Method and device for operating an environmental sensor of a vehicle

Abstract

Method (200) for acquiring sensor data relating to the environment of a first vehicle (100), wherein the method (200) comprises, - Determining (201) an index that the acquisition of first sensor data by a first environmental sensor (102) of the first vehicle (100) is or will be disturbed by a second environmental sensor (112) of a second vehicle (110); - Cause (202), depending on the evidence that - at least one setting of the first environmental sensor (102) and / or the second environmental sensor (112); and / or - an evaluation of the first sensor data from the first environmental sensor (102), is adapted in such a way as to reduce the effect of the disturbance when acquiring the first sensor data; wherein initiating (202) includes sending a control instruction from the first vehicle (100) to the second vehicle (110).

Description

[0001] The invention relates to a method and a corresponding device for determining and evaluating sensor data from an environmental sensor of a vehicle.

[0002] A vehicle typically incorporates a variety of different environmental sensors (e.g., cameras, radar sensors, ultrasonic sensors, lidar sensors) that can detect the vehicle's surroundings. The sensor data collected by these environmental sensors can be used to provide vehicle functions, particularly driver assistance functions, that support the driver in controlling the vehicle. As vehicle automation increases, the demands on the scope and quality of the collected sensor data typically rise.

[0003] DE 101 08 582 A1 describes a method for detecting malfunctions in a radar system. DE 10 2005 052 369 A1 describes a measuring device with a transmitter for sending a measurement signal within a frequency range.

[0004] This document addresses the technical task of efficiently and reliably increasing the quality of sensor data that can be acquired from one or more environmental data sources of a vehicle, as well as the quality of the evaluation of sensor data for use in a vehicle function.

[0005] The problem is solved by the independent claims. Advantageous embodiments are described, among other things, in the dependent claims.

[0006] According to one aspect, a method for acquiring sensor data concerning the environment of a first vehicle is described. The method can be carried out by a device (in particular, a sensor system) of the first vehicle. The method comprises determining an indicator that the acquisition of first sensor data by a first environmental sensor of the first vehicle is or will be disturbed by a second environmental sensor of a second vehicle. For example, the indicator can show a probability that a disturbance in the acquisition of the first sensor data exists or will occur.

[0007] The second environmental sensor can emit a second measurement signal to acquire second sensor data. This second measurement signal can, in particular, be an acoustic signal (e.g., an ultrasonic signal) and / or an electromagnetic signal (e.g., a radar signal and / or a light signal). Similarly, the first environmental sensor can also emit a measurement signal (a first measurement signal). Interference during the acquisition of the first sensor data by the first environmental sensor can be caused by the second measurement signal. In particular, the first measurement signal (from the first environmental sensor) and the second measurement signal (from the second environmental sensor) can overlap, which can lead to interference with the first environmental sensor.

[0008] Determining an indicator of interference can involve identifying whether the initial sensor data exhibits at least one interference pattern typical of sensor data disturbed by another environmental sensor. This interference pattern can be experimentally determined and stored on a memory unit within the initial vehicle. The initial sensor data can then be compared to this interference pattern. Specifically, a distance measure between the initial sensor data and the interference pattern can be established. The indicator of interference can then be determined based on this distance measure, or the indicator can incorporate the distance measure itself. Typically, reducing the distance measure increases the probability of interference being present.

[0009] The first environmental sensor can transmit an initial measurement signal to acquire the first sensor data and receive an initial feedback signal dependent on this initial measurement signal. Due to interference, the initial feedback signal can be disrupted by a second measurement signal transmitted by the second environmental sensor.

[0010] Determining an indicator of interference can involve comparing the transmission time of the first measurement signal with the reception time of the first feedback signal, and / or comparing the first feedback signal with the first measurement signal. If the comparison reveals a deviation greater than a threshold value, this may indicate interference in the acquisition of the initial sensor data. The indicator may depend on the deviation or may include the deviation itself.

[0011] Determining an indicator of a disturbance can involve gathering positioning information about the first and second vehicles. This positioning information can be obtained, for example, from an environmental sensor (such as an image camera, radar, etc.) on the first vehicle. The positioning information can indicate the distance and / or arrangement between the first and second vehicles, with the probability of a disturbance typically increasing with decreasing distance. The positioning information can also indicate the orientation of the second vehicle relative to the first. In particular, it can indicate the orientation of the second environmental sensor relative to the first. The probability of a disturbance typically depends on the orientation of the environmental sensors relative to each other.

[0012] Positioning information can be determined from a sequence of time points. This allows for the identification of a trend in the extent of a disturbance, which in turn enables the prediction of a disturbance.

[0013] Alternatively or additionally, determining an indicator of a malfunction in the acquisition of the first sensor data can involve receiving sensor information data from the second vehicle via a wireless communication interface. This sensor information data can reveal information about the setting of the second environmental sensor. In this way, it can be reliably determined whether or not there is a risk of interference from the second environmental sensor.

[0014] The method also includes initiating, based on the indication that at least one setting of the first and / or the second environmental sensor is being adjusted. Alternatively or additionally, the method includes initiating, based on the indication that an evaluation of the first sensor data from the first environmental sensor is being adjusted. The adjustment is preferably carried out in such a way as to reduce the impact of the disturbance on the acquisition of the first sensor data (e.g., an impact of the disturbance on a vehicle function, such as a semi-automatic driving function, of the first vehicle).

[0015] In particular, an adjustment may be made if the indicator shows that the probability of a disturbance is higher than a predefined probability threshold and / or if the indicator shows that the magnitude of a disturbance exceeds a predefined magnitude threshold. Conversely, an adjustment may not be made.

[0016] Preferably, the method comprises varying the type and / or combination of adjustments, in particular between the following variants, depending on the determined indicator: adjusting at least one setting of the first environmental sensor; adjusting at least one setting of the second environmental sensor; and / or adjusting an evaluation of the first sensor data from the first environmental sensor. Alternatively or additionally, the method may comprise determining or varying at least one parameter of one or more adjustments, depending on the determined indicator.

[0017] The indicator can particularly preferably include information about a qualitative and / or quantitative measure of the (existing, suspected, or expected) disturbance. Depending on the qualitative and / or quantitative measure of the disturbance, at least one qualitative and / or quantitative parameter of at least one adaptation can be determined.

[0018] By taking into account (potential) disturbances in a vehicle's environmental perception, the quality and robustness of the environmental perception and the quality and robustness of the vehicle's functions can be increased. This can directly or indirectly lead to higher quality, reliability, and / or safety of one or more vehicle functions, especially driver assistance functions.

[0019] Adjusting the settings of the first and / or second environmental sensors can be achieved by operating them simultaneously (if the indicator shows no fault) or alternately (if the indicator shows a fault) to acquire sensor data. Alternatively or additionally, adjusting the settings of the first and / or second environmental sensors can be achieved by adjusting them alternately, particularly on a rotating basis. This allows for the effective and reliable prevention or reduction of faults.

[0020] The setting of the first environmental sensor and / or the second environmental sensor can include one or more of: a wavelength of a measurement signal emitted to acquire sensor data; a pulse train and / or pulse sequence of an emitted measurement signal; a phase of an emitted measurement signal; an emission of an environmental sensor, in particular a room-dependent emission; and / or a sensitivity of an environmental sensor, in particular a room-dependent emission.

[0021] Initiating an adjustment of the second environmental sensor's setting involves sending a control instruction, particularly via a wireless communication interface, from the first vehicle to the second vehicle. This allows the operation of the second environmental sensor to be controlled from the first vehicle.

[0022] Adjusting the evaluation of the first sensor data can include one or more of the following: correcting a value of the first sensor data; filtering the first sensor data; interpolating the first sensor data; at least partially replacing the first sensor data; and / or adjusting a sensitivity curve of the first environmental sensor when evaluating the first sensor data.

[0023] The process can include predicting, based on the index, a disturbance for a future point in time. Furthermore, the process can include determining control information to initiate the adjustment of at least one setting of the first and / or second environmental sensor and / or the evaluation of the first sensor data for a future point in time. By predicting a disturbance, suitable measures can be initiated in advance to prevent or reduce disturbances during the acquisition of the first sensor data. This allows for further improvement of the quality of environmental perception.

[0024] The procedure can include determining a parameter value for a disturbance parameter during the acquisition of the initial sensor data. This parameter value can, in particular, indicate the extent and / or intensity of the disturbance. Based on this parameter value, adjustments can then be made to the settings of the first and / or second environmental sensors and / or the evaluation of the initial sensor data. This allows for further improvement of the environmental perception quality.

[0025] The procedure can include adjusting a vehicle function of the first vehicle depending on the indication of a malfunction when acquiring the initial sensor data. This can further increase the reliability of vehicle functions.

[0026] The procedure can include determining, based on the indication of a disturbance in the acquisition of the first sensor data, information regarding a disturbance caused by the first environmental sensor in the acquisition of second sensor data by the second environmental sensor. This information can, in particular, indicate the extent of the disturbance in the acquisition of the second sensor data. The information can be output via an output device (e.g., an optical or acoustic output) of the first vehicle and / or taken into account in a vehicle function of the first vehicle. This allows for the consideration of a possible malfunction of the second vehicle due to the disturbance. In particular, this can further increase the reliability of vehicle functions.

[0027] The process can involve fusing, depending on the indicator, the initial sensor data with further sensor data from at least one additional environmental sensor of the first vehicle. By fusing sensor data, the environmental perception of the first vehicle can be further enhanced.

[0028] According to a further aspect, a method for acquiring sensor data concerning the environment of a first vehicle is described. The method comprises determining an indication that the acquisition of first sensor data by a first environmental sensor of the first vehicle is or will be disturbed by a second environmental sensor of a second vehicle, wherein determining an indication of disturbance in the acquisition of the first sensor data includes receiving sensor information data from the second vehicle via a wireless communication interface, and wherein the sensor information data indicates information about a setting of the second environmental sensor.

[0029] The procedure further includes initiating, depending on the indication that at least one setting of the first environmental sensor and / or the second environmental sensor and / or an evaluation of the first sensor data of the first environmental sensor, is adjusted in such a way as to reduce the effect of the disturbance when acquiring the first sensor data.

[0030] According to a further aspect, a device for acquiring sensor data concerning the environment of a first vehicle is described. The device is configured to detect an indication that the acquisition of first sensor data by a first environmental sensor of the first vehicle is being, or will be, disrupted by a second environmental sensor of a second vehicle. Depending on the indication of the disruption in the acquisition of the first sensor data, the device is further configured to cause at least one setting of the first environmental sensor and / or the second environmental sensor; and / or an evaluation of the first sensor data of the first environmental sensor, to be adjusted such that the effect of the disruption in the acquisition of the first sensor data is reduced; the initiation of which includes sending a control instruction from the first vehicle to the second vehicle.

[0031] According to a further aspect, a device for acquiring sensor data relating to the environment of a first vehicle is described. The device is configured to determine an indication that the acquisition of first sensor data by a first environmental sensor of the first vehicle is being or will be disrupted by a second environmental sensor of a second vehicle. Determining an indication of disruption in the acquisition of the first sensor data comprises receiving sensor information data from the second vehicle via a wireless communication interface, and the sensor information data indicates information about a setting of the second environmental sensor.The device is further configured, depending on the indication of a disturbance in the acquisition of the first sensor data, to cause at least one setting of the first environmental sensor and / or the second environmental sensor; and / or an evaluation of the first sensor data of the first environmental sensor, to be adjusted in such a way as to reduce the effect of the disturbance in the acquisition of the first sensor data.

[0032] According to another aspect, a vehicle (in particular a road vehicle, e.g., a passenger car, a truck, or a motorcycle) is described that includes the device described in this document. Preferably, the device is designed together with a driver assistance system of the vehicle and / or a control unit of the device can also correspond to a control unit of the driver assistance system. Furthermore, the device can include one or more additional control units, e.g., installed within the vehicle sensors.

[0033] According to another aspect, a computer program, in particular a computer program product, is described. The computer program can optionally be loaded directly into the internal memory of a digital device (in particular an electronic control unit of the device). Furthermore, the computer program can include software code sections with which the steps of the method according to one of the described method claims are carried out when the computer product is running on the digital device.

[0034] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways.

[0035] The invention will now be described in more detail using exemplary embodiments. Fig. 1 an exemplary driving situation in which sensor data are collected; and Fig. 2. A flowchart of an exemplary procedure for determining sensor data regarding the environment of a vehicle.

[0036] As stated at the beginning, this document deals with the provision of precise sensor data and the precise evaluation of sensor data in a vehicle. In this context, it shows Fig. 1 An exemplary vehicle 100 with one or more environmental sensors 102, which are configured to acquire environmental data or sensor data relating to the environment of the vehicle 100. Exemplary environmental sensors 102 are a camera, a radar sensor, an ultrasonic sensor and / or a lidar sensor.

[0037] The sensor data can be evaluated by a device 101 of the vehicle 100 (which includes, for example, a control unit) to provide a vehicle function. In particular, the vehicle 100 can be driven at least partially automatically based on the sensor data.

[0038] As the level of vehicle automation increases, the number of environmental sensors typically also rises. This can lead to environmental sensors from different vehicles interfering with each other. This is especially true for environmental sensors that emit a measurement signal to acquire sensor data (such as ultrasonic-based sensor systems). The measurement signal emitted by one vehicle can interfere with the environmental perception of another vehicle, which can negatively affect vehicle functions in the other vehicle. This can be particularly relevant for automated driving functions such as TAF (Partially Automated Driving), HAF (Highly Automated Driving), TAP (Partially Automated Parking), and / or HAP (Highly Automated Parking).

[0039] Fig. Figure 1 shows the surroundings of the (first) vehicle 100. In particular, it shows Fig. 1. A parking space 106 is delimited by a wall 105 (as an example of an object 105 to be detected by the vehicle 100's environmental sensors 102). A driver of the vehicle 100 wants to reverse into the parking space 106. For this purpose, the vehicle 100's environmental sensors 102 can acquire sensor data relating to one or more objects 105 (e.g., the wall) in the vicinity of the vehicle 100, and the device 101 can evaluate the sensor data to assist the driver with the parking maneuver.

[0040] In an adjacent parking space, another vehicle 110 may simultaneously attempt to exit the parking space (e.g., by reversing). This second vehicle 110 may include one or more environmental sensors 112 that acquire sensor data for the exiting maneuver. The one or more environmental sensors 112 of the second vehicle 110 may interfere with the one or more environmental sensors 102 of the first vehicle 100 (e.g., by emitting a second measurement signal). This applies particularly to emitting environmental sensors 102 that emit, for example, electromagnetic waves (such as radar sensors), ultrasonic waves (such as ultrasonic sensors), light, infrared light, light patterns, and / or light pulses (such as LiDAR). Such interference with the environmental perception in the first vehicle 100 can reduce the quality of the environmental perception in the first vehicle 100.

[0041] To reduce interference, the modes of two sensor systems 102 and 112 (which may be from two different vehicles, 100 and 110) can be automatically changed so that they no longer interfere with each other. For example, a time-slot-based clocking of the sensor systems 102 and 112 can be implemented for this purpose, using a specific sequence. In particular, different time intervals for environmental sensing can be reserved for the different sensor systems 102 and 112. Furthermore, sensor data collected by the different sensor systems 102 and 112 in their respective phases using one of the different (switching) sensor operating modes can be combined.

[0042] Such a procedure for adapting an operating mode can be automatically activated, particularly in certain situations that are more likely to cause (mutual) interference between sensor systems 102, 112 of different vehicles 100, 110, or that have caused such interference in the past. The procedure described in this document can also be used to detect interfering objects, especially another vehicle 110, reliably and accurately. The procedure can be automatically activated, for example, at specific locations (such as parking lots, parking garages, or car parks) where mutual interference is more likely to occur. In particular, a sensor system 102 can be automatically switched to a suitable (optimized) mode, if necessary.

[0043] A change, correction, or temporary deactivation of a part of a sensor system 112 of a vehicle 110 can be designed in such a way that a priority is first automatically determined as to which of the two vehicles 100, 110 requires the sensor data regarding the respective environment more urgently. The mutual coordination of the sensor systems 102, 112 can, for example, be carried out such that a vehicle 100, which requires the sensor data with a higher priority, e.g., due to increased safety relevance, is allowed to sensing the sensor data first and / or with a longer time slot and / or with more favorable parameters, e.g., wavelengths.

[0044] Thus, the sensor systems 102 and 112 of two different vehicles 100 and 110 can be adapted to ensure error-free and precise environmental sensing. Furthermore, adaptive correction of the sensor data and / or its interpretation can be performed.

[0045] This document describes a method and a device for operating a sensor system 102 of a vehicle 100 when it is subject to interference from another vehicle 110. Furthermore, a corresponding system, additional means, and a corresponding computer product are presented.

[0046] Fig. Figure 2 shows a flowchart of an exemplary procedure 200 for acquiring sensor data concerning the environment of a first vehicle 100 (e.g., concerning an object 105 in the environment of the first vehicle 100). The procedure 200 comprises determining 201 an indicator that the acquisition of initial sensor data by a first environment sensor 102 of the first vehicle 100 is or will be disrupted by a second environment sensor 112 of a second vehicle 110. The indicator can be determined, for example, based on the initial sensor data and / or on the basis of further data.

[0047] Furthermore, the procedure 200 includes initiating 202, depending on the indication that at least one setting of the first environmental sensor 102 and / or the second environmental sensor 112; and / or an evaluation of the first sensor data of the first environmental sensor 102 is adjusted. The adjustment can be made in such a way as to reduce the impact of interference during the acquisition of the first sensor data, e.g., an impact on a vehicle function of the first vehicle 100. By taking into account possible interference from an environmental sensor 112 of another vehicle 110, the quality of the sensory environmental perception in the first vehicle 110 can be improved.

[0048] A method 200 for operating a sensor system 102 of a first vehicle 100 in the event of interference, in particular from another, second vehicle 110, is described. The method 200 may include detecting that interference with a sensor 102 of the first vehicle 100 by another, second vehicle 110 exists or is highly likely to occur soon. The method 200 may further include determining control information for changing at least one sensor mode of the sensor 102 (i.e., the first environmental sensor 102 of the first vehicle 100) and / or an interpretation of the sensor data acquired by the sensor 102. Furthermore, the method 200 may include controlling the sensor system 102 of the first vehicle 100 or of the interfering, second vehicle 110 and / or varying the interpretation of the sensor data for a vehicle function of the first vehicle 100.This can be done in such a way that the effects of the malfunction of the sensor system 102 of the first vehicle 100 are at least partially corrected or compensated.

[0049] Thus, within the framework of procedure 200, a disturbance caused by a sensor 112 of another vehicle 110 or possibly by a sensor 102 of one's own vehicle 100 can be distinguished from any other disturbance, e.g. by other devices, natural phenomena, echoes, etc.

[0050] In particular, an increased probability of a disturbance can be determined from the global coordinates or position data of the first vehicle 100 (e.g., it can be detected that the first vehicle 100 is in the vicinity of a garage, parking garage, bottleneck, special property, etc.) and / or from the detection of a specific maneuver (e.g., a parking or maneuvering maneuver, a parking, exiting, or maneuvering maneuver, a turning maneuver, or passage through a bottleneck). An increased probability or a specific degree of probability, alone or in combination with any other criterion presented in this document, can be used to assume or predict a disturbance situation (i.e., to determine an index of a disturbance when acquiring the first sensor data with the first environmental sensor 102).

[0051] The fault can be detected directly based on data (e.g., based on the first sensor data) from the first sensor system 102 of the first vehicle 100.

[0052] The control information preferably comprises quantitative information and / or a multitude of different parameters that can influence various characteristics of an environment detection method. This can involve controlling or adjusting a multitude of parameters of the sensor system 102 (which, for example, serve to determine different measured quantities) to improve the detection of the current environment situation. The control information can be acquired using means of the vehicle 100, in particular within a sensor or a sensor fusion unit.

[0053] In particular, the procedure allows for the determination of 200 interference parameters that represent a specific influence of an ultrasonic sensor 112 of a second vehicle 110 on the ultrasonic sensor 102 of the first vehicle 110. A quantitative assessment of the influence can also be carried out, such as: the strength of the influence; the probability of error; the type of error that can be caused by the influence; and / or a (specific) expected deviation in values.

[0054] Preferably, a wireless unilateral or mutual coordination of the control data to change the properties of a sensor 102, 112 and / or the applied sensing method can be carried out between at least two vehicles 100, 110.

[0055] Controlling a sensor system 102, 112 can preferably reduce the interfering influences in a targeted manner, in particular by avoiding or suppressing the (specific) disturbance, e.g. by applying a filter, and / or by varying time intervals that are essential for determining the sensor data.

[0056] A malfunction of sensor 102 of a vehicle 100 can be detected by pattern recognition applied to the sensor data of sensor 102. In particular, certain "fault patterns" can be identified based on their characteristic features in the sensor data. If a specific fault pattern is present, it can be assumed that the malfunction is caused by another, second vehicle 110 (and not, for example, by contamination or icing, etc., of sensor 102).

[0057] A malfunction of sensor 102 of a vehicle 100 can be detected depending on the reception of a signal (e.g., a feedback signal) by sensor 102 of the vehicle 100. In particular, it can be detected that • the signal matches predetermined characteristics of a measurement signal from a vehicle sensor 102; • the signal differs from the measurement signal of a (specific) sensor 102 or of all sensors of the vehicle 100; and / or • the reception time of the signal does not match a transmission time of a measurement signal of vehicle 100, in particular it cannot be assigned to a measurement signal.

[0058] In this way, a disturbance caused by a sensor 112 of another, second vehicle 110 or possibly by a sensor 102 of one's own vehicle 100 can be distinguished from any other disturbance, e.g. by other devices, natural phenomena, echoes, etc.

[0059] Within the framework of procedure 200, information can be determined that represents a disturbance, in particular a parameter of the disturbance. This information can be determined depending on • relative position information (or positioning information) to another vehicle 110; and / or • at least two pieces of position information representing the position of two vehicles 100, 110; and / or • at least one position information or position sequence of a first vehicle 100 and at least one position sequence of a second vehicle 110.

[0060] At least one piece of position information can include the direction, in particular the mutual orientation of two vehicles 100, 110. Specifically, it can take into account the relative position (e.g., distance, offset, angle information) of a second vehicle 110 in relation to a specific constellation of objects and / or how quickly the second vehicle 110 is approaching.

[0061] The control information can be determined depending on two or more position information, preferably depending on a position sequence.

[0062] Information on a (probable disturbance) can be determined depending on a sequence of positions of a second vehicle 110, which includes absolute and / or relative time information, e.g. a time interval specification for the positions.

[0063] For example, a situation involving approaching a narrow passage from two different angles can be handled differently. For a first approach trajectory of two vehicles 100, 110 relative to each other (i.e., specifically depending on the relative trajectory), a first disturbance parameter can be determined and a first change initiated in at least one sensor system 102, 112. For a second, different approach trajectory of two vehicles 100, 110 relative to each other (i.e., specifically depending on the relative trajectory), a second disturbance parameter can be determined and a second change initiated in at least one sensor system 102, 112.

[0064] Procedure 200 can be used to determine a prediction of the occurrence of a specific disturbance in the near future (e.g., a prediction for the next 1, 2, 5, or 10 seconds). Furthermore, control information for the near future can be determined.

[0065] The mutual coordination between two sensor systems 102, 112 can take place in the form of a time sequence for applying the change of the properties of a sensor system 102, 112 and / or the change of an applied sensing method.

[0066] The voting can take place in particular via a wireless communication message, which is triggered or changed, for example, depending on the spatial proximity of at least two vehicles 100, 110 to each other or to a specific environment detection situation.

[0067] One or more quantitative parameters of an existing or expected disturbance, in particular a temporal profile of the parameters, can be determined. Depending on the one or more parameters, especially their temporal profile, control information can be determined that represents one, two, or more changes to at least one sensor mode and / or an interpretation of the sensor data of a vehicle 100.

[0068] It is typically advantageous to determine one or more quantitative parameters of an existing or expected disturbance as specifically as possible in order to react with an adapted and data-saving change.

[0069] Depending on one or more parameters, and in particular on a predicted change in the interference (i.e., depending on the indication of interference when the initial sensor data is acquired), the sensor system 102 or the data interpretation can initiate responses of varying strengths or levels. For example, as long as an interference parameter remains below a quantitative threshold (e.g., when the interference is still relatively small), filtering can be performed based on the interference frequency. If an interference parameter exceeds a quantitative threshold, the transmission and reception frequency of the sensor 102 can be adjusted. If an interference parameter exceeds a second (higher) quantitative threshold, a switch to time-slot operation can be initiated.

[0070] A change, in particular a restriction of a vehicle function, may be made if it is determined that in the near future a parameter of a disturbance will be greater than a predetermined parameter value.

[0071] Control information can be determined that causes simultaneous and / or alternating operation of two identical sensors 102, 112 from at least two different vehicles 100, 110.

[0072] Several types of sensors, especially ultrasonic sensors, could interfere with each other, for example, the PDC (park distance control) functions of two vehicles (100 and 110) in an underground parking garage if the vehicles are up to 15 meters apart. This interference can be avoided by alternating operation and / or simultaneous operation with different parameters.

[0073] Simultaneous operation can include operation with varied parameters of at least one or two sensor systems 102, 112. Alternating operation can include sensor systems 102, 112 that alternate over time or that vary according to temporal criteria, in particular those that vary.

[0074] Preferably, at least one piece of control information can be determined in such a way that: • at least one operating frequency change of a sensor 102, 112 of at least one vehicle 100, 110 is initiated; and / or • at least one modulation, in particular a phase modulation, of at least one sensor 102, 112 or at least one vehicle 100, 110 is changed; and / or • at least a temporally alternating operation is initiated, in particular a temporal condition or sequence is initiated in which at least one sensor 102, 112 of a vehicle 100, 110 is actuated.

[0075] Within the framework of procedure 200, control information for at least two sensors 102, 112 of two different vehicles 100, 110 can be determined in such a way that a temporally alternating variation of the parameters of the at least two sensors 102, 112 is initiated.

[0076] The alternating time-based variation can, for example, involve pulsed operation of sensors 102 and 112. Alternatively, only one or more parameters (e.g., a phase) can be modified to reduce mutual interference. For example, in a first time interval, the wavelength of an electromagnetic measurement signal emitted by a radar or an ultrasonic signal emitted by an ultrasonic sensor can be reduced. In a second time interval, the wavelength can be increased again. The effects of the shifted wavelength can be corrected during a subsequent calibration of the sensor data.

[0077] The control information can cause a change in one or more of the following parameters of a sensor system 102 of a vehicle 100, in particular to a certain quantitative extent: • one or more wavelengths at which sensing is performed; and / or • a pulse sequence, e.g., a combination and / or temporal dependency, of or between at least two measurement processes; and / or • a change in the phase of one or more measurement pulses or taking into account the respective changed phase of the received pulses.

[0078] The change can essentially affect the duration and / or be quantitatively dependent on the determined sensing situation.

[0079] Several types of sensors (ultrasound sensors, various radar sensors, light-emitting sensors such as laser scanners, LED sensors, etc.) can be controlled differently. This allows for changes to the sensing mode (e.g., wavelength, phase, pulses, etc.) and / or the sensing method.

[0080] Depending on the acquisition of at least one data set, a sensor 102 can modify its properties so that accurate or at least more realistic measurement data results. In particular, specific sensor-related errors (e.g., special echoes, sensor crosstalk, particular reflections, etc.) that frequently occur in a particular sensing situation can be avoided.

[0081] For example, the measurement sequence of ultrasonic sensors can be changed depending on the spatially related data obtained. This can be done in such a way as to reduce interference in cross-echo measurements or other artifacts or physical effects that are typical for certain sensing situations or types of sensing situations.

[0082] The spatial detection area can be varied, for example by raising the elevation of radar systems. This allows for the targeted detection of specific spatial areas, particularly to avoid certain (specific) interferences.

[0083] The control information can cause a temporally alternating, in particular alternating, change in the properties of a sensor 102 and / or the applied sensing method.

[0084] Activating a different mode of a sensing method may have weaknesses. Therefore, it may be advantageous, particularly within the same sensing situation, to switch between two or more sensing methods of a sensor system 102 or to repeatedly change the properties of at least one sensor 102 with respect to the same sensing situation.

[0085] The procedure can include 200, which involves comparing the resulting measured values ​​(i.e., the sensor data of sensor system 102) acquired in two different sensing phases (each with at least two different properties of a sensor and / or the applied sensing method). The measured values ​​can be combined, if necessary, to improve the quality of the sensor data. Such a comparison of sensor data can be particularly effective when it depends on data that represents information about the performance of at least one sensor or the sensor system.

[0086] For example, in a problematic situation (e.g., with a complex constellation of objects, e.g., in a garage) where the sensor system 102 of the vehicle 100 does not provide satisfactory data, the following can be done: A specific type of sensing situation can be detected. The sensor system 102 can, for example, comprise a side radar system with four side radar sensors and / or an ultrasonic system with eight to twelve sensors. The sensor system 102 can be switched to a mode that provides better results for the given sensing situation. The sensor system 102 can, for example, be switched between at least two different modes every second, each exhibiting different strengths and weaknesses. In a further step of the procedure 200, the resulting measurement data can be compared, in particular fused, in such a way that the strengths of both modes are maximized and / or the weaknesses (susceptibility to errors, nonlinearities, or other factors) are at least partially compensated for or mitigated.This can take into account information representing the performance of at least one sensor or sensor system of the vehicle, and / or learning data.

[0087] Depending on the detection that a sensor 102 of the first vehicle 100 is being interfered with by another sensor 112 of a different vehicle 110, it can be determined that (and in particular, how strongly or with regard to which characteristic) at least one other sensor of the other vehicle 110 is being interfered with by at least one sensor 102 of the first vehicle 100. In other words, if an interference with a sensor 102 of the first vehicle 100 is detected, it can be concluded that an interference with a sensor 112 of another vehicle 110 is also present.

[0088] The control information can be determined, depending on • relative position information to another vehicle 110: and / or • at least two pieces of position information, representing the position of two vehicles 100, 110; and / or • at least one position information or position sequence of a first vehicle 100 and at least one position sequence of a second vehicle 110.

[0089] A fault signal can also be detected independently of the approach of vehicles 100 and 110, for example, through a specific pattern in the sensor data. The subsequent control data can then be adjusted (e.g., in several steps) to best match the evolving fault. For instance, a situation approaching a narrow passage from two different angles can be handled differently. During the initial approach trajectory of two vehicles 100 and 110 to each other (especially with respect to a relative trajectory), initial control information can be determined. This information can, for example, reduce the mutual influence of ultrasonic sensors in the environmental monitoring system, which would otherwise cause errors during such an approach trajectory.During a second approach trajectory of two vehicles towards each other (especially in relation to a relative trajectory), a change in the mode of the ultrasound system can be effected and the resulting values ​​can be fused or confirmed with further sensor data.

[0090] Within the framework of procedure 200, quantitative parameters of an interference influence from another sensor 112 of another vehicle 110 can be determined. Depending on this, at least one parameter can be determined that represents an interference influence of the sensor 102 of the first vehicle 100 on another sensor 112.

[0091] Typically, it is also in the interest of the first vehicle 100 not to interfere with a sensor 112 of an oncoming or nearby vehicle 110. However, if such interference cannot be avoided, information regarding this interference can be provided. For example, the first vehicle 100 can configure a vehicle function of the first vehicle 100 based on information regarding a malfunction of another vehicle 110 (e.g., to account for an increased probability of malfunction by the other vehicle 110).

[0092] Within the framework of procedure 200, quantitative parameters of an interference effect from another sensor 112 of another vehicle 110 can be determined. The parameter can represent a prediction of an interference effect from at least one sensor 112 on at least one other sensor 102 in the near future. For example, if an interference effect increases while driving in a certain direction (and if this effect has not yet exceeded an empirical value for maximum interference), it can be concluded that the interference will increase further if the journey continues. Thus, an interference effect at a future time can be predicted.

[0093] A vehicle 100 can include means for performing sensor fusion. Depending on the determined control information, the fusion of sensor data from at least two sensors can be varied. In particular, the fusion of sensor data can be varied with respect to: • an assignment of measured values ​​from one or more different sensors to each other and / or to specific objects and / or to selected spatial areas (areas of interest); and / or • a weighting of measured values ​​from at least two sensors when determining at least one fused measured value; and / or • a time offset between the measured values ​​to be fused from at least two sensors.

[0094] Within the framework of procedure 200, information representing a disturbance can be determined, depending on wirelessly received data from another vehicle 110 in the vicinity of vehicle 100, with which a unilateral or mutual disturbance of a (specific) sensor 102 occurs or could occur in the near future. In particular, the data can be transmitted directly or indirectly from one vehicle 110 to the other vehicle 100, e.g., using a power-independent data carrier (e.g., a passive chip for wireless near-field communication, especially RFID), and / or via WLAN, 3G, etc.

[0095] The use of RFID is advantageous because the data can be determined when the vehicles 100, 110 approach, especially to within less than 20, 15, 10, 5, 3, 1 meters, and can thereby activate the procedure 200 directly or indirectly.

[0096] Alternatively or additionally, at least time information regarding the change of at least one sensor mode and / or an interpretation of the sensor data of vehicle 100 or the interfering vehicle 110 can be exchanged, e.g., a rule according to which the time slots between two vehicles 100 and 110 are selected or varied. The exchange of such information may already be sufficient to enable interference-free operation.

[0097] Alternatively or additionally, control information for changing at least one sensor mode and / or for changing an interpretation of the vehicle's sensor data can be determined for the interfering vehicle 110. Such control information, in particular information for generating the actual interference information in the interfering vehicle 110, can then be transmitted to the interfering vehicle 110 (possibly wirelessly). The transmission of such interference information can be carried out, for example, via WLAN, RFID, LTE, etc. Preferably, the transmission can be carried out using the same sensor 102 itself, for example, by modulating such information into an emitted measurement signal of a sensor 102, 112 (e.g., in radar waves). In other words, the environmental sensor 102, 112 of a vehicle 100, 110 can be used to (e.g.,(By modulating an emitted measurement signal) information is transmitted to the other vehicle 100, 110. This enables efficient communication.

[0098] A vehicle's sensor system can be prepared to modify the properties of a sensor and / or the sensing method used (according to a specific plan, particularly one that includes temporal information, e.g., a sequence). Information regarding such a plan can be communicated to at least one other vehicle in the vicinity, and / or the plan (i.e., the vehicle's own plan) can be modified based on information transmitted by another vehicle.

[0099] At least one piece of control information can represent a spatial distribution of quantitative parameters, particularly with respect to specific time intervals. For example, the control information can show, • that the emission from a sensor is varied into different areas of the room, and / or • that the sensitivity of a sensor is varied with respect to at least two spatial areas.

[0100] The control information can trigger one or more of the following steps: • a correction of measured values ​​of at least one sensor of the sensor system by a quantitative factor; and / or • a sensitivity curve (especially spatial and / or temporal parameters) for the evaluation of sensor data; and / or • filtering of useful data and / or noise data; and / or • an interpolation of missing or implausible data; and / or • a spatially and / or temporally limited replacement of sensor measurements by values ​​determined depending on the data obtained.

[0101] In analogous manner to the described method 200, a corresponding device 101 or a corresponding sensor system 102 and a corresponding computer program (product) are also described in this document.

[0102] The measures described in this document enable the closing of functional gaps, particularly for driver assistance systems. This is advantageous, for example, for the implementation of TAF, HAF, and / or HAP functions. Specifically, the described measures allow for the efficient improvement of the quality of provided sensor data and / or the quality of sensor data evaluation, thereby enabling the provision of reliable and robust vehicle functions.

[0103] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems.

Claims

[1] Method (200) for acquiring sensor data relating to the environment of a first vehicle (100), wherein the method (200) comprises, - Determining (201) an index that the acquisition of first sensor data by a first environmental sensor (102) of the first vehicle (100) is or will be disturbed by a second environmental sensor (112) of a second vehicle (110); - Cause (202), depending on the evidence that - at least one setting of the first environmental sensor (102) and / or the second environmental sensor (112); and / or - an evaluation of the first sensor data from the first environmental sensor (102), is adapted in such a way as to reduce the effect of the disturbance when acquiring the first sensor data; wherein initiating (202) includes sending a control instruction from the first vehicle (100) to the second vehicle (110). [2] Method (200) according to claim 1, wherein - the second environmental sensor (112) emits a second measurement signal to acquire second sensor data; - the second measurement signal includes, in particular, an acoustic signal and / or an electromagnetic signal; and - the interference in the acquisition of the first sensor data with the first environmental sensor (102) is caused by the second measurement signal. [3] Method (200) according to one of the preceding claims, wherein determining (201) an index of disturbance comprises determining whether the first sensor data include at least one disturbance pattern that is typical of sensor data that have been disturbed by another environmental sensor. [4] Method (200) according to any one of the preceding claims, wherein - the first environmental sensor (102) sends out a first measurement signal to acquire the first sensor data and receives a first feedback signal dependent on the first measurement signal; and - the determination (201) of an index of a disturbance includes, - Comparing the transmission time of the first measurement signal and the reception time of the first feedback signal; and / or - Comparing the first feedback signal with the first measurement signal. [5] Method (200) according to any one of the preceding claims, wherein - determining (201) an index of a disturbance includes determining positioning information in relation to the first vehicle (100) and the second vehicle (110); - the positioning information specifically indicates a distance between the first vehicle (100) and the second vehicle (110); - the positioning information, in particular, indicates the orientation of the second vehicle (110) relative to the first vehicle (100); and - the positioning information is determined, in particular, at a sequence of time points. [6] Method (200) according to any one of the preceding claims, wherein the method (200) comprises, - Predicting, based on the index, a disturbance for a future point in time; and - Determining control information to initiate (202) the adjustment of at least one setting of the first environment sensor (102) and / or the second environment sensor (112) and / or the evaluation of the first sensor data for the future time. [7] Method (200) according to any one of the preceding claims, wherein - the method (200) comprises determining a parameter value for a parameter of the disturbance when acquiring the first sensor data; and - an adjustment of the setting of the first environmental sensor (102) and / or the second environmental sensor (112) and / or the evaluation of the first sensor data is initiated, depending on the parameter value. [8] Method (200) according to one of the preceding claims, wherein the method (200) comprises adapting a vehicle function of the first vehicle (100) depending on the indication of a disturbance in the acquisition of the first sensor data. [9] Method (200) according to one of the preceding claims, wherein the initiation (202) of the adjustment of a setting of the first environment sensor (102) and / or the second environment sensor (112) is carried out such that - the first environmental sensor (102) and the second environmental sensor (112) are operated simultaneously or alternately to acquire sensor data; and / or - the setting of the first environment sensor (102) and the second environment sensor (112) is adjusted alternately, especially by alternating periods. [10] Method (200) according to one of the preceding claims, wherein the setting of the first environmental sensor (102) and / or the second environmental sensor (112) comprises one or more of, - a wavelength of a measurement signal emitted to capture sensor data; - a pulse train and / or pulse sequence of an emitted measurement signal; - a phase of an emitted measurement signal; - an emission from an environmental sensor, particularly one that is dependent on the room; and / or - a sensitivity of an environmental sensor, particularly one that depends on the room. [11] Method (200) according to any of the preceding claims, wherein - the method (200) comprises determining, depending on the indication of the disturbance in the acquisition of the first sensor data, information relating to a disturbance in the acquisition of second sensor data by the second environmental sensor (112) caused by the first environmental sensor (102); and - the information includes, in particular, the extent of the interference in acquiring the second sensor data; and - the information is output in particular via an output unit of the first vehicle (100) and / or is taken into account in a vehicle function of the first vehicle (100). [12] Method (200) according to one of the preceding claims, wherein the method (200) comprises fusing, depending on the indicator, the first sensor data with further sensor data from at least one further environment sensor of the first vehicle (100). [13] Method (200) according to any of the preceding claims, wherein adapting an evaluation of the first sensor data comprises one or more, of - a correction of a value from the initial sensor data, - filtering of the initial sensor data; - an interpolation of the initial sensor data; - at least a partial replacement of the initial sensor data; and / or - an adjustment of a sensitivity curve of the first environmental sensor (102) during the evaluation of the first sensor data. [14] Method (200) for acquiring sensor data relating to the environment of a first vehicle (100), wherein the method (200) comprises, - Determining (201) an indication that the acquisition of first sensor data by a first environmental sensor (102) of the first vehicle (100) is or will be disturbed by a second environmental sensor (112) of a second vehicle (110); wherein determining (201) an indication of disturbance in the acquisition of the first sensor data comprises receiving sensor information data from the second vehicle (110) via a wireless communication interface; and wherein the sensor information data indicates information about a setting of the second environmental sensor (112); and - Cause (202), depending on the evidence that - at least one setting of the first environmental sensor (102) and / or the second environmental sensor (112); and / or - an evaluation of the first sensor data from the first environmental sensor (102), - is adjusted in such a way as to reduce the impact of the disturbance when acquiring the first sensor data. [15] Computer program configured to run on a processor and thereby perform the method (200) according to any one of the preceding claims. [16] Device (101) for acquiring sensor data relating to the environment of a first vehicle (100), wherein the device (101) is configured, - to determine an indication that the acquisition of initial sensor data by a first environmental sensor (102) of the first vehicle (100) is being or will be disrupted by a second environmental sensor (112) of a second vehicle (110); and - depending on the indication of the malfunction in the acquisition of the first sensor data, to initiate that - at least one setting of the first environmental sensor (102) and / or the second environmental sensor (112); and / or - an evaluation of the first sensor data from the first environmental sensor (102) is adapted in such a way as to reduce the effect of the disturbance when acquiring the first sensor data; wherein initiating this includes sending a control instruction from the first vehicle (100) to the second vehicle (110). [17] Device (101) for acquiring sensor data relating to the environment of a first vehicle (100), wherein the device (101) is configured, - to determine an indication that the acquisition of initial sensor data by a first environmental sensor (102) of the first vehicle (100) is being or will be disturbed by a second environmental sensor (112) of a second vehicle (110); wherein determining an indication of disturbance in the acquisition of the initial sensor data comprises receiving sensor information data from the second vehicle (110) via a wireless communication interface; and wherein the sensor information data indicates information about a setting of the second environmental sensor (112); and - depending on the indication of the malfunction in the acquisition of the first sensor data, to initiate that - at least one setting of the first environmental sensor (102) and / or the second environmental sensor (112); and / or - an evaluation of the first sensor data from the first environmental sensor (102) is adapted in such a way that the effect of the disturbance when acquiring the first sensor data is reduced.

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