Procedure for a driver assistance system

Abstract

The invention relates to methods for improving the determination of the position of an object (1), in particular for a vehicle (200), comprising - Acquisition (110) of a measured actual position (d_x_mess) of an object (1) by at least one sensor (10) of a vehicle (200), - Determining (120) an actual speed (v_x_ist) of the object (1) by the sensor (10), a control unit (ECU) or another sensor (20) [of the vehicle], - Recognizing (130) a special situation of the object (1), for example, the object (1) being overtaken by the vehicle (200) [preferred or vice versa], - Calculate (140), depending on the detection (130), a deviation (delta_x) between the measured actual position (d_x_mess) and a calculated actual position (d_x_ber), where the calculated actual position (d_x_ber) is determined depending on the actual speed (v_x_ist), - Output (150) of an output actual position (d_x_ausg) depending on the calculated actual position (d_x_ber).

Description

[0001] The invention relates to a method for improving the determination of a position of an object according to the independent method claim, a corresponding computer program product, a computer-readable data carrier, a control unit for carrying out the method and a corresponding vehicle with a corresponding control unit.

[0002] Vehicles with driver assistance systems are well known. Driver assistance systems typically control various displays that inform the driver about the status of the function or the vehicle's surroundings, or, for example, display hazard alerts or issue warnings. In addition to the lane markings, which the system can use to control the vehicle's lateral movement, the vehicle's surroundings also include other road users, also known as objects. These can be other vehicles, motorcycles, bicycles, pedestrians / people, or even animals. These objects are detected by at least one sensor in the vehicle. The quality of detection of the object's position can vary depending on the sensor performance and position of the object to be detected within the respective sensor field of view, as well as other influencing factors.To display relevant road users, they can be shown in the driver assistance system's display, which is presented to the customer directly in the cockpit, including in their respective lane. DE 10 2021 203 890 A1 is known for this purpose.

[0003] The state of the art has disadvantages. In order to determine the position of the object in its lane, it may be necessary to determine the relative position of the object to the ego vehicle. This determination may be insufficient. Typically, a reference value of the object can be used for the display, for example (always) the distance from the rear axle of the ego vehicle to the rear bumper of the object. It may happen, particularly in special situations such as vehicles overtaken by the ego vehicle, that the object is still partially present in the (detected) sensor field of view, but the reference point (here the rear bumper) is no longer in the sensor field of view. This can lead to unwanted shifts of the reference point, particularly because the sensor can no longer measure it reliably.It can (frequently) happen that the reference point even shifts against the relative direction of travel of the object. This can be detrimental and complicate operation, especially control and / or regulation. Furthermore, it can reduce safety, especially because decisions can be made based on incomplete or incorrect information.

[0004] It is therefore an object of the present invention to at least partially overcome at least one of the disadvantages described above. In particular, the object of the invention is to provide an improved method that enables optimized, in particular more accurate, output of an actual position and / or speed of at least one object. Furthermore, it may be an object to increase the safety and / or confidence of the driver.

[0005] The above object is achieved by a method for improving the determination of an object's position according to the independent method claim, a computer program product having the features of the independent computer program product claim, a computer-readable data carrier having the features of the independent patent claim relating to a computer-readable data carrier, a control unit having the features of the independent patent claim relating to a control unit, and a vehicle having the features of the independent vehicle claim. Further features and details of the invention emerge from the subclaims, the description, and the drawings.Features and details described in connection with the method according to the invention naturally also apply in connection with the computer program product according to the invention and / or in connection with the computer-readable data carrier according to the invention and / or in connection with the control unit according to the invention and / or in connection with the vehicle according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made to each other. In particular, advantages described in the context of the first, second, third, fourth, and / or fifth aspect also apply to the first, second, third, fourth, and / or fifth aspect.

[0006] The above object is achieved according to a first aspect by a method for improving the determination of an (actual) position of an object, in particular for a vehicle, comprising - Detecting a measured actual position of an object by at least one sensor of a vehicle, - Determining an actual speed of the object by the sensor, a control unit or another sensor, in particular of the vehicle, - Detection, in particular by the control unit, of a special situation of the object, preferably of the object being overtaken by the vehicle or in particular vice versa, - Calculating, in particular by the control unit, depending on the detection of a deviation between the measured actual position and a calculated actual position, wherein the calculated actual position is determined depending on the actual speed, - Output of an output actual position, in particular depending on the calculated actual position.

[0007] The method according to the first aspect can be computer-implemented and / or performed repeatedly (particularly after output). Operation can include open-loop and / or closed-loop control. This advantageously allows for a (targeted) adjustment of a speed and / or a speed gradient. The control unit can implement the method, particularly where appropriate, for example by controlling the sensor and / or the speed controller.

[0008] The determination of an (actual) position of an object can be done relative to the (ego) vehicle.

[0009] The measured actual position can be recorded by a (first) sensor of the vehicle. For this purpose, the sensor can be connected to the control unit, for example, via a data connection. The control unit can control the sensor for recording and / or receive the measured actual position. The (first) sensor and / or the additional sensor can comprise a camera, radar, lidar, and / or ultrasonic sensor.

[0010] The actual position can be relative to the vehicle and / or object. The (actual) position can include a distance between the vehicle and the object. The actual speed can be relative to the vehicle and / or object.

[0011] The actual speed can be determined by the sensor, another sensor, and / or a control unit. For example, the control unit can receive the actual speed from another sensor, have it transmitted via a data connection, and / or the like. The sensor and / or the other sensor can be configured to determine, in particular measure, the actual speed of the object.

[0012] It may be provided or occur that the sensor is unable or no longer able to reliably determine the (measured) actual position, for example due to a special situation. In particular, the measured actual position may deviate (unexpectedly and / or undesirably) from the actual (real) actual position. At the same time, the sensor can potentially continue to measure the relative speed of the object with an acceptably high quality. Alternatively or additionally, a (correct) actual speed can be provided by another sensor and / or a control unit. The method according to the invention can utilize this to ensure, particularly in special situations, an improved, stabilized and / or correct output of the (output) actual position, particularly depending on the (correctly or reliably) determined or calculated actual speed.This can be advantageous to stabilize the longitudinal (along the direction of travel) display of objects, in particular their actual position, distance and / or speed, under different conditions and / or in special situations.

[0013] The detection, in particular by the control unit, of a special situation of the object can preferably comprise the vehicle overtaking the object, or in particular vice versa. In such a special situation (see above), the (measured) actual position can potentially be incorrect. Alternatively or additionally, a special situation can also comprise other situations in which the (actual) actual position deviates (too significantly) from the measured actual position, for example by more than 100%, in particular by more than 25%, preferably by more than 10%, particularly preferably by more than 5%, preferably by more than 2%.

[0014] The calculation, in particular by the control unit, depending on the detection of a deviation between the measured actual position and a calculated actual position, can comprise calculating a calculated actual position depending on the actual speed.

[0015] The output can be repeated or continuous. For example, the driver can be shown an output actual position, e.g. via a driver assistance system or a display, which is in particular (continuously) updated. This can be correct, in particular if no exceptional situation occurs. However, it can also be incorrect or misleading, for example in an exceptional situation (see above). This can advantageously be determined, improved and / or corrected by the method, in particular by determining and / or outputting a calculated and / or output actual position depending on the actual speed and / or a (most recently valid) output actual position.

[0016] Within the scope of the invention, it may be advantageous that the recognition of a special situation of the object is carried out depending on a lane assignment of the object, the actual speed of the object, and / or a, in particular longitudinal, measured actual position of the object.

[0017] In this case, “longitudinal” can in particular include (essentially) along a roadway, lane, and / or direction of travel. Preferably, the vehicle and / or the object are moving (essentially) in the same direction, in particular on the same, adjacent and / or parallel roadways (or lanes). A special situation can be detected, for example, if the speeds of the vehicle and the object differ (significantly), e.g. more than 200 km / h, for example more than 100 km / h, in particular more than 50 km / h, preferably more than 20 km / h, particularly preferably more than 10 km / h, ideally more than 5 km / h. Alternatively or additionally, an overtaking maneuver, in particular of the object by the vehicle, can be specific to a special situation (see above). This can be determined, for example, through vehicle-to-vehicle communication. Alternatively or additionally, this can be determined by the sensor and / or the further sensor, for example optically (e.g.B. Camera). Alternatively or additionally, a special situation can also be detected based on the (other) procedural steps, for example, if inconsistencies are detected.

[0018] Within the scope of the invention, it is conceivable that the recognition of a special situation of the object includes, in particular outputs: - a positive detection result if a special situation is detected, whereupon the calculation is carried out and the output comprises the output of an output actual position depending on the calculated actual position, or - a negative detection result includes when no special situation is detected, whereupon the output comprises outputting an output actual position comprising the measured actual position, and in particular no calculation is carried out (since this may then be unnecessary).

[0019] A positive detection result (e.g. “deviation exists”) can occur if a deviation is detected, in particular if the measured actual position is (essentially) not identical to the position expected based on the actual speed.

[0020] A negative detection result (e.g. “deviation does not exist”) can occur if no deviation is detected, in particular if the measured actual position is (essentially) identical to the position expected based on the actual speed.

[0021] It can be provided within the scope of the invention that a calculation is carried out depending on the recognition, in particular only when the recognition of a special situation occurs.

[0022] It is also conceivable that the calculation includes a positive calculation result, in particular outputs it if - a deviation is detected between the measured actual position and the calculated actual position, and (preferably) / or (alternatively) - the measured actual position is larger (e.g. 10m) than a last valid actual position (e.g. 5m).

[0023] For example, it can be provided that when the (ego) vehicle overtakes the object, the actual position, in particular the actual distance, is initially -100m (vehicle behind object), then -5m (vehicle just behind object), then +10m (vehicle in front of object), then +100m (vehicle further in front of the object).

[0024] According to the invention, it is provided that the calculation includes a negative calculation result, in particular outputs it if - a deviation is detected between the measured actual position and the calculated actual position, and (preferably) / or (alternatively) - the measured actual position is not greater than the last valid actual position.

[0025] Within the scope of the invention, it is optionally possible that, if the calculation results in a positive calculation result, a calculation of the calculated actual position is calculated as a function of the actual speed, in particular by d_x_ber = d_x_zul_gültig + delta_t*v_x_ist, an output of the calculated actual position as an output actual position and / or a storage, in particular by the control unit, e.g. in a memory unit, of the calculated actual position as a last valid actual position.

[0026] The calculation can be performed by the control unit. The control unit can store the (most recently) output actual position and / or a (most recently) valid actual position and / or read it again (later) to use it as a basis for the calculation.

[0027] According to the invention, if the calculation results in a negative calculation result, a check is carried out, which results in a check result, wherein - a positive verification result results if the measured actual position is absolutely greater than or equal to a last issued actual position, whereby (or whereupon) the calculated actual position or issued actual position is calculated depending on the last issued actual position, the actual speed, a time difference (which in particular extends until the time of determining the last valid actual position), and a positive factor, - a negative verification result results if the measured actual position is absolutely less than or equal to a last output actual position, whereby (or whereupon) the calculated actual position or the output actual position is calculated depending on the last output actual position, the actual speed, a time difference, and a negative factor.

[0028] This allows for more stable output and display, and in particular, prevents (rapid) jumps between different or corrected output values. This can prevent (incorrect) reactions or overreactions by the driver and / or the control unit (e.g., during operation). This can increase safety.

[0029] In this case, especially in the case of a positive verification result, the calculated actual position d_x_ber or output actual position d_x_ausg can be calculated by: d_x_ausg=d_x_mess+delta_t*v_x_act*(1+a) or d_x_ber=d_x_mess+delta_t*v_x_ist*(1+a)

[0030] Accordingly, the factor a can be considered positively in the calculation. In other words, the influence of the actual speed becomes greater ("faster prediction").

[0031] In this case, especially in the case of a negative verification result, the calculated actual position d_x_ber or output actual position d_x_ausg can be calculated by: d_x_ber=d_x_mess+delta_t*v_x_ist*(1−a) or d_x_ausg=d_x_mess+delta_t*v_x_act*(1−a)

[0032] Accordingly, the factor a can be considered negative in the calculation. In other words, the influence of the actual speed is reduced ("slower prediction").

[0033] The factor a can enable, in particular quickly or slowly, an adjustment or correction of the (incorrect) output actual position to a (correct or corrected) output actual position.

[0034] By adjusting the factor a, in particular by adjusting the factor a, a slower, safer, and / or better controlled change in the output can be achieved, especially in the event of a (necessary) correction. For example, the factor a can be 2. Alternatively, the factor a can be 10. The factor a can be increased, in particular to enable faster adjustment to the correct value. This can provide more precise information. Alternatively, the factor a can be reduced to enable slower adjustment or correction. This can advantageously increase safety, since, in particular, no sudden changes occur.

[0035] With regard to the present invention, it is conceivable that, depending on the output, operation, in particular control and / or regulation, of the vehicle is carried out, for example, lateral control, longitudinal control, (at least partially) autonomous driving, and / or (at least partially) automated driving of the vehicle. This can be carried out by the control unit, in particular depending on the output actual position, the calculated actual position, and / or the measured actual position.

[0036] The above object is achieved according to a second aspect by a computer program product according to the invention, comprising instructions which, when the computer program product is executed by a computer, cause the computer to implement the method according to the first aspect.

[0037] This results in the same advantages with regard to a computer program product according to the invention according to the second aspect as have already been described with regard to a method according to the invention according to the first aspect.

[0038] The above object is achieved according to a third aspect by a computer-readable data carrier according to the invention in which instructions are stored which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

[0039] Thus, with regard to a computer-readable data carrier according to the invention according to the third aspect, the same advantages arise as have already been described with regard to a method according to the invention according to the first aspect and / or a computer program product according to the invention according to the second aspect.

[0040] The above object is achieved according to a fourth aspect by a control unit according to the invention, comprising a computing unit and a memory unit in which instructions are stored which, when at least partially executed by the computing unit, carry out a method according to the first aspect.

[0041] This results in the same advantages with respect to a control unit according to the invention according to the fourth aspect as have already been described with respect to a method according to the invention according to the first aspect and / or a computer program product according to the invention according to the second aspect and / or a computer-readable data carrier according to the invention according to the third aspect.

[0042] The above object is achieved according to a fifth aspect by a vehicle according to the invention comprising a control unit according to the fourth aspect.

[0043] This results in the same advantages with respect to a vehicle according to the invention according to the fifth aspect as have already been described with respect to a method according to the invention according to the first aspect and / or a computer program product according to the invention according to the second aspect and / or a computer-readable data carrier according to the invention according to the third aspect and / or a control unit according to the invention according to the fourth aspect.

[0044] Further advantages, features, and details of the invention will become apparent from the following description, in which several embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. In the drawings: Fig. 1 a procedure Fig. 2 a vehicle.

[0045] In the following figures, identical reference numerals are used for the same technical features, even for different embodiments.

[0046] Fig. 1 shows a method for improving the determination of a position of an object 1, in particular for a vehicle 200, comprising - detecting 110 a measured actual position d_x_mess of an object 1 by at least one sensor 10 of a vehicle 200, - Determining 120 an actual speed v_x_ist of the object 1 by the sensor 10, a control unit ECU or another sensor 20, - Detection 130 of a special situation of the object 1, for example an overtaking of the object 1 by the vehicle 200, - Calculating 140, depending on the detection 130, a deviation delta_x between the measured actual position d_x_mess and a calculated actual position d_x_ber, wherein the calculated actual position d_x_ber is determined depending on the actual speed v_x_ist, - Output 150 of an output actual position d_x_ausg depending on the calculated actual position d_x_ber.

[0047] It can be provided that the recognition 130 of a special situation of the object 1 includes, in particular outputs, - a positive detection result 131 if a special situation is detected, whereupon the calculation 140 is carried out and the output 150 comprises the output 151 of an output actual position d_x_ausg depending on the calculated actual position d_x_ber, or - a negative detection result 132 if no special situation is detected, whereupon the output 150 comprises an output 152 of an output actual position d_x_ausg comprising the measured actual position d_x_mess, and in particular no calculation 140 is carried out.

[0048] According to the invention, it is provided that the calculation 140 comprises a positive calculation result 141 if - a deviation delta_x is detected between the measured actual position d_x_mess and the calculated actual position d_x_ber, and / or - the measured actual position d_x_mess is greater than a last valid actual position d_x_zul_gültig.

[0049] If the calculation 140 results in a positive calculation result 141, a calculation 143 of the calculated actual position d_x_ber as a function of the actual speed v_x_ist, an output 150 of the calculated actual position d_x_ber as an output actual position d_x_ausg and / or a storage 144 of the calculated actual position d_x_ber as a last valid actual position d_x_zul_gültig can be carried out.

[0050] It may be provided that the calculation 140 includes a negative calculation result 142 if - a deviation delta_x is detected between the measured actual position d_x_mess and the calculated actual position d_x_ber, and / or - the measured actual position d_x_mess is not greater than a last valid actual position d_x_zul_gültig.

[0051] According to the invention, if the calculation 140 results in a negative calculation result 142, a check 145 is carried out, which results in a check result 146, 147, where: - a positive verification result 146 results if the measured actual position d_x_mess is absolutely greater than or equal to a last output actual position d_x_zul_ausg, whereby the calculated actual position d_x_ber or output actual position d_x_ausg is calculated depending on the last output actual position d_x_zul_ausg, the actual speed v_x_ist, a time difference delta_t, and a positive factor a, - a negative verification result 147 results if the measured actual position d_x_mess is absolutely smaller than a last output actual position d_x_zul_ausg, whereby the calculated actual position d_x_ber or the output actual position d_x_ausg is calculated depending on the last output actual position d_x_zul_ausg, the actual speed v_x_ist, a time difference delta_t, and a negative factor a.

[0052] In addition, it can be provided that, depending on the output 150, an operation 160, in particular a control and / or regulation, of the vehicle 200 is carried out, for example a lateral control, a longitudinal control, an autonomous driving and / or an automated driving of the vehicle 200.

[0053] Fig.2 shows an object 1, in particular in a first or right (here upper) lane, and a vehicle 200, in particular in a second or left (here lower) lane. The vehicle 200 can overtake the object 1 (here, for example, a vehicle). This can represent or trigger a special situation. The vehicle 200 comprises a control unit ECU, a computing unit CU, and / or a memory unit MU. The control unit ECU can be connected to a sensor 10 and / or another sensor 20, for example via a respective data connection. The sensor 10 can be configured to detect 110 a measured actual position d_x_mess. This can be configured obliquely and / or longitudinally (along the lane) and, for example, (also) have a distance.Provision can be made for the sensor 10, the control unit ECU, and / or the further sensor 20 to determine 120 an actual speed v_x_ist of the object 1. The control unit ECU can be configured to detect 130 a special situation of the object 1, for example, an overtaking of the object 1 by the vehicle 200. Furthermore, the control unit ECU can be configured to perform the further method steps (described above). This can provide the control unit ECU and / or the driver of the vehicle 200 with an improved determination and / or improved output of the (actual) actual position of the object 1. List of reference symbols 1 object 10 Sensor 20 additional sensors 110 Recording a measured actual position d_x_mess 120 Determining an actual speed v_x_ist 130 Recognizing a special situation of the object 131 positive detection results 132 negative detection results 140 Calculating a deviation delta_x 141 positive calculation result 142 negative calculation result 143 Calculate depending on the actual speed 144 Saving the calculated actual position as the last valid position 145 Check 146 positive test results 147 negative verification results 150 Output of an output actual position 151 Output of the calculated actual position 152 Output of the measured actual position 160 Operating the vehicle 200 vehicles ECU control unit CU computing unit MU storage unit d_x_mess measured actual position v_x_ist actual speed d_x_ber calculated actual position delta_x Deviation between the measured and calculated actual position d_x_ausg output actual position d_x_zul_ausg last output actual position d_x_zul_gültig last valid actual position delta_t time difference a factor

Claims

[1] Method for improving the determination of a position of an object (1), in particular for a vehicle (200), comprising - detecting (110) a measured actual position (d_x_mess) of an object (1) by at least one sensor (10) of a vehicle (200), - determining (120) an actual speed (v_x_ist) of the object (1) by the sensor (10), a control unit (ECU) or another sensor (20), - detecting (130) a special situation of the object (1), for example an overtaking of the object (1) by the vehicle (200), - calculating (140), depending on the detection (130), a deviation (delta_x) between the measured actual position (d_x_mess) and a calculated actual position (d_x_ber), wherein the calculated actual position (d_x_ber) is determined depending on the actual speed (v_x_ist), - Outputting (150) an output actual position (d_x_ausg) depending on the calculated actual position (d_x_ber), wherein the calculation (140) comprises a negative calculation result (142) if - a deviation (delta_x) is detected between the measured actual position (d_x_mess) and the calculated actual position (d_x_ber), and / or - the measured actual position (d_x_mess) is not greater than the last valid actual position (d_x_zul_gültig), wherein, if the calculation (140) results in a negative calculation result (142), a check (145) is carried out, which results in a check result (146, 147), wherein - a positive verification result (146) results if the measured actual position (d_x_mess) is absolutely greater than or equal to a last output actual position (d_x_zul_ausg), whereby the calculated actual position (d_x_ber) or output actual position (d_x_ausg) is calculated depending on the last output actual position (d_x_zul_ausg), the actual speed (v_x_ist), a time difference (delta_t), and a positive factor (a), - a negative verification result (147) results if the measured actual position (d_x_mess) is absolutely less than or equal to a last output actual position (d_x_zul_ausg), wherein the calculated actual position (d_x_ber) or the output actual position (d_x_ausg) is calculated as a function of the last output actual position (d_x_zul_ausg), the actual speed (v_x_ist), a time difference (delta_t), and a negative factor (a). [2] Method according to claim 1, characterized bythat the recognition (130) of a special situation of the object (1) is carried out as a function of a lane assignment of the object (1), the actual speed (v_x_ist) of the object (1), and / or a, in particular longitudinal, measured actual position (d_x_mess) of the object (1). [3] Method according to claim 1 or 2, characterized by that the recognition (130) of a special situation of the object (1) comprises, in particular outputs, - a positive detection result (131) if a special situation is detected, whereupon the calculation (140) is carried out and the output (150) comprises the output (151) of an output actual position (d_x_ausg) depending on the calculated actual position (d_x_ber), or - a negative detection result (132) if no special situation is detected, whereupon the outputting (150) comprises outputting (152) an output actual position (d_x_ausg) comprising the measured actual position (d_x_mess), and in particular no calculation (140) is carried out. [4] Method according to one of the preceding claims, characterized by that the calculation (140) is carried out as a function of the detection (130), in particular only when the detection (130) of a special situation occurs. [5] Method according to one of the preceding claims, characterized by that the calculation (140) includes a positive calculation result (141) if - a deviation (delta_x) is detected between the measured actual position (d_x_mess) and the calculated actual position (d_x_ber), and / or - the measured actual position (d_x_mess) is greater than a last valid actual position (d_x_zul_gültig). [6] Method according to claim 5, characterized by that, if the calculation (140) results in a positive calculation result (141), a calculation (143) of the calculated actual position (d_x_ber) is calculated as a function of the actual speed (v_x_ist), an output (150) of the calculated actual position (d_x_ber) as an output actual position (d_x_ausg) and / or a storage (144) of the calculated actual position (d_x_ber) as a last valid actual position (d_x_zul_gültig) is carried out. [7] Method according to one of the preceding claims, characterized by that, depending on the output (150), an operation (160), in particular a control and / or regulation, of the vehicle (200) is carried out, for example a lateral control, a longitudinal control, an autonomous driving and / or an automated driving of the vehicle (200). [8] A computer program product comprising instructions which, when the computer program product is executed by a computer, cause the computer to implement the method according to any one of the preceding claims. [9] Computer-readable data carrier in which instructions are stored which, when executed by a computer, cause the computer to carry out the method according to one of claims 1 to 7. [10] Control unit (ECU), comprising a computing unit (CU) and a memory unit (MU) in which instructions are stored which, when at least partially executed by the computing unit (CU), carry out a method according to one of claims 1 to 7. [11] Vehicle (200) comprising a control unit (ECU) according to the preceding claim.

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