Method and controller for evaluating function of sensor mechanism of driver

Abstract

The invention relates to a method for assessing the function of a sensor device (104) of a driver assistance system of a vehicle (100), comprising: reading at least one sensor signal (118, 120) of an airbag sensor (114, 116) via a sensor interface of an airbag controller (112); determining a damage signal (124) indicative of a potential damage to a sensing mechanism (104) of the driver assistance system using the sensor signal (118, 120); and providing the damage signal (124) via an output interface of the airbag controller (112).

Description

Technical Field

[0001] The present invention relates to a method, a corresponding device, and a corresponding computer program product. Background Art

[0002] The proportion of passenger cars and commercial vehicles equipped with driving assistance systems or autonomous driving functions compliant with the SAE L1-L5 standards is increasing continuously.

[0003] These functions require information on the vehicle's surroundings based on a sensor set installed in the vehicle. Such a sensor set includes a combination of sensors based on different sensor technologies, such as a single camera, a stereo camera, a radar sensor, LIDAR, an ultrasonic sensor, or an inertial sensor. Summary of the Invention

[0004] In this context, a method according to the independent claims, a device employing the method, and finally a corresponding computer program product are proposed using the solution presented here. Advantageous designs are obtained from the corresponding dependent claims and the following description.

[0005] The sensing mechanism of a driver assistance system (Advanced Driver Assistance Systems (ADAS)) includes sensors whose performance and accurate orientation are essential for the proper operation of the system. Many sensors are located on the vehicle surface, and thus there is a risk of being damaged or misaligned when hitting the vehicle with a high acceleration, for example, in an accident or improper driving operation. Advantageously, data that is usually already present in relation to the vehicle's airbag system can be used to evaluate the function of the sensing mechanism.

[0006] A method for evaluating the function of a sensing mechanism of a driver assistance system of a vehicle, the method comprising the following steps:

[0007] Reading sensor signals of an airbag sensor via a sensor interface of an airbag controller;

[0008] Using the sensor signals to determine a damage signal indicating potential damage to the sensing mechanism of the driver assistance system; and

[0009] Providing the damage signal via an output interface of the airbag controller.

[0010] The vehicle may be a passenger car. The driver assistance system may be designed to semi-autonomously or autonomously intervene in the function of the vehicle. For example, the driver assistance system may be used to automatically control the vehicle. The sensor system of the driver assistance system may include a plurality of sensors, such as a single camera, a stereo camera, a radar sensor, a LIDAR sensor, an ultrasonic sensor and / or an inertial sensor. An event that causes a high acceleration of at least one component of the vehicle may cause damage to the sensor system of the driver assistance system. Such damage may be caused, for example, by a deviation of the orientation of the sensor on the vehicle or damage to the sensor itself. Such damage may cause the function of the driver assistance system to be disturbed. Advantageously, using the scheme described here, such potential damage to the sensor system of the driver assistance system can be identified early. For this purpose, data available in an airbag controller (so-called airbag ECU) can be evaluated. In particular, at least one sensor signal of at least one airbag sensor can be used here. For this purpose, the sensor signal of the airbag sensor can be read via an internal or external input interface of the airbag controller and processed by the logic of the airbag controller in order to make a triggering decision for the airbag of the vehicle. An airbag sensor can be understood as a sensor whose signal is used to make a triggering decision for the airbag of the vehicle. As airbag sensors, for example, acceleration sensors, pressure sensors, inertial sensors or structure-borne sound sensors can be used. According to the solution proposed here, such sensor signals of airbag sensors can be used additionally to identify potential damage to the sensor system of the driver assistance system. To this end, the airbag controller can be designed to perform a suitable evaluation of at least one sensor signal and to determine a damage signal based on the result of the evaluation. The damage signal can, for example, indicate that the event that has occurred has caused damage to the sensor system with a high probability. Optionally, the damage signal can, for example, indicate the type of damage identified and, additionally or alternatively, indicate which part of the sensor system of the driver assistance system the potential damage involves. The damage signal can, for example, be transmitted via a signal line or via a vehicle bus.

[0011] In the determination step, the sensor signal can be used to determine the type and intensity of an event that is relevant to the decision to trigger the airbag. The damage signal can be determined based on the type and intensity of the event. In this way, already existing data of the evaluation of at least one sensor signal that is already performed by the airbag control unit can be advantageously used.

[0012] The event may be an event accompanied by high acceleration. Such high acceleration, which is greater than acceleration occurring during normal operation of the vehicle, may be taken into account as a criterion for determining potential damage to the sensor system of the driver assistance system. Such an event may be a collision or near collision of the vehicle with an object or a violation of the rules or driving on an extremely uneven road.

[0013] According to one embodiment, in the determination step, a determination rule can be employed to determine the damage signal. Such a determination rule can be based on, for example, a deterministic algorithm or an artificial intelligence algorithm. In this way, an algorithm that can also be used to determine the triggering decision of the airbag can be utilized, for example.

[0014] In the provision step, the damage signal can be provided to an interface of a computer of the vehicle, additionally or alternatively to an interface of a controller of a driver assistance system, additionally or alternatively to a sensing mechanism of the driver assistance system. In this way, the damage signal can be provided to a system suitable for performing measures taking into account the potential damage.

[0015] Therefore, the method can include an execution step: using the damage signal to perform measures taking into account the potential damage so as to minimize the negative impact of the damage on the driver assistance system.

[0016] As the measure, for example, an error code can be set. Such an error code can be read, for example, in a workshop or used by a controller of the driver assistance system to limit or change the function of the driver assistance system. Additionally or alternatively, as the measure, the function of the driver assistance system can be deactivated. Thereby, the negative impact of the potential damage on the function of the driver assistance system can be minimized. Additionally or alternatively, as the measure, calibration of the sensing mechanism of the driver assistance system can be triggered. Thereby, the potential damage can be quickly eliminated in the best case. Additionally or alternatively, as the measure, a notification for performing maintenance work can be provided. In this way, for example, the vehicle driver can be informed that the driver assistance system needs to be inspected.

[0017] The method can include a step of using an airbag sensor to provide a sensor signal. The airbag sensor can be integrated in the airbag controller, for example. Alternatively, the airbag sensor can be arranged on the periphery of the vehicle. In this way, sensors that are usually used in combination with the airbag system can be employed.

[0018] In the reading step, at least one additional sensor signal of an additional airbag sensor or an additional vehicle sensor can be read. In the determination step, the additional sensor signal can be used to determine the damage signal. In this way, signals of multiple sensors can be used to determine the damage signal. Multiple sensors, for example, facilitate determining the magnitude of the potential damage and determining one or more sensors of the sensing mechanism of the driver assistance system that may be affected by the potential damage.

[0019] The solution presented here also proposes a device that is designed to execute or implement the steps of a variant of the method proposed here in a corresponding device. Through this design variant in the form of the device of the present invention, the object of the present invention can also be achieved quickly and effectively.

[0020] In the present context, the device can be understood as an electrical device that processes sensor signals and outputs control signals and / or data signals accordingly. The device can have an interface, which can be designed in hardware and / or software. In the case of a hardware design, the interface can be, for example, part of a so-called system ASIC that contains various functions of the device. However, it is also possible that the interface itself is an integrated circuit or at least partially consists of discrete components. In the case of a software design, the interface can be a software module that, for example, exists on a microcontroller together with other software modules.

[0021] Also advantageous is a computer program product having program code that can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory, or an optical memory, and is used to implement a method according to one of the above-described embodiments when the program product is executed on a computer or a device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The solution proposed here will be explained below in more detail by way of example with reference to the drawings.

[0023] Figure 1 is a schematic view of an embodiment of a vehicle having a device for evaluating the function of a sensing mechanism of a driver assistance system;

[0024] Figure 2 is a flowchart of an embodiment of a method for evaluating the function of a sensing mechanism of a driver assistance system;

[0025] Figure 3 is a schematic view of an embodiment of a vehicle;

[0026] Figure 4 is a block diagram of an embodiment of a method for evaluating the function of a sensing mechanism of a driver assistance system; and

[0027] Figure 5 is a block diagram of an embodiment of a method for evaluating the function of a sensing mechanism of a driver assistance system. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In the following description of advantageous embodiments of the present invention, the same or similar reference numerals are used for elements shown in different drawings and having similar functions, where the repeated description of these elements is omitted.

[0029] Figure 1 is a schematic view of an embodiment of a vehicle 100 having a device 102 for evaluating the function of a sensing mechanism 104 of a driver assistance system of the vehicle 100. The driver assistance system is also referred to as an ADAS / AD system.

[0030] A driver assistance system can only be used, for example, as a system for lane keeping, traffic sign recognition, or distance regulation. For this purpose, the sensing mechanism 104 can have one or more sensors that can be arranged on the vehicle 100. Only by way of example, the sensor 106 is shown, which is designed, for example, as an ultrasonic sensor, a radar sensor, a LIDAR sensor, or a camera. The sensor 106 is arranged on the periphery of the vehicle 100 so as to be able to detect the surroundings of the vehicle 100. According to one embodiment, in addition to the sensing mechanism 104, the driver assistance system further includes a controller 108, which is designed to use the detected data of the sensing mechanism 104, such as the signals of the sensor 106, to provide control signals for controlling the functions of the vehicle 100. For example, the control signals are suitable for controlling the steering mechanism, the braking system, or the drive of the vehicle 100, for example in order to automatically perform driving tasks. In order to ensure the correct functioning of the driver assistance system, it is important to identify and, if necessary, take into account potential damage to the sensing mechanism 104, such as an incorrect orientation of the sensor 106 or damage to the sensor 106.

[0031] The vehicle 100 has an airbag 110, an airbag controller 112, and at least one airbag sensor 114, 116. By way of example only, the airbag sensor 114 is integrated in the airbag controller 112, and the airbag sensor 116 is arranged outside the airbag controller 112.

[0032] The airbag controller 112 is designed to make a triggering decision to trigger the airbag 110 using at least one sensor signal 118, 120 of at least one of the airbag sensors 114, 116, and to provide a suitable triggering signal 122 to the airbag 110 if necessary.

[0033] According to the solution described here, the airbag controller 112 is further designed to use at least one of the sensor signals 118, 120 to identify potential damage to the sensing mechanism 104 of the driver assistance system and to provide a damage signal 124 indicating this potential damage. Optionally, the airbag controller 112 has a logic unit 126, such as a microcontroller circuit, which is designed to determine the triggering signal 122 using at least one of the sensor signals 118, 120 and additionally or alternatively to determine the damage signal 124.

[0034] For example, the airbag controller 112 is designed to provide a damage signal 124 to the sensing mechanism 104, here directly to the sensor 106 for example. For this purpose, the damage signal 124 is output to the sensor 106 via an interface for example. In this case, the sensing mechanism 104 or the sensor 106 is designed to start a calibration routine in response to the damage signal 124 in order to achieve recalibration of the sensing mechanism 104 or the sensor 106. By means of this recalibration, for example, the incorrect position of the sensor 106 caused by a high acceleration of the vehicle can be eliminated.

[0035] Additionally or alternatively, the airbag controller 112 is designed to provide the damage signal 124 to the controller 108 of the driver assistance system for example. For this purpose, the damage signal 124 is output to the controller 108 via an interface for example. In this case, the controller 108 is designed to set an error code or deactivate the function of the driver assistance system or the potentially damaged part of the sensing mechanism 106 in response to the damage signal 124.

[0036] Additionally or alternatively, the airbag controller 112 is designed to provide the damage signal 124 to the computer 128 of the vehicle 100 for example. For this purpose, the damage signal 124 is output to the computer 128 via an interface for example. In this case, the computer 128 is designed to provide a message for performing maintenance work to a display device in response to the damage signal 124.

[0037] According to different embodiments, the device 102 includes for example the airbag controller 112 and optionally at least one airbag sensor 114, 116 and optionally components of the driver assistance system (such as the sensing mechanism 104 and / or the controller 108) and optionally the computer 128.

[0038] The described solution enables damage prediction of so-called ADAS / AD sensors such as the sensing mechanism 104 based on airbag ECU information, i.e., the information available in the airbag controller 112.

[0039] The performance of the sensor (such as the sensor 106 of the sensing mechanism 104) and the accurate orientation of the sensors of the sensing mechanism 104 are indispensable for the normal operation of the system.

[0040] Many sensors of the sensing mechanism 104 are located on the vehicle surface, so there is a risk of being damaged or misaligned when hitting the vehicle 100 with a high acceleration, for example in an accident or improper driving operation.

[0041] If the ADAS / AD sensors of the sensing mechanism 104 are subjected to large acceleration forces, they may be damaged and the ADAS / AD system may no longer function properly. Some defects can be identified by the self-monitoring function and internal diagnostic function of the sensors of the sensing mechanism 104. Other damages, such as physical misalignment due to vehicle structure damage, cannot be so easily identified by the sensors of the sensing mechanism 104.

[0042] The airbag controller 112 differentiates between different types of events and their intensities, such as collisions, near collisions, violation events, extremely rough roads or other high-acceleration events.

[0043] According to one embodiment, this differentiation is based on the central airbag ECU sensors (such as airbag sensor 114) and peripheral sensors (such as airbag sensor 116) connected to the airbag controller 112.

[0044] Typical airbag sensors 114, 116 are, for example, front sensors (UFS) for detecting one or more acceleration directions, peripheral (side) sensors (PAS) for detecting one or more acceleration directions, pedestrian collision sensors (PCS) for detecting acceleration, rear collision sensors (RCS) for detecting one or more acceleration directions, peripheral (side) collision sensors (PPS) in the form of pressure sensors, and pressure hose sensors PTS in the form of pressure sensors.

[0045] With this information, the risk of the ADAS / AD sensor set of the sensing mechanism 104 being disturbed or permanently damaged can be estimated.

[0046] This information is transmitted to the ADAS / AD system, for example, via bus communication.

[0047] This information enables appropriate measures to be triggered in the ADAS / AD system, such as setting a fault code, deactivating the ADAS / AD function, introducing a new ADAS / AD sensor calibration, or other maintenance work.

[0048] According to one embodiment, the airbag controller 112 differentiates between different types of ADAS / AD sensor-related events and their intensities. This differentiation can be based on a deterministic algorithm, similar to known airbag algorithms.

[0049] The discrimination can be based on an artificial intelligence algorithm.

[0050] Here, the relevant events can be differentiated based on all or a subset of the central or peripheral airbag sensors 114, 116 of the airbag system.

[0051] This differentiation can be based on additional peripheral sensors, such as a peripheral Low-g sensor (Low-g-Sensor / Low-g acceleration sensor) or a peripheral IMU sensor.

[0052] According to one embodiment, ADAS / AD sensor-related event information is directly transmitted to the ADAS / AD sensors of the sensing mechanism 104 for internal processing in the ADAS / AD sensors.

[0053] Optionally or alternatively, ADAS / AD sensor-related event information is transmitted to an ADAS / AD-ECU, such as the controller 108, or to a vehicle computer that processes ADAS / AD sensor information, such as the computer 128.

[0054] According to one embodiment, measures are triggered in the ADAS / AD sensors or the ADAS / AD-ECU or the vehicle computer of the sensing mechanism 104 to prevent the use of degraded ADAS / AD sensor information for ADAS or AD functions, i.e., the functions of the driver assistance system, without notification.

[0055] Figure 2 A flowchart of an embodiment of a method for evaluating the function of a sensing mechanism of a vehicle's driver assistance system is shown. The method can be implemented, for example, using the device described with reference to Figure 1 the apparatus described.

[0056] In step 201, at least one sensor signal of an airbag sensor is read, for example, via an internal or external interface of an airbag controller. In step 203, potential damage to the sensing mechanism of the driver assistance system and a damage signal indicating the potential damage are determined by appropriate evaluation or further processing of the at least one sensor signal. In step 205, the damage signal is provided via an output interface of the airbag controller and can subsequently be used, for example, to eliminate potential damage or to perform measures taking into account the potential damage.

[0057] In step 203, according to one embodiment, the at least one sensor signal is used to determine the type and intensity of an event related to the triggering decision of the airbag. Such events can be, for example, a collision or near-collision of the vehicle with an object, a violation event, or driving on an extremely uneven road. In such cases, the vehicle may be affected by an acceleration that can cause harm to the occupants and may damage the sensing mechanism of the driver assistance system. Therefore, according to one embodiment, the damage signal is determined and provided based on the type and intensity of the event. For example, potential damage is determined and the damage signal is accordingly determined only when a certain type of event occurs and the intensity of the event, for example, related to acceleration, exceeds a predetermined threshold.

[0058] According to one embodiment, a determination rule based on a deterministic algorithm or an artificial intelligence algorithm is used to determine a damage signal.

[0059] According to one embodiment, in step 205, the damage signal is provided to an interface of the vehicle computer, additionally or alternatively to an interface of a controller of a driver assistance system, additionally or alternatively to an interface of a sensing mechanism of a driver assistance system. Thus, there are different options for considering information about potential damage.

[0060] The method optionally includes step 207, in which measures taking into account potential damage are performed using the damage signal. For example, appropriate measures can be selected and performed according to the type of the indicated potential damage. For example, an error code is set for this purpose, and additionally or alternatively, the functions of the driver assistance system are deactivated, and additionally or alternatively, calibration of the sensing mechanism of the driver assistance system is triggered, and additionally or alternatively, a message for performing maintenance work is provided.

[0061] Optionally, the method includes step 209, in which at least one airbag sensor is used to provide at least one sensor signal. Below, an example is given with the help of Figure 3 The corresponding airbag sensors and their arrangements are shown.

[0062] Figure 3 is a schematic diagram of an embodiment of a vehicle 100. The vehicle 100 has an airbag controller 112, which is designed to provide a damage signal 124 via an output interface, for example by means of Figure 1 and Figure 2 as described.

[0063] For example, the vehicle 100 has a plurality of airbag sensors 330, 333, 334, 336 designed as pressure sensors and a plurality of airbag sensors 340, 341, 342, 343, 335, 116 designed as acceleration sensors, which are distributedly arranged at the front, rear and sides of the periphery of the vehicle 100. The airbag sensors 116, 330, 331, 332, 333, 334, 336, 340, 341, 342, 343, 335 are coupled to the airbag controller 112, for example, partially via point-to-point connections and partially via bus connections using suitable connection elements.

[0064] Optionally, an airbag sensor 114 designed as an acceleration sensor or an inertial sensor is integrally provided in the airbag controller 112.

[0065] According to one embodiment, the airbag controller 112 is designed to use the sensor signals provided by airbag sensors 114, 116, 330, 331, 332, 333, 334, 335, 336, 340, 341, 342, 343 to determine the accelerations in the x, y, and z directions and the rotational accelerations about the vertical, longitudinal, and lateral axes of the vehicle 100, and to determine the triggering decision for the airbags of the vehicle 100 and to determine the damage signal 124.

[0066] Figure 3 A typical airbag system is shown, which has a central airbag controller 112 and peripheral acceleration and pressure sensors in the form of airbag sensors 114, 116, 330, 331, 332, 333, 334, 335, 336, 340, 341, 342, 343 to distinguish collisions.

[0067] Figure 4 It is a block diagram of an embodiment of a method for evaluating the function of the sensing mechanism 104 of a driver assistance system. This method can be used in combination with a vehicle, for example, as described with reference to the previous figures. Exemplarily, the sensing mechanism 104 includes a plurality of sensors of the same or different types, such as one or more radar sensors, cameras, inertial measurement units, or ultrasonic sensors.

[0068] As a representative of a plurality of peripheral airbag sensors, which are in the form of acceleration sensors and pressure sensors for example, the external airbag sensor 116 is shown. The sensor signal of this airbag sensor is received by the airbag controller 112, which optionally has one or more integrated airbag sensors in the form of acceleration sensors and inertial measurement units, as shown exemplary by the integrated airbag sensor 114.

[0069] The airbag controller 112 is designed to determine the potential damage to the sensing mechanism 104 of the driver assistance system and output the corresponding information in the form of the damage signal 124, for example, to one or more controllers of the driver assistance system or one or more computers of the vehicle, here for example to the controller 108 and the computer 128, as described with reference to Figure 1 and both are designed to receive the detection data of the sensing mechanism 104.

[0070] Figure 5 It is a block diagram of an embodiment of a method for evaluating the function of the sensing mechanism 104 of a driver assistance system. This method can be used in combination with a vehicle, for example, as described with reference to the previous figures.

[0071] As a representative of a plurality of peripheral airbag sensors, such as acceleration sensors and pressure sensors for example, the external airbag sensor 116 is shown, the sensor signal of which is received by the airbag controller 112, which optionally has one or more integrated airbag sensors in the form of acceleration sensors and inertial measurement units, as exemplarily shown by the integrated airbag sensor 114.

[0072] The airbag controller 112 is designed to determine a potential damage of the sensing mechanism 104 of the driver assistance system and to output the corresponding information in the form of a damage signal 124, here for example to the sensing mechanism 104, which is designed to provide the detected data to one or more controllers of the driver assistance system or to one or more computers of the vehicle, here for example to the controller 108 and the computer 128, as referenced Figure 1 described.

[0073] By means of Figure 4 and Figure 5 Thus, two different system configurations for transferring ADAS / AD sensor-related information from the airbag controller 112 to the ADAS / AD system are shown. Specifically, in Figure 4 it is transferred to the ADAS / AD-ECU or the vehicle computer that processes the ADAS / AD sensor information, while in Figure 5 it is transferred to the ADAS / AD sensor for internal processing directly by the ADAS / AD sensor.

Claims

1. A method for evaluating the functionality of a sensor system (104) of a driver assistance system of a vehicle (100), wherein: The method comprises the following steps: A reading step (201), reading at least one sensor signal (118, 120) of an airbag sensor (114, 116) via a sensor interface of an airbag controller (112); a determination step (203) of using the sensor signals (118, 120) to determine a damage signal (124) indicative of potential damage to a sensor arrangement (104) of the driver assistance system; and A providing step (205) is provided, providing the damage signal (124) via an output interface of the airbag controller (112).

2. The method according to claim 1, wherein: In the determining step (203), the sensor signals (118, 120) are used to determine the type and intensity of an event relevant to a decision to trigger an airbag, and the damage signal (124) is determined based on the type and intensity of the event.

3. The method according to claim 2, wherein: In the determination step (203), the event is determined as a collision or near collision between the vehicle (100) and an object, or a violation event, or driving on an extremely uneven road.

4. A method according to any one of the preceding claims, wherein: In the determination step (203), the damage signal (124) is determined using a determination rule based on a deterministic algorithm or an artificial intelligence algorithm.

5. A method according to any one of the preceding claims, wherein: In the providing step (205), the damage signal (124) is provided to an interface of a computer (128) of the vehicle (100), a controller (108) of the driver assistance system or a sensor system (104) of the driver assistance system.

6. The method according to any of the preceding claims, comprising the step (207) of using the damage signal (124) to perform measures taking into account the potential damage.

7. The method according to claim 6, wherein: In the execution step (207), as the measure, an error code is set and / or a function of the driver assistance system is deactivated and / or a calibration of the sensor system (104) of the driver assistance system is triggered and / or a notification for performing maintenance work is provided.

8. The method according to any of the preceding claims, comprising the step (209) of using the airbag sensor (114, 116) to provide the sensor signal (118, 120), wherein: The airbag sensor is integrated into the airbag controller (112) or arranged on the periphery of the vehicle (100).

9. A method according to any one of the preceding claims, wherein: In the reading step (201), at least one further sensor signal of a further airbag sensor (330, 331, 332, 333, 334, 335, 336, 340, 341, 342, 343) or a further vehicle sensor is read, and in the determining step (205), the damage signal (124) is determined using the further sensor signal.

10. An apparatus (102) designed to carry out the steps of the method according to any of the preceding claims in a corresponding device. 11 . A computer program product having a program code for carrying out the method according to claim 1 when the program product is executed on a device.

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