Methods for processing sensor measurement data

Abstract

The invention relates to a method for processing sensor measurement data (D) from at least one sensor (1, 2), in particular from 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). 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 with the features of the independent method claim, a computer program product with the features of the independent patent claim relating to a computer program product, a computer-readable data carrier with the features of the independent patent claim relating to a computer-readable data carrier, a control unit with the features of the independent patent claim relating to a control unit, and a vehicle with the features of the independent vehicle claim.

[0002] Sensors for vehicles are known for acquiring sensor measurement data, for example, cameras or distance sensors. This data can be transmitted to a control unit for further processing. This processing can be performed partly by the sensor and partly by the control unit. Generic methods and devices are known from DE 10 2004 050 393 A1, DE 10 2019 203 915 A1, WO 2015 / 124 451 A1, DE 10 2020 104 408 A1, DE 10 2017 219 661 A1, US2023 / 0 104 010 A1, DE 10 2022 116 213 A1 and DE 10 2011 117 116 A1.

[0003] The current state of the art has some drawbacks. For example, due to the processing capabilities of the sensor, access to underlying sensor measurement data (e.g., raw data) is sometimes restricted. Furthermore, the control unit cannot perform a (comprehensive) calculation centrally. The control unit may also have limited memory and / or processing capacity, which can make certain calculations time-consuming or impossible, particularly because safety-relevant calculations cannot be postponed and / or have priority. Consequently, potentially helpful sensor measurement data and / or calculations may not be performed, or only partially or in a rudimentary manner.

[0004] It is therefore an object of the present invention to overcome at least one of the disadvantages described above, at least partially. In particular, it is an object of the invention to provide an efficient acquisition, use, and / or processing of sensor measurement data. Furthermore, it may be an object to distribute the computing and / or memory load and / or to enable calculations that would otherwise not be possible (for example, due to data size). Finally, it may be an object to provide improved vehicle information, for example, for (at least partially) autonomous and / or automated driving.

[0005] The foregoing problem is solved 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. Further features and details of the invention will become apparent from the dependent claims, 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 the disclosure relating to the individual aspects of the invention always refers to each other. In particular, advantages described within the scope 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 problem is solved according to a first aspect by a method for processing sensor measurement data from at least one sensor, in particular a vehicle, comprising - Acquisition of sensor measurement data by at least one sensor, - Transmitting the sensor measurement data from the sensor to middleware (especially 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 verification of the sensor measurement data by the control unit and / or forwarding, depending on the verification of the sensor measurement data, to an external backend by the middleware.

[0007] The method described in 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 the operation or use of a vehicle and / or control unit, for example, while driving. Alternatively or additionally, the method can be performed at (regular) intervals, for example, every three milliseconds. It can also be provided that the method is performed and / or more frequently depending on a data rate and / or data size transmitted to the control unit. This prevents (undesired) overloading of the control unit and thus reduces the load on the processing unit and / or control unit. The control unit can implement the method, particularly where appropriate, for example, by performing the steps mentioned above.This method allows sensor measurement data to be processed efficiently and / or more quickly. Furthermore, it may enable the processing of large sensor measurement data, particularly through verification. This can facilitate the use of a greater number of sensors and / or provide an improved data basis for decision-making, for example, in the context of autonomous and / or automated driving.

[0008] It may be provided that the acquisition process includes the control unit activating the sensor, enabling the sensor to perform the acquisition. Furthermore, it may be provided that the transmission process includes the control unit activating the sensor, whereupon the sensor transmits the sensor measurement data to the control unit. This transmission and / or activation can occur, for example, via a data connection between the sensor(s) and the control unit, particularly the processing unit.

[0009] It may 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 by the control unit's processing unit. For example, it may be provided that one or more processing cores of the processing unit implement the process and / or the middleware or the interface. This allows sufficient computing power to be provided for other calculations, such as those relevant to safety. Alternatively or additionally, it may be provided that at least part of the implementation takes place in (especially specific) hardware, for example, by an ASIC (application-specific integrated circuit) and / or an FPGA (field-programmable gate array) included by the control unit.This can result in an (even further) improved data rate and / or processing speed.

[0010] The transmission can be carried out via a data connection between at least one sensor and the control unit.

[0011] The backend can include an (external) computing unit. For example, the backend could be located at a vehicle manufacturer.

[0012] The forwarding can be carried out 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.

[0013] 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. It is preferable that at least some of the data is forwarded before processing (by the control unit) takes place. In other words, this can prevent (unnecessary) processing by the control unit and / or enable faster processing by the backend.

[0014] It may be possible to transmit a control signal to at least one sensor (e.g., via a data connection) depending on the testing and / or comparison process. This signal causes the sensor to reduce its measurement rate (when measuring the sensor data). For example, the frame rate of a camera can be reduced. This allows the image quality to remain the same (or even be improved) while decreasing the number and / or size of data points.

[0015] Within the scope of the invention, it can 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 generated depending on the individual sensor measurement data.

[0016] A vehicle can therefore be equipped with a large number of sensors, for example, at least two, ten, or one hundred sensors. Preferably, one sensor is configured for acquiring sensor measurement data. A sensor can, for example, include 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, especially with many sensors, can overload the processing unit and / or the storage unit of the control unit, particularly during normal operation and / or when all sensor measurement data must be processed by the processing unit and / or storage unit. Consequently, certain calculations might not be possible. Therefore, individual sensor measurement data (from the 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.

[0017] Within the scope of the invention, it is conceivable that the acquisition of sensor measurement data by at least one sensor includes the acquisition of image data and / or distance data, which are acquired in particular by a camera and / or a distance sensor equipped for this purpose.

[0018] Image data can be acquired, for example, by at least one sensor, which is designed as a camera, e.g., a reversing camera. Accordingly, it may be intended (see above) that, for example, individual sensor measurement data comprises a multitude of image data components and / or individual camera images and / or distance information. It may be intended that the (sum of) individual sensor measurement data would overload the control unit, in particular the processing unit. This can be detected by the method, especially during testing, particularly through comparison and / or prediction. This allows for the initiation of forwarding, preferably before any (further) calculation or processing is performed by the control unit. This advantageously saves computing power and / or allows additional computing power of the backend to be used.Alternatively or additionally, the backend can be configured to consider additional information during calculations, such as (historical) environmental data about the vehicle's current location. This information is preferably not available to the control unit (e.g., because it would consume too much memory). This approach creates a synergistic advantage by performing calculations in the backend while simultaneously utilizing (external) information available only there. This reduces unnecessary data transfer and / or frees up processing power for the control unit.

[0019] Within the scope of the invention, it may be provided that when transmitting the sensor measurement data from the sensor to a middleware 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.

[0020] Accordingly, the interface can be encompassed by the middleware. It could, for example, be a routine within the middleware. It is possible that the interface is at least partially implemented in software. Protocols such as MQTT-SN, CoAP, and / or RTP can be used for providing and / or implementing the interface. The interface can also be implemented and / or executed (in software) by the control unit, particularly its processing unit, for example, in parallel with the middleware. It is possible, for instance, that one or more processing cores of the processing unit implement the procedure and / or the interface. This ensures that sufficient computing power is available for other calculations and / or tasks of the middleware, such as those related to safety.Alternatively or additionally, it may be possible to implement at least part of the implementation in (especially specific) hardware, for example, using an ASIC and / or an FPGA (integrated by the control unit). This can achieve a (further) improved data rate and / or processing speed. Accordingly, an optimized implementation can preferably be provided for the middleware and / or the interface. This can advantageously increase processing speed and / or reduce costs and / or weight.

[0021] It is also conceivable that checking at least one parameter of the sensor measurement data by the middleware, in particular by an interface of the middleware, includes comparing 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.

[0022] It can preferably be provided that the method uses and / or processes sensor measurement data of at least 1 MB, in particular at least 10 MB, for example at least 100 MB, preferably at least 1 GB, most preferably at least 10 GB, ideally at least 100 GB. For example, this could involve (comparatively) large image data. Efficient data processing can therefore be carried out by, or only by, this method. The at least one parameter can be specific to the sensor measurement data. For example, the at least one parameter can specify a data size, a data rate, a data format, and / or a (data) protocol. A verification result can be provided by 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. Preferably, individual sensor measurement data can each have at least one parameter specific to that sensor. 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 verification result, for example, to the middleware and / or the at least one sensor and / or the plurality of sensors. The verification result can be transmitted, for example, via a data connection. Depending on the verification result, it can be provided that the transmission of further sensor measurement data is prevented.Alternatively or additionally, it may be provided that the data rate, data size, data format, and / or (data) protocol are changed, particularly by the at least one sensor. It is especially preferred if the sensor performs preprocessing of the sensor measurement data. This allows optimization to be provided by the sensor itself, particularly when needed or depending on the comparison, for example, by compressing the data. In other words, large sensor measurement data or raw data can be provided to the control unit or interface (without loss of information). This can be changed accordingly if necessary. The comparison can preferably be performed depending on a safety-relevant event. For example, the control unit, particularly the middleware and / or the interface, can detect a safety-relevant event, e.g.,...A hazardous situation. In this case, it may be necessary to preferentially use and / or prioritize sensor measurements specific to the safety-relevant event. Alternatively or additionally, comparison, particularly with historical data, can include the detection of a situation that has already occurred at least once before. In this case, the vehicle can be operated by the control unit based on this comparison. A simple example would be the combination of camera images and vibration and / or position data. Depending on this, for example, a road with poor surface quality can be detected, which could, for instance, trigger a reduction in speed and / or a change in the vehicle's damping system (by the control unit).Alternatively or additionally, it can be implemented that, particularly before forwarding, sensor measurement data is aggregated based on comparisons (e.g., with historical data). Accordingly, a predefined number of sensor measurement data points can be aggregated and, in particular, pre-processed, e.g., compressed (collectively), before being forwarded to a backend. This allows for an optimized balance between information content and / or data compression. For example, it can be implemented to compress and / or sort a large number of camera images, depending on which a 3D reconstruction is to be performed, before forwarding them to a backend that carries out the 3D reconstruction. This allows, for example, redundant sensor measurement data to be filtered out.

[0023] Alternatively or additionally, it may be preferably 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 depending on the comparison, whereby the at least one sensor performs a transmission, in particular a further transmission, depending on 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 processing unit or its capacity, and / or that safety-relevant events (e.g., in a hazardous situation) would then not have sufficient processing power available. Accordingly, it can be provided that a control signal is transmitted to at least one sensor, in particular to the multitude of sensors, whereupon these preferably refrain from transmitting or further transmissions and / or carry them out with a reduced data rate and / or data size.

[0026] Within the scope of the invention, it is optionally possible that the testing, in particular the comparison, by the control unit includes a prediction depending on the, in particular already received, sensor measurement data and / or the parameter, wherein the prediction includes a future value of the at least one parameter.

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

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

[0029] It may 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 arithmetic unit of the control unit. For example, it may be provided that one or more processing cores of the arithmetic unit implement the calculation module. This allows sufficient computing power to be provided for other calculations, such as those relevant to safety. Alternatively or additionally, it may be provided that at least partial implementation takes place in (especially specific) hardware, for example, by an ASIC and / or an FPGA included in the control unit. This allows for a (further) improved data rate and / or processing speed.It may be particularly advantageous if the calculation module is not included in, executed, or implemented by the middleware. This allows the calculation module to perform processing and / or calculations 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 this 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 contained within a transceiver. It can be provided that processed sensor measurement data is calculated based 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 includes 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 based on the sensor measurement data and / or the processed sensor measurement data. This allows, for example, a complex 3D reconstruction, such as a rendering, to be performed by the backend.

[0034] Within the scope of the invention, it can be advantageous that the processing and / or forwarding, in particular after calculating a result, includes 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] Advantageously, vehicle information can be used within the context of (at least partially) automated and / or autonomous driving. For example, a 3D reconstruction could provide optimized and / or detailed information about the condition of a road surface, such as the precise size and / or classification of objects on the road (e.g., stones, shards, etc.). This would allow for a better or more informed decision regarding road use based on the vehicle information, particularly by the control unit. Alternatively, a corresponding decision could be made directly by the backend, for example, based on additional information available only to the backend.

[0036] The above problem is solved 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 it 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 problem is solved 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 it 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 and / or a computer program product according to the invention.

[0040] The above problem is solved according to a fourth aspect by a control unit according to the invention, comprising a computing unit and / or a storage 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 problem is solved 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 exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each 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, which are each connected to a control unit ECU via a data connection (dashed line). The control unit ECU can have a processing unit CU and / or a storage unit MU. Preferably, the method can be implemented and / or carried out by the control unit ECU, in particular the processing unit CU.

[0047] Fig. Figure 2 shows a vehicle 200 comprising at least one sensor 1, 2, which is 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 processing unit CU, can implement middleware 10, which can, for example, be implemented in software (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 means of a processing step 140.Alternatively or additionally, it may be preferably 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, via a data connection 250, e.g. the Internet, by forwarding 150 to a backend 300.

[0048] Fig. Figure 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 - Capture 110 sensor measurement data D by at least one sensor 1, 2, - Transmit 120 of the sensor measurement data D from sensor 1, 2 to a middleware 10 which is executed by a control unit ECU, - Check 130 of at least one parameter DPar of the sensor measurement data D by 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.

[0049] It may be provided that the acquisition 110 of sensor measurement data D by at least one sensor 1, 2, 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.

[0050] It may also be provided 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 DAbst, 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.

[0051] Furthermore, it is conceivable 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.

[0052] It may 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, includes 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 may 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 depending on the comparison 131, 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.

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

[0055] It may 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 includes controlling 141 a transmitter 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.

[0056] It is conceivable 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 on 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 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. Reference symbol list 1, 2 Sensor 10 Middleware 11 Interface 12 Calculation module 50 transmitter units 51 receiving unit 110 Acquisition of sensor measurement data 111 Acquisition of single sensor measurement data 112 Acquisition of image data and / or distance data 120 Transmitting sensor measurement data 121 Transmitting to an interface 129 more transmissions 130 Checking at least one parameter of the sensor measurement data 131 Comparing at least one parameter with a reference parameter 132 Forecasts 140 Processing the sensor measurement data 141 Controlling a transmitting unit 150 Forwarding the sensor measurement data 160 Calculating a result E 170 Providing vehicle information F D Sensor measurement data DAbst distance data Image data DPar parameters of the sensor measurement data DRef Reference Parameters Dx single sensor measurement data DParProg future value of at least one parameter E result Vehicle information VD processed sensor measurement data ECU control unit CU computing unit MU storage unit 200 vehicles 250 data connection 300 Backend

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) and / 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.

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