object lists are evaluated by means of the electronic computer. It is in particular provided that an object list is created by each environmental sensor respectively and the object lists are then fused together by the electronic computer when fusing. In particular, an object list is also generated on the basis of the dynamic grid. In particular, it is thereby possible to improve the tracking of objects.

[0019] It has furthermore proved advantageous if, in the transition area between the first distance range and the second distance range, a correlation between the object list of the grid-based evaluation and the fused object list is carried out. It is in particular provided that the fusion, i.e. the high-level fusion, is used to cover the area outside the grid. In the transition area between the dynamic grid and the high-level fusion, there is a correlation and fusion or combination of the two object lists. It is thereby possible to reliably transfer objects moving from close range to far range when evaluating or also to reliably transfer objects moving from far range to close range. An improved operation of the environmental detection device is thereby achieved.

[0020] It is likewise advantageous if, when evaluating on the basis of the grid, the cell size is adapted depending on the specific position of the motor vehicle and / or depending on the speed of the motor vehicle. It is in particular proposed, for example, that the resolution of the grid and the cell size remain the same in one time step. However, the cell size can change over time while the same resolution applies. For example, small cells can be realized in the case of a small effective distance within a parking area, and larger cells can be realized, for example, on a motorway in the case of a large effective distance. As a result, the environment can be detected more improved.

[0021] Furthermore, it can be provided that the resolution is constant during the grid-based evaluation. In other words, the resolution remains constant, but the cell size can be varied. This allows for improved object recognition in the surroundings of a motor vehicle in a simple manner.

[0022] Another aspect of the present invention relates to an environment detection device for a motor vehicle for detecting an environment, comprising at least two environment sensors and at least one electronic computing unit, wherein the environment detection device is designed to perform the method according to the aforementioned aspect. In particular, the method is performed using the environment detection device.

[0023] Another aspect of the present invention relates to a motor vehicle having an environment detection device, wherein the motor vehicle is particularly designed as a passenger car.

[0024] Advantageous embodiments of the method are to be considered as advantageous embodiments of the surroundings detection device and the motor vehicle. To this end, the surroundings detection device and the motor vehicle have physical features that enable the method and its advantageous embodiments to be carried out.

[0025] Further features of the invention are apparent from the claims, the drawings, and the accompanying description. The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the drawings and / or shown individually in the drawings, can be used not only in the respectively indicated combination but also in other combinations or alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The invention will now be explained in more detail with the aid of preferred exemplary embodiments and with reference to the accompanying drawings, in which the sole FIGURE shows a schematic top view of a motor vehicle having an embodiment of an environment detection device.

[0027] In the figures, identical elements or elements having the same function are denoted by the same reference numerals. DETAILED DESCRIPTION

[0028] The figure shows a schematic top view of a motor vehicle 10 having an embodiment of an environment detection device 12, which has at least one environment sensor 14 and a second environment sensor 18. Furthermore, the environment detection device 12 has an electronic computing device 20. The environment detection device 12 is designed for the motor vehicle 10 to detect an environment 22 of the motor vehicle 10.

[0029] In a method for operating an environment detection device 12 of a motor vehicle 10 to detect an environment 22 of the motor vehicle 10, at least a first environment sensor 14 and a second environment sensor 18 are used to detect the environment 22. The environment 22 detected by the first environment sensor 14 and the environment 22 detected by the second environment sensor 18 are transmitted to an electronic computing device 20. The transmitted, detected environment 22 is subjected to a grid-based evaluation by the electronic computing device 20 for a first distance range 26, and the transmitted, detected environment 22 is subjected to a fusion 28 by the electronic computing device 20 for a second distance range 30 that is different from the first distance range 26. The electronic computing device 20 evaluates the environment 22 based on the grid-based evaluation 24 and the fusion 28.

[0030] In particular, first object 16 is located in first distance range 26 . In particular, second object 36 is located in second distance range 26 . Objects 16 , 36 can be detected, in particular, by means of surroundings detection device 12 .

[0031] In particular, it is provided that the first distance range 26 is provided at a smaller distance A from the motor vehicle 10 than the second distance range 30 .

[0032] In particular, for the grid-based evaluation 24 , a dynamic grid is generated.

[0033] The figure also shows that the first distance range 26 is evaluated as being off-center relative to the motor vehicle 10 . In particular, at least the first distance range 26 can be off-center depending on a specific position of the motor vehicle 10 and / or depending on the speed of the motor vehicle 10 .

[0034] In particular, provision is made for object lists with the identified objects 16 , 36 in the environment 22 to be generated during the grid-based evaluation 24 and during the fusion 28 , and for these object lists to be evaluated by means of the electronic computing device 20 .

[0035] Furthermore, it may be provided in particular that a linking between the object list of grid-based evaluation 24 and the object list of fusion 28 is carried out in a transition region 32 between first distance range 26 and second distance range 30 .

[0036] In particular, provision can be made for cell size 34 to be adjusted in grid-based evaluation 24 as a function of the specific position of motor vehicle 10 and / or as a function of the speed of motor vehicle 10 . Provision can also be made in particular for the resolution in grid-based evaluation 24 to be constant.

[0037] In particular, the invention shown in the figure thus solves the problem of the very high computational workload of the grid-based evaluation 24. However, the grid-based evaluation 24 is particularly high-resolution. To save computing power, the grid-based evaluation 24 is performed in a first distance range 26, and the fusion 28 is performed in a second distance range 30. The fusion 28 is, in particular, a high-level object fusion.

[0038] In particular, it is therefore provided that objects 16, 36 can be detected by means of surroundings detection device 12. Objects 16, 36 can be both static and dynamic.

[0039] In other words, to manage conflicting requirements, it is proposed to combine the object list from high-level object fusion with the object list from the dynamic grid, including grid-based object tracking. The size and accuracy of the dynamic grid in the first distance range 26 are at least as large as the area containing the relevant static obstacles, in other words, static objects 16 , 36 . This is typically the case with a wide viewing angle to the front and sides and a significantly smaller distance A to the rear. The resolution corresponds to the required accuracy for static objects 16 , 36 . Furthermore, the size of the dynamic grid covers the area where high resolution of dynamic objects 16 , 36 is required. The area outside the grid is covered by high-level fusion, or fusion 28 . In the transition region 32 between the dynamic grid and high-level fusion, there is a connection between fusion 28 and the combination of the two object lists. Although a dynamic grid with a fixed resolution and cell size 34 within a time step is proposed, the cell size 34 can also vary over time while maintaining the same resolution. For example, small cells can be used in parking areas with low effective distances, while larger cells can be used on highways with high effective distances. Furthermore, it can be provided that the position of the motor vehicle 10 relative to the grid also changes over time, so that the ratio between forward and rearward coverage also changes. In an urban environment 22, the motor vehicles 10 can be concentrated to have equal coverage in all directions, while on a highway, for example, the forward viewing angle is greater and thus dispersed.

[0040] In summary, the present invention discloses a method for identifying objects 16 , 36 and obstacles for a large effective range and high accuracy.

[0041] List of Reference Numerals

[0042] 10 Motor Vehicles

[0043] 12 Environmental detection device

[0044] 14 First Environmental Sensor

[0045] 16 First Object

[0046] 18 second environmental sensor

[0047] 20 electronic computer

[0048] 22 environment

[0049] 24 grid-based assessment

[0050] 26 first distance range

[0051] 28 fusion

[0052] 30 second distance range

[0053] 32 transition area

[0054] 34 cell size

[0055] 36 object

[0056] A distance

Claims

1. A method for operating an environment detection device (12) of a motor vehicle (10) to detect an environment (22) of the motor vehicle (10), comprising the following steps: - detecting the environment (22) using at least one first environment sensor (14) of the environment detection device (12) and at least one second environment sensor (18) of the environment detection device (12); - transmitting the environment (22) detected by means of the first environment sensor (14) and the environment (22) detected by means of the second environment sensor (18) to an electronic computing device (20) of the environment detection device (12); - performing a grid-based evaluation (24) of the transmitted, detected environment (22) for a first distance range (26) of the environment (22) by means of the electronic computing device (20); - performing a non-grid-based fusion (28) of the transmitted, detected environment (22) for a second distance range (30) different from the first distance range (26) by means of the electronic calculation device (20); and - evaluating the environment (22) by means of the electronic computing device (20) based on the grid-based evaluation (24) and the non-grid-based fusion (28).

2. The method according to claim 1, characterized in that The first distance range (26) is provided at a smaller distance (A) from the motor vehicle (10) than the second distance range (30).

3. The method according to claim 1 or 2, characterized in that A dynamic grid is generated for the grid-based evaluation (24).

4. The method according to any one of the preceding claims, characterized in that The first distance range (26) is assessed as being off-center relative to the motor vehicle (10).

5. The method according to claim 4, characterized in that At least the first distance range (26) is offset as a function of the specific position of the motor vehicle (10) and / or as a function of the speed of the motor vehicle (10).

6. The method according to any one of the preceding claims, characterized in that During the grid-based evaluation (24) and during the non-grid-based fusion (28), an object list is generated with the identified objects (16, 36) in the environment (22) and the object lists are evaluated by means of the electronic computing device (20).

7. The method according to claim 6, characterized in that In a transition region (34) between the first distance range (26) and the second distance range (30), a link is performed between the object list of the grid-based evaluation (24) and the object list of the non-grid-based fusion (28).

8. The method according to any one of the preceding claims, characterized in that During the grid-based evaluation (34), the cell size (34) is adjusted according to the specific position of the motor vehicle (10) and / or according to the speed of the motor vehicle (10).

9. The method according to any one of the preceding claims, characterized in that During the grid-based evaluation (24), the resolution is set as a constant.

10. An environment detection device (12) for a motor vehicle (10) for detecting an environment (22), said environment detection device comprising at least two environment sensors (14, 18) and at least one electronic computing device (20), wherein: The environment detection device (12) is designed to perform the method according to any one of claims 1 to 9.

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