Method for processing sensor measurement data

Abstract

The invention relates to a method for processing sensor measurement data (D) of at least one sensor (1, 2), in particular of a vehicle (200), comprising - detecting (110) sensor measurement data (D) by at least one sensor (1, 2), - transmitting (120) the sensor measurement data (D) from the sensor (1, 2) to a middleware (10) which is executed by a control unit (ECU), - checking (130) at least one parameter (DPar) of the sensor measurement data (D) by the middleware (10), - Processing (140), depending on the checking (130), the sensor measurement data (D) by the control unit (ECU) or forwarding (150), depending on the checking (130) of the sensor measurement data (D), to an external backend (300) by the middleware (10). Furthermore, the invention relates to a computer program product, a computer-readable data carrier, a control unit (ECU) and a vehicle (200).

Description

[0001] The invention relates to a method having the features of the independent method claim, a computer program product having the features of the independent patent claim, relating to a computer program product, 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.

[0002] Sensors for vehicles for capturing sensor measurement data, such as cameras or distance sensors, are known. These can be transmitted to a control unit for further processing. Processing can be performed partly by the sensor and partly by the control unit. Methods and devices of this type are known from DE 10 2004 050 393 A1, DE 10 2019 203 915 A1, and WO 2015 / 124 451 A1.

[0003] The state of the art has disadvantages. For example, due to processing by the sensor, some underlying sensor measurement data (e.g., raw data) cannot be accessed. Furthermore, the control unit cannot perform (full) calculations centrally. The control unit may also have limited memory and / or computing capacity, which makes certain calculations time-consuming and / or impossible, particularly because, for example, safety-relevant calculations cannot be postponed and / or have priority. Thus, potentially useful sensor measurement data and / or calculations cannot be performed, or can only be performed partially or rudimentarily.

[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, it is an object of the invention to provide efficient acquisition, use, and / or processing of sensor measurement data. Furthermore, it may be an object to distribute the computing load and / or memory load and / or to enable calculations that would otherwise not be possible (for example, due to the data size). Furthermore, it may be an object to provide improved vehicle information, for example, for (at least partially) autonomous and / or automated driving.

[0005] The above object is achieved by a method having the features of the independent method claim, a computer program product having the features of the independent patent claim, relating to a computer program product, 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.

[0006] Further features and details of the invention emerge from the dependent claims, the description and the drawings. Features and details that are 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 that are 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.

[0007] The above object is achieved according to a first aspect by a method for processing sensor measurement data of at least one sensor, in particular of a vehicle, comprising - Acquisition of sensor measurement data by at least one sensor, - Transmitting the sensor measurement data from the sensor to a middleware (in particular implemented in software) which is executed by a control unit, in particular a computing unit of the control unit, - Checking at least one parameter of the sensor measurement data by the middleware, - Processing, depending on the checking, the sensor measurement data by the control unit and / or forwarding, depending on the checking of the sensor measurement data, to an external backend by the middleware.

[0008] The method according to the first aspect can be computer-implemented and / or performed repeatedly and / or continuously. Preferably, the method can be performed during, before, and / or (preferably) during operation or use of a vehicle and / or a control unit, for example, while driving. Alternatively or additionally, the method can be performed at (regular) time intervals, for example, every three milliseconds. It can also be provided that the method is performed and / or performed more frequently depending on a data rate and / or data sizes transmitted to the control unit. This can prevent (undesired) overloading of the control unit. This can relieve the load on the computing unit and / or control unit. The control unit can implement the method, in particular where appropriate, for example by performing the above-mentioned steps.The method allows sensor measurement data to be processed efficiently and / or more quickly. Furthermore, it can be provided that, particularly through testing, sensor measurement data with a large data volume can be processed better and / or processed at all. This can enable the use of a (larger) number of sensors and / or provide an improved data basis(s) for decisions, for example, in the context of autonomous and / or automated driving.

[0009] It can be provided that the detection includes controlling the sensor by the control unit, allowing the sensor to perform the detection. Furthermore, it can be provided that the transmission includes controlling the sensor by the control unit, whereupon the sensor transmits the sensor measurement data to the control unit. Transmission and / or control can take place, for example, via a data connection between the sensor(s) and the control unit, in particular the processing unit.

[0010] It can be provided that the middleware is at least partially implemented in software. Accordingly, the middleware can be implemented and / or executed (in software) by the control unit, in particular the computing unit of the control unit. It can be provided, for example, that one or more computing cores of the computing unit implement the method and / or the middleware or the interface. This can ensure that sufficient computing power can be provided for other, for example safety-relevant, calculations. Alternatively or additionally, it can be provided that at least some implementation takes place in (in particular specific) hardware, for example by an ASIC (application-specific integrated circuit) (comprising the control unit) and / or an FPGA (field programmable gate array).This can result in an (even further) improved data rate and / or computing speed.

[0011] The transmission can be carried out via a data connection between the at least one sensor and the control unit.

[0012] The backend can include an (external) processing unit. For example, the backend can be located at a vehicle manufacturer.

[0013] The forwarding can be performed via a transmitting unit, in particular a transceiver. A data connection, preferably a wireless one, can be established between the transmitting unit, the receiving unit, and / or the transceiver and / or used for forwarding to and / or from the backend.

[0014] The processing can be performed by the control unit. Alternatively or additionally, processing can also be performed by the backend, preferably after forwarding (at least part of) the sensor measurement data. Preferably, it can be provided that at least some of the forwarding is performed before processing (by the control unit) takes place. In other words, (unnecessary) processing by the control unit can be prevented and / or faster processing by the backend can be enabled.

[0015] It can be provided that, depending on the checking and / or comparing, a control signal is transmitted to the at least one sensor (e.g., via a data connection), which causes the sensor to reduce the measurement rate (when measuring the sensor measurement data). For example, the frame rate of a camera can be reduced. This allows the quality of an image to remain the same (or even be increased) while the number and / or size of the data decreases.

[0016] Within the scope of the invention, it may be advantageous that the acquisition of sensor measurement data by at least one sensor comprises the acquisition of individual sensor measurement data by a plurality of sensors, wherein the plurality of sensors forms an interacting sensor system and the sensor measurement data are formed as a function of the individual sensor measurement data.

[0017] Accordingly, a vehicle comprising a plurality of sensors can be provided, for example, at least two, ten, or one hundred sensors. Preferably, a sensor is configured to capture sensor measurement data. A sensor can, for example, comprise a camera, a distance measuring device (e.g., LIDAR, RADAR, etc.), a pressure sensor (e.g., tire pressure sensor), a humidity sensor (e.g., rain sensor), a vibration sensor, and / or a light sensor. The sensor measurement data, particularly when there are many sensors, can overload the computing unit and / or the memory unit of the control unit, particularly during normal operation and / or when all sensor measurement data must or would have to be processed by the computing unit and / or memory unit. Consequently, certain calculations may not be performed. Accordingly, individual sensor measurement data (from respective sensors) can be transmitted to the control unit.The control unit, in particular the middleware, preferably the interface, can receive the sensor measurement data, in particular the individual sensor measurement data.

[0018] Within the scope of the invention, it is conceivable that the acquisition of sensor measurement data by at least one sensor comprises the acquisition of image data and / or distance data, which are acquired in particular by a camera configured for the acquisition and / or a distance sensor configured for this purpose.

[0019] Image data can, for example, be captured by at least one sensor configured as a camera, e.g., a rear-view camera. Accordingly, it can be provided (see above), for example, that individual sensor measurement data comprise a plurality of image data components and / or individual camera images and / or distance information. It can be provided that the (sum of) individual sensor measurement data would overload the control unit, in particular the computing unit. This can be detected by the method, in particular during testing, in particular by comparing and / or predicting. This can initiate forwarding, preferably before (further) calculation or processing is carried out by the control unit. This can advantageously save computing power and / or use additional computing power of the backend.Alternatively or additionally, it may be provided that the backend considers additional information during the calculation, for example, (historical) environmental data of the vehicle's current location, whereby this information is preferably not available to the control unit (e.g., because it would require too much memory). In this way, a synergistic advantage can be achieved by, on the one hand, performing the calculation in the backend and, on the other hand, utilizing (external) information from the backend (which is only available there). This can reduce unnecessary data transfer and / or the computing power of the control unit and / or use it for other purposes.

[0020] It can be provided within the scope of the invention that when transmitting the sensor measurement data from the sensor to a middleware which is executed by a control unit, a transmission to an interface of the middleware is carried out, wherein the interface is carried out and / or implemented by the middleware, wherein preferably the interface is set up for checking the sensor measurement data.

[0021] Accordingly, the interface can be included in the middleware. It can, for example, be a middleware routine. It can be provided that the interface is at least partially implemented in software. Protocols such as “MQTT-SN”, “CoAP” and / or “RTP” can be used to provide and / or implement the interface. Accordingly, the interface can be implemented and / or executed (in software) by the control unit, in particular the computing unit of the control unit, for example in parallel to the middleware. It can, for example, be provided that one or more computing cores of the computing unit implement the method and / or the interface. This can ensure that sufficient computing power can be made available for other, for example safety-relevant, calculations and / or middleware tasks.Alternatively or additionally, it can be provided that at least some implementation takes place in (particularly specific) hardware, for example, by an ASIC (included in the control unit) and / or an FPGA. This can achieve an (even further) improved data rate and / or computing speed. Accordingly, an optimized implementation can preferably be provided for the middleware and / or the interface. This can advantageously increase computing speed and / or save costs and / or weight.

[0022] It is further conceivable that the checking of at least one parameter of the sensor measurement data by the middleware, in particular by an interface of the middleware, comprises a comparison of the at least one parameter, in particular comprising a data size, a data rate, a data format and / or a (data) protocol, with a reference parameter, wherein in particular the reference parameter comprises a reference data size, a reference data rate, a reference data format and / or a reference protocol.

[0023] It can preferably be provided that sensor measurement data which has at least 1 MB, in particular at least 10 MB, for example at least 100 MB, preferably at least 1 GB, particularly preferably at least 10 GB, ideally at least 100 GB, is used and / or processed by or during the method. For example, the image data can be (relatively) large. Efficient processing of the data can therefore be carried out by or only by the method. The at least one parameter can be specific to the sensor measurement data. For example, the at least one parameter can have a data size, a data rate, a data format and / or a (data) protocol. A verification result can be provided by the comparison. For example, the at least one parameter can be compared with a reference parameter.The reference parameter can comprise a reference data size, a reference data rate, a reference data format and / or a reference protocol. Individual sensor measurement data can preferably each have at least one parameter (specific to it). The interface can preferably be configured to compare the at least one parameter with a corresponding reference parameter. Depending on the comparison, the interface can provide a check result, for example to the middleware and / or the at least one sensor and / or the plurality of sensors. The check result can be transmitted, for example via a data connection. Depending on the check result, it can be provided that the transmission of further sensor measurement data is prevented.Alternatively or additionally, it can be provided that the data rate, the data size, the data format and / or the (data) protocol is changed, in particular by the at least one sensor. It can be particularly preferred if the sensor carries out pre-processing of the sensor measurement data. As a result, an optimization can already be provided by the sensor, for example by compressing the data, in particular if required or depending on the comparison. In other words, for example, large amounts of sensor measurement data or raw data (without loss of information) can be provided to the control unit or the interface. This can be changed accordingly if required. The comparison can preferably be carried out depending on a safety-relevant event. For example, a safety-relevant event can be detected by the control unit, in particular by the middleware and / or the interface, e.g.a dangerous situation. In this case, it can be provided to preferentially use and / or prioritize sensor measurement data that is specific to the safety-relevant event. Alternatively or additionally, the comparison can include detecting a situation that has already occurred at least once before, particularly depending on historical data. In this case, the control unit can operate the vehicle depending on the comparison. A simple example would be the combination of camera images and vibration data and / or position data. Depending on this, a road with poor surface quality can be detected, for example, which can result in a reduction in speed and / or a change in a damping device of the vehicle (by the control unit).Alternatively or additionally, it can be provided that, in particular before forwarding, an aggregation of sensor measurement data is carried out depending on the comparison (e.g. with historical data). Accordingly, a predefined number of sensor measurement data can be aggregated and in particular preprocessed, e.g. compressed (together) before they are forwarded to a backend. This makes it possible to find an optimized balance between information content and / or data compression. For example, it can be provided that a large number of camera images, depending on which, for example, a 3D reconstruction is to be carried out, are compressed and / or sorted before they are forwarded to a backend that performs a 3D reconstruction. This makes it possible, for example, to sort out redundant sensor measurement data.Alternatively or additionally, it can preferably be provided that, depending on the comparison, the interface determines whether the sensor measurement data is processed by the control unit, in particular a calculation module, and / or whether the sensor measurement data is forwarded to an external backend by the middleware. This advantageously allows distribution and / or transmission before further (computationally intensive) calculations are performed.

[0024] It is also conceivable that the control unit, in particular the middleware and / or the interface, transmits a control signal to the at least one sensor as a function of the comparison, wherein the at least one sensor carries out a transmission, in particular a further transmission, as a function of the control signal, for example with a reduced data rate.

[0025] It can therefore be provided that the interface, depending on the comparison, recognizes that the current and / or future (e.g., predicted) at least one parameter (or a value of this parameter) exceeds the control unit and / or computing unit's capacity and / or that safety-relevant events (e.g., in a dangerous situation) would then not have sufficient computing power available. Accordingly, it can be provided that a control signal is transmitted to the at least one sensor, in particular to the plurality of sensors, whereupon these preferably refrain from transmitting or further transmissions and / or carry them out at a reduced data rate and / or data size.

[0026] Within the scope of the invention, it is optionally possible for the checking, in particular the comparing, by the control unit to comprise a prognosis depending on the, in particular already received, sensor measurement data and / or the parameter, wherein the prognosis comprises a future value of the at least one parameter.

[0027] The prediction can be specific to a (future) insufficient storage capacity and / or computing capacity of the control unit. Accordingly, a control signal can be transmitted to the at least one sensor (as described above). Alternatively or additionally, it can be provided that the received and / or future transmitted sensor measurement data are transmitted directly by forwarding them to the backend.

[0028] Furthermore, it can be provided within the scope of the invention that the processing of the sensor measurement data by the control unit is carried out by a calculation module which is implemented and / or carried out by the control unit.

[0029] It can be provided that the calculation module is at least partially implemented in software. Accordingly, the calculation module can be implemented and / or executed (in software) by the control unit, in particular the computing unit of the control unit. For example, it can be provided that one or more computing cores of the computing unit implement the calculation module. This can provide sufficient computing power for other, for example safety-relevant, calculations. Alternatively or additionally, it can be provided that at least some implementation takes place in (in particular specific) hardware, for example by an ASIC (included in the control unit) and / or an FPGA. This can achieve an (even further) improved data rate and / or computing speed.Particularly preferably, the calculation module is not comprised and / or executed or implemented by the middleware. This allows processing and / or calculation by the calculation module to be performed independently of the middleware and / or the interface.

[0030] With regard to the present invention, it is conceivable that the forwarding, depending on the checking of the sensor measurement data, to an external backend by the middleware comprises controlling a transmitting unit, in particular of the vehicle, whereupon the latter transmits the sensor measurement data, in particular processed sensor measurement data, at least partially, preferably wirelessly, to the backend.

[0031] The transmitting unit can be configured to forward and / or transmit the sensor measurement data and / or processed sensor measurement data, preferably via a data connection, e.g., the Internet. The transmitting unit can be incorporated into a transceiver. It can be provided that processed sensor measurement data are calculated depending on the sensor measurement data. For example, compression, fragmentation, combination, edge detection, and / or filtering, in particular bandpass filtering, can be performed.

[0032] Furthermore, it is conceivable that the processing and / or forwarding comprises calculating a result depending on the sensor measurement data, in particular the processed sensor measurement data, which is carried out by the backend and / or the control unit.

[0033] The result can, for example, include a 3D reconstruction, which can be determined depending on the sensor measurement data and / or the processed sensor measurement data. This allows a complex 3D reconstruction, e.g., a rendering, to be performed by the backend.

[0034] Within the scope of the invention, it may be advantageous that the processing and / or forwarding, in particular after calculating a result, comprises providing vehicle information depending on the result, wherein the vehicle information is transmitted from the backend, in particular via a data connection, to the control unit, in particular via a receiving unit, wherein preferably a vehicle is operated depending on the vehicle information, in particular by the control unit.

[0035] The vehicle information can advantageously be used in the context of (at least partially) automated and / or autonomous driving. For example, it can be provided (to take up the above example) that a 3D reconstruction provides optimized and / or detailed information about the condition of a roadway, e.g., the exact size and / or classification of objects on the roadway (e.g., stones, shards, etc.). This can, for example, enable a better or more informed decision about roadway use to be made based on the vehicle information, particularly by the control unit. It can also be provided that a corresponding decision is made directly by the backend, e.g., based on additional information available only to the backend.

[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 as have already been described with regard to a method according to the invention.

[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] This results in the same advantages with regard to a computer-readable data carrier according to the invention as have already been described with regard to a method according to the invention and / or a computer program product according to the invention.

[0040] The above object is achieved according to a fourth aspect by a control unit according to the invention, comprising a computing unit and / or 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 regard to a control unit according to the invention as have already been described with regard to a method according to the invention and / or a computer program product according to the invention and / or a computer-readable data carrier according to the invention.

[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 regard to a vehicle according to the invention as have already been described with regard to a method according to the invention and / or a computer program product according to the invention and / or a computer-readable data carrier according to the invention and / or a control unit according to the invention.

[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. Fig. 1 a vehicle, Fig. 2 a vehicle, and Fig. 3 a procedure.

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

[0046] Fig. Figure 1 shows a vehicle 200 comprising at least one sensor 1, 2, in particular two sensors 1, 2, each connected to a control unit ECU via a data connection (dashed line). The control unit ECU can have a computing unit CU and / or a memory unit MU. The method can preferably be implemented and / or executed by the control unit ECU, in particular the computing unit CU.

[0047] Fig. 2 shows a vehicle 200 comprising at least one sensor 1, 2 connected to a control unit ECU. The method can be implemented and / or carried out in and / or by the control unit ECU. The control unit ECU, in particular the computing unit CU, can implement middleware 10, which can be implemented in software, for example (dashed box). A calculation module 12 can also be implemented. The middleware 10 can have and / or implement an interface 11. Sensor measurement data D from the at least one sensor 1, 2 can be provided to the control unit ECU, in particular to the middleware 10, preferably to the interface 11. It can be provided that the middleware 10, in particular the interface 11, transfers the sensor measurement data D to the calculation module 12 by processing 140.Alternatively or additionally, it may preferably be provided that the middleware 10, in particular the interface 11, transmits the sensor measurement data D, in particular to a transmitting unit 50 or a transceiver comprising a transmitting unit 50 and a receiving unit 51, e.g., via a data connection. This can transmit the sensor measurement data D, in particular processed sensor measurement data VD, to a backend 300 via a data connection 250, e.g., the Internet, by forwarding 150.

[0048] Fig. 3 shows a method for processing 140 sensor measurement data D of at least one sensor 1, 2, in particular of a vehicle 200, comprising - Acquisition 110 of sensor measurement data D by at least one sensor 1, 2, - Transmitting 120 the sensor measurement data D from the sensor 1, 2 to a middleware 10 which is executed by a control unit ECU, - Checking 130 of at least one parameter DPar of the sensor measurement data D by the middleware 10, - Processing 140, depending on the checking 130, the sensor measurement data D by the control unit ECU or forwarding 150, depending on the checking 130 of the sensor measurement data D, to an external backend 300 by the middleware 10.

[0049] It can be provided that the acquisition 110 of sensor measurement data D by at least one sensor 1, 2 comprises the acquisition 111 of individual sensor measurement data Dx by a plurality of sensors 1, 2, wherein the plurality of sensors 1, 2 forms an interacting sensor system and the sensor measurement data D are formed as a function of the individual sensor measurement data Dx.

[0050] It can also be provided that the acquisition 110 of sensor measurement data D by at least one sensor 1, 2 comprises the acquisition 112 of image data DImage and / or distance data DAbst, which are acquired in particular by a camera 1, 2 configured for the acquisition 112 and / or a distance sensor 1, 2 configured for this purpose.

[0051] Furthermore, it is conceivable that during transmission 120 of the sensor measurement data D from the sensor 1, 2 to a middleware 10, which is executed by a control unit ECU, a transmission 121 to an interface 11 of the middleware 10 is carried out, wherein the interface 11 is carried out and / or implemented by the middleware 10, wherein preferably the interface 11 is set up for a checking 130 of the sensor measurement data D.

[0052] In this case, it can be provided that the checking 130 of at least one parameter DPar of the sensor measurement data D by the middleware 10, in particular by an interface 11 of the middleware 10, comprises a comparison 131 of the at least one parameter DPar, in particular comprising a data size, a data rate, a data format and / or a protocol, with a reference parameter DRef, wherein in particular the reference parameter DRef comprises a reference data size, a reference data rate, a reference data format and / or a reference protocol.

[0053] It can further be provided that the control unit ECU, in particular the middleware 10 and / or the interface 11, transmits a control signal to the at least one sensor 1, 2 as a function of the comparison 131, wherein the at least one sensor 1, 2 carries out a transmission 120, in particular a further transmission 129, as a function of the control signal, for example with a reduced data rate.

[0054] In addition, it is conceivable that the checking 130, in particular the comparing 131, by the control unit ECU comprises a prognosis 132 depending on the, in particular already received, sensor measurement data D and / or the parameter DPar, wherein the prognosis 132 comprises a future value of the at least one parameter DParProg.

[0055] It can also be provided that the forwarding 150, depending on the checking 130 of the sensor measurement data D, to an external backend 300 by the middleware 10, comprises a control 141 of a transmitting unit 50, in particular of the vehicle 200, whereupon the latter transmits the sensor measurement data D, in particular processed sensor measurement data VD, at least partially, preferably wirelessly, to the backend 300.

[0056] In this case, it is conceivable that the processing 140 and / or the forwarding 150 comprises a calculation 160 of a result E as a function of the sensor measurement data D, in particular of the processed sensor measurement data VD, which is carried out by the backend 300 and / or the control unit ECU.

[0057] Furthermore, it is conceivable that the processing 140 and / or the forwarding 150, in particular after calculating 160 a result E, comprises providing 170 a vehicle information F as a function of the result E, wherein the vehicle information F is transmitted from the backend 300, in particular via a data connection 250, to the control unit ECU, in particular via a receiving unit 51, wherein preferably a vehicle 200 is operated as a function of the vehicle information F, in particular by the control unit ECU. List of reference symbols 1, 2 Sensor 10 Middleware 11 Interface 12 Calculation module 50 transmitter units 51 Receiving unit 110 Collecting sensor measurement data 111 Collecting single sensor measurement data 112 Capturing image data and / or distance data 120 Transmitting the sensor measurement data 121 Submitting to an interface 129 further transmission 130 Checking at least one parameter of the sensor measurement data 131 Comparing the at least one parameter with a reference parameter 132 Forecast 140 Processing the sensor measurement data 141 Controlling a transmitter unit 150 Forwarding the sensor measurement data 160 Calculating a result E 170 Providing vehicle information F D Sensor measurement data DAbst distance data DImage image data DPar parameters of the sensor measurement data DRef reference parameter Dx single sensor measurement data DParProg future value of at least one parameter E result F Vehicle information VD processed sensor measurement data ECU control unit CU computing unit MU storage unit 200 vehicles 250 data connection 300 backend QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2004 050 393 A1

[0002] DE 10 2019 203 915 A1

[0002] WO 2015 / 124 451 A1

[0002]

Claims

[1] Method for processing sensor measurement data (D) of at least one sensor (1, 2), in particular of a vehicle (200), comprising - Acquisition (110) of sensor measurement data (D) by at least one sensor (1, 2), - Transmitting (120) the sensor measurement data (D) from the sensor (1, 2) to a middleware (10) which is executed by a control unit (ECU), - Checking (130) at least one parameter (DPar) of the sensor measurement data (D) by the middleware (10), - Processing (140), depending on the checking (130) of the sensor measurement data (D) by the control unit (ECU) or forwarding (150), depending on the checking (130) of the sensor measurement data (D), to an external backend (300) by the middleware (10). [2] Method according to claim 1, characterized by, that the acquisition (110) of sensor measurement data (D) by at least one sensor (1, 2) comprises the acquisition (111) of individual sensor measurement data (Dx) by a plurality of sensors (1, 2), wherein the plurality of sensors (1, 2) forms an interacting sensor system and the sensor measurement data (D) are formed depending on the individual sensor measurement data (Dx). [3] Method according to claim 1 or 2, characterized by , that the acquisition (110) of sensor measurement data (D) by at least one sensor (1, 2) includes the acquisition (112) of image data (DImage) and / or distance data (DAAbs), which are acquired in particular by a camera (1, 2) set up for acquisition (112) and / or a distance sensor (1, 2) set up for this purpose. [4] Method according to any one of the preceding claims, characterized by, that when transmitting (120) the sensor measurement data (D) from the sensor (1, 2) to a middleware (10) which is executed by a control unit (ECU), a transmission (121) to an interface (11) of the middleware (10) is carried out, wherein the interface (11) is carried out and / or implemented by the middleware (10), wherein preferably the interface (11) is set up for checking (130) the sensor measurement data (D). [5] Method according to any one of the preceding claims, characterized by, that checking (130) of at least one parameter (DPar) of the sensor measurement data (D) by the middleware (10), in particular by an interface (11) of the middleware (10), includes comparing (131) the at least one parameter (DPar), in particular comprising a data size, a data rate, a data format and / or a protocol, with a reference parameter (DRef), wherein in particular the reference parameter (DRef) comprises a reference data size, a reference data rate, a reference data format and / or a reference protocol. [6] Method according to the preceding claim, characterized by, that the control unit (ECU), in particular the middleware (10) and / or the interface (11), depending on the comparison (131), transmits a control signal to the at least one sensor (1, 2), wherein the at least one sensor (1, 2) performs a transmission (120), in particular a further transmission (129), depending on the control signal, for example with a reduced data rate. [7] Method according to any one of the preceding claims, characterized by , that the checking (130), in particular the comparing (131), by the control unit (ECU) includes a forecasting (132) depending on the, in particular already received, sensor measurement data (D) and / or the parameter (DPar), wherein the forecasting (132) includes a future value of the at least one parameter (DParProg). [8] Method according to any one of the preceding claims, characterized by, that the processing (140) of the sensor measurement data (D) by the control unit (ECU) is carried out by a calculation module (12) which is implemented and / or carried out by the control unit (ECU). [9] Method according to any one of the preceding claims, characterized by , that the forwarding (150), depending on the checking (130) of the sensor measurement data (D), to an external backend (300) by the middleware (10), includes controlling (141) a transmitting unit (50), in particular the vehicle (200), whereupon this transmits the sensor measurement data (D), in particular processed sensor measurement data (VD), at least partially, preferably wirelessly, to the backend (300). [10] Method according to any one of the preceding claims, characterized by, that the processing (140) and / or forwarding (150) includes a calculation (160) of a result (E) depending on the sensor measurement data (D), in particular the processed sensor measurement data (VD), which is carried out by the backend (300) and / or the control unit (ECU). [11] Method according to any one of the preceding claims, characterized by , that the processing (140) and / or forwarding (150), in particular after a calculation (160) of a result (E), includes a provision (170) of vehicle information (F) depending on the result (E), wherein the vehicle information (F) is transmitted from the backend (300), in particular via a data connection (250), to the control unit (ECU), in particular via a receiving unit (51), wherein preferably a vehicle (200) is operated depending on the vehicle information (F), in particular by the control unit (ECU). [12] Computer program product comprising instructions which, when the computer program product is executed by a computer, cause it to implement the method according to any of the preceding claims. [13] A computer-readable data carrier in which instructions are stored which, when executed by a computer, cause it to carry out the method according to one of the preceding claims. [14] Electronic control unit (ECU) comprising a computing unit (CU) and / or a storage unit (MU) in which instructions are stored which, when at least partially executed by the computing unit (CU), perform a method according to one of the preceding claims. [15] Vehicle (200) comprising a control unit (ECU) according to the preceding claim.

Images