DEVICE, METHOD AND COMPUTER PROGRAM FOR CAPTURING AND TRANSMITTING DATA

Description

[0001] Embodiments of the present invention generally relate to the acquisition and transmission of data from a transmitter to a receiver embodied as a vehicle, and more particularly to the control of the acquisition and transmission of such data.

[0002] Cooperative driving functions can be developed to optimize traffic flow, prevent traffic accidents, and increase driving comfort. V2X (Vehicle to X, where X can stand for Vehicle or Infrastructure, for example) technology is used here, enabling ad-hoc communication between vehicles. Especially during the introduction phase of V2X, only a low level of V2X vehicle equipment is expected initially. The currently standardized V2X messages (CAM (Cooperative Awareness Message) and DENM (Decentralized Environmental Notification Message)) only contain information about the status of the sending vehicle. If additional information about the surrounding objects detected by the sending vehicle (especially other vehicles that are not V2X-capable) were sent, the number of detected vehicles in the area could be increased, thus overcoming the disadvantages of the initially low equipment rate.

[0003] Such data from transmitting vehicles or infrastructure would be communicated in addition to the standardized V2X messages mentioned above. The V2X messages are generated and sent periodically; see also the ETSI ITS-G5 reference architecture. Directly adopting this periodic generation and transmission for the additional data from surrounding objects would hinder the efficient use of message transmission capacity, as a significant additional traffic volume is expected with the spread of V2X technology in conjunction with the additional data.

[0004] US 2002 / 03061 1 A1 teaches a method for transmitting data packets between motor vehicles, which method comprises transmitting individual data packets including vehicle data and generation data for the individual data packets.

[0005] US 2013 / 336120 A1 teaches a vehicle communication system and method used in transmitting and receiving driving information of a vehicle to and from surrounding vehicles.US 2009 / 081958 A1 teaches a method and system for adjusting the transmission rate of messages sent and received by a mobile unit.

[0006] EP 2 843 639 A1 teaches a communication device to be mounted on a vehicle.

[0007] WO 2006 / 106455 A2 teaches the provision of a method for transmitting messages between mobile nodes in an ad hoc network, which ensures reliable transmission of relevant information even with a large number of nodes.

[0008] WO 2008 / 104886 A2 teaches controlling a transmission cycle / output control section of a transmission output of a vehicle communication device and / or a transmission frequency of the vehicle communication device according to the speed of a host vehicle.

[0009] WO 2015 / 144887 A2 teaches a computer-implemented method for implementing a V2X application on target hardware with a radio adapter, wherein the V2X application is modeled using a graphical modeling environment in the form of a block diagram. US 2013 / 278440 A1 teaches an apparatus, system, and method for implementing a wireless vehicle-to-vehicle anti-collision system.

[0010] DE 10 2010 038640 A1 teaches a method for communication of a vehicle with at least one other vehicle and / or for communication of a vehicle with an infrastructure facility (C2X communication).

[0011] Therefore, it would be desirable to generate the additional data of the surrounding objects as needed and to send them according to the situation, thus improving the efficiency of V2X technology.

[0012] This is addressed by a device, a method, and a computer program, each with the features of the independent patent claims. Advantageous embodiments and further developments are the subject of the dependent claims.

[0013] A key concept of the invention is the separation of data generation from data transmission between sender and receiver. Data generation is based on information from a geographical environment model of the sender, acquired by sensors or otherwise, and in particular on the objects extracted from this information. However, the data generated in this way is not transmitted automatically. Rather, its transmission is based on environmental parameters of the sender, which can include traffic-relevant parameters at the sender as well as parameters of the transmission system. The former are, for example, road layout, driving or traffic conditions at the sender. The latter are the accessibility of receivers and, for example, channel capacity or the presence of messages with higher priority. This method also includes delayed data transmission or the discarding of generated data.By decoupling the generation and transmission of data and binding both processes to different parameters, a balance can be advantageously established between the provision of relevant information and the use of the transmission channel.

[0014] According to a first aspect, embodiments provide a method as defined in claim 1.

[0015] Transmitters can be configured as devices comprising a transmitting device for transmitting electromagnetic waves. These are intended for wireless transmission to a receiver designed to match the transmitter. Transmitter characteristics (and also receiver characteristics) can also be standardized, for example, in V2X technology, for example, according to the aforementioned ETSI ITS-G5 reference architecture.

[0016] In addition, the transmitter may also comprise a vehicle, a portable device of a road user or even infrastructure, for example a traffic sign or a road structure.

[0017] Road users are defined as recipients who can receive the transmitted data and participate in road traffic. These include, in particular, all types of vehicles, both motorized and non-motorized. Motorized vehicles can be single- or multi-track and include mopeds, motorcycles, as well as passenger cars, mobile homes, trucks, and buses. Non-motorized vehicles can include bicycles and animal-powered vehicles, such as carriages. Pedestrians can also be considered road users and may be equipped with, for example, portable receiving devices.

[0018] The geographic environment model extends around the transmitter and can, for example, cover a radius of 200 meters. It is recorded, for example, by the transmitter's own sensors, which can be radar, lidar, infrared, ultrasonic sensors, or cameras. The sensor data can be stored in a so-called data cloud. Suitable algorithms extract the geographic environment model from this data cloud, which maps the information about the transmitter's surroundings relevant to traffic participation. In particular, the geographic environment model also includes objects in the transmitter's surroundings.

[0019] Objects include objects and road users that are relevant for assessing the vehicle's surroundings. They can be divided into dynamic and static objects. Dynamic objects move relative to the roadway of the road user configured as the receiver and can be other motorized or non-motorized road users, including pedestrians, cyclists, mopeds, motorcycles, and multi-track vehicles of various types. Static objects have a fixed geographical location and can, for example, be located near the roadway as infrastructure. They can include traffic signs, such as traffic lights, or traffic structures, such as guardrails or bridges. Object detection is based on sensor data or data received from V2X technology and can be carried out using known methods.

[0020] The transmitter's environmental parameters describe the transmitter's environment. They can be used to set the transmission frequency of the data to be sent. For example, with periodic data transmission, the transmission frequency can be influenced, which can be set between a minimum and a maximum value.

[0021] Traffic-relevant parameters in the transmitter's environment can include information about traffic, road conditions, and the road surface, thus characterizing the transmitter's environment. They can also relate to transmission aspects of V2X communication, taking into account channel utilization or other messages to be transmitted.

[0022] Advantageously, the generation and transmission of data can be linked to various independent parameters and thus optimized independently of one another. In some embodiments, traffic-relevant parameters can include data describing at least the transmitter embodied as a vehicle and / or a traffic condition and / or a road layout.

[0023] One state of the transmitter, embodied as a vehicle, can be its speed. Traffic conditions can include traffic density, the distance to other road users, and the rate of change of the respective detected condition. The traffic condition can include high traffic density, which can limit the "line of sight" of the vehicle's own sensors. At the same time, a higher number of vehicles with V2X technology can be assumed, so that more vehicles of other V2X participants can be detected. Road layout can be understood as the design of a road, which can include straights, curves, intersections, ramps, or junctions.

[0024] Advantageously, various relevant parameters can be taken into account when determining the transmission frequency.

[0025] In embodiments, parameters of the transmission system include the accessibility of the at least one receiver. In some embodiments, parameters of the transmission system may include a channel capacity of the channel for transmitting the data and / or the presence of a higher-priority message.

[0026] Channel capacity can be understood as the utilization of the transmission channel. Channel capacity is part of an information-theoretic description of a transmission channel. It specifies the highest bit rate at which information can just about be transmitted error-free over a channel. As already mentioned, the same channel on which standardized messages such as CAM and DENM are already transmitted can be used to transmit the data. This channel can also be standardized and has a certain total channel capacity, which results from the standardization and also takes into account the traffic of other V2X participants. The remaining free channel capacity can be determined at the transmitter, for example by observing the current bit rate on the channel. However, the Decentralized Congestion Control (DCC) used in the ETSI standard can also be used for this purpose.Accordingly, depending on the load condition, the transmission of data can be influenced, for example by discarding the data packet to be sent in the event of overload.

[0027] The availability of at least one receiver can be determined, for example, by "hearing" it via V2X transmission or "seeing" it via sensors from other V2X participants. Therefore, if a vehicle is neither "heard" nor "seen," it can be assumed that no communication partner is nearby. In this case, data transmission can be omitted.

[0028] The presence of a higher-priority message may refer to the standardized messages to be transmitted over the same channel. For example, a CAM or DENM message may be pending transmission and has a higher priority.

[0029] Advantageously, various essential transmission parameters can be used to determine the transmission frequency.

[0030] Optionally, the channel capacity and / or traffic-relevant parameters can influence the data transmission frequency.

[0031] In the case of periodic transmission, the transmission frequency is defined as the frequency with which data is transmitted.

[0032] By taking into account the channel capacity and the traffic-relevant parameters, the transmission frequency can advantageously take into account both the urgency of the transmission and the current transmission possibilities.

[0033] In some embodiments, the channel for transmitting the data can also be used to transmit general attention messages -CAM- and / or decentralized environment messages -DENIM-.

[0034] The CAM and DENM can be used according to the ETSI TS 102 894-2 standard. The CAM can transmit vehicle status messages from the transmitter. The DENM can provide a dedicated warning of hazardous situations. Of course, other messages can also be transmitted over the channel, which can be both standardized and proprietary.

[0035] The standardized V2X channel can therefore be used in a variety of ways.

[0036] In some embodiments, the channel for transmitting the data may be configured according to a standardized reference architecture.

[0037] ETSI TS 102 894-2 can be used as a standardized reference architecture, in which the CAM and DENM messages mentioned above can also be transmitted.

[0038] This advantageously avoids the implementation of additional channels in addition to those defined in ETSI and thus avoids the use of additional radio resources.

[0039] Optionally, the transmitter can be designed as an additional road user or as infrastructure.

[0040] Infrastructure can be designed as traffic signs, for example traffic lights, or as traffic structures, which include, for example, guard rails or bridges, as already explained.

[0041] This makes it advantageous to increase the number of transmitters in vehicles, especially at the beginning of V2X deployment, even through buildings.

[0042] In some embodiments, transmitters and / or receivers may be designed as vehicles.

[0043] Advantageously, the number of V2X participants can be increased even in the absence of infrastructure and taken into account in the environmental parameters of the transmitting vehicle.

[0044] In some embodiments, the geographic environment model of the transmitter may include object detection based on local sensor data of the transmitter and / or based on sensor data of other road users or infrastructure.

[0045] Object recognition based on sensor data can be performed in various ways. For example, a hierarchical model can be used, which uses a data cloud containing all sensor data as a basis. In a first step, fragments of objects are identified from the data cloud, for example, parts of an arm, a torso, or a head. In a second step, an attempt is made to combine the fragments into sub-objects, i.e., arms, a torso, or a head. The third step involves the actual object recognition, which in the above example identifies the object of a person.

[0046] Sensor data from other road users or infrastructure can be used for object detection. This information can be received by the transmitter prior to object detection. It can then be added to the aforementioned data cloud, enriching the geographic environment model alongside the data acquired by the vehicle's own sensors.

[0047] This can advantageously increase the database for object recognition.

[0048] Optionally, the object recognition may include data for the probability of existence of the object and / or change information of the object, wherein the data for change information of the object describe temporal and / or spatial changes.

[0049] The probability of existence of detected objects depends significantly on the continuous detection of the object by the associated sensors. Furthermore, sensor information becomes outdated relatively quickly, whether because an object moves away from the viewing space or changes within that space.

[0050] The change data describe a measure of the object's change. For example, if there is a large difference in speed between the object and the transmitter, or due to the object's own movement, significant changes can occur in a short period of time. Accordingly, increased computing power to track the object and increased monitoring of its probability of existence may be appropriate.

[0051] Advantageously, object detection and tracking can be improved by object-accompanying parameters.

[0052] In some embodiments, the data can be generated by various events. For example, periodic generation can occur depending on the event. Alternatively, generation can occur as soon as an object is detected, or as soon as an object with a predominant probability of existence is detected. Further alternatively, generation can be selected as soon as an object has exceeded a certain change threshold, or as soon as an object with a predominant probability of existence has exceeded a certain change threshold.

[0053] Periodic generations have the property that their function values ​​repeat at regular intervals. The intervals between the occurrence of the same function values ​​are called periods. A large number of periodic generations are possible.

[0054] A first algorithm -A1- describes the periodic sending of a message. The message can always be sent after a fixed time interval, regardless of the existence of objects in a corresponding database.

[0055] A second algorithm -A2- describes the periodic sending of a message whenever an object is available, i.e., stored in the vehicle's own object database. The message can be sent after a fixed time interval has elapsed, provided the check for object availability has also been successful.

[0056] A third algorithm -A3- describes the periodic sending of a message when an object is available and is still valid, i.e., a threshold has been exceeded regarding its probability of existence (e.g., by comparing it with other sensor data). The message can be sent after a fixed time interval has elapsed.

[0057] Further possible periodicities are described in the embodiment examples.

[0058] Object detection is based on sensor data from the vehicle's surroundings and / or, if applicable, on messages received via V2X technology. The data obtained in this way can be stored in a data cloud and analyzed for objects, for example, using the hierarchical model mentioned above. Detected objects are recorded and regularly checked. Accordingly, object detection can trigger the generation of data, as described.

[0059] The probability of existence of an object is a key parameter. It can be assigned to each object and can be updated regularly. Exceeding a threshold value of this parameter can trigger the data generation, as already described.

[0060] The change measure, similar to the probability of existence, is a measure that can be assigned to objects. It describes the degree of change in the object and, depending on a threshold value of the change measure data, can influence the allocation of increased computing power for tracking the object and the frequency of its updates, or can represent a reason for generating the data. It can be updated regularly.

[0061] Advantageously, the generation of data can be flexibly adapted to a variety of events.

[0062] In some embodiments, the data can be sent in a data field over a mobile network. The data field can comprise the following: a header field with general information and the message and vehicle / infrastructure identification. Furthermore, the data field can comprise a description field, which in turn comprises an identification of the vehicle and / or a position of the vehicle and / or a distance of the vehicle and / or a speed of the vehicle and / or an acceleration of the vehicle and / or at least one property of the local sensors of the vehicle. Furthermore, the data field can comprise a dynamic object container that comprises the description of at least one dynamic object. Furthermore, the data field can comprise a static object container, which in turn comprises the description of at least one static object.

[0063] A more detailed description can be found in the exemplary embodiments.

[0064] Advantageously, a suitable structure can be chosen that enables efficient data transmission.

[0065] According to a further aspect, embodiments provide a device as defined in claim 12.

[0066] A generation processor is designed to generate information from the device's environment. This can be done using sensor data that observes the device's environment. This data can be stored, for example, in a data cloud or another storage format and then transferred into the geographic environment model. The latter also includes the identification of objects in the device's environment. The generation processor can be implemented as a commercially available processor, an ASIC, a digital signal processor, a circuit arrangement, or similar components.

[0067] A detection processor for detecting parameters of a transmission system for transmitting data and / or traffic-relevant parameters – collectively also referred to as environmental parameters – can be technically designed similarly to the generation processor, but is suitable for detecting environmental parameters of the transmitter. The traffic-relevant environmental parameters can also be detected using sensors that detect, for example, traffic conditions or road layout. The parameters of the transmission system in the environmental parameters include the accessibility of receivers, which is of a radio-technical nature.

[0068] A data generation processor can be designed as a processor capable of converting information from the geographic environment model into the structure of the data to be transmitted. It is particularly suitable for embedding object information into the data.

[0069] A transmission device is suitable for the wireless transmission of electromagnetic waves in both the transmit and receive directions within a transmission system. It can be designed according to the V2X technology mentioned several times above and is thus suitable for communication with multiple road users and / or infrastructure, especially as the standard becomes increasingly widespread.

[0070] Advantageously, the generation and transmission of data can be linked to various independent parameters and thus optimized independently of each other. Optionally, the device can be designed as a vehicle or as a traffic infrastructure structure.

[0071] Vehicles can be road users and can be designed as any type of vehicle, as already described. Traffic infrastructure structures can be traffic sign systems, for example, traffic lights or multi-function displays. They can also be externally passive structures, such as speed cameras. Other structures located near traffic can also be suitable.

[0072] This makes it advantageous to create a base population of V2x participants through structures at the beginning of V2X technology, which can be supplemented as the technology becomes more widespread in vehicles.

[0073] According to a further aspect, embodiments provide a computer program as defined in claim 14.

[0074] Some exemplary embodiments of the present invention are explained in more detail below with reference to the accompanying figures. They show: Fig. 1 a basic circuit diagram of V2X communication Fig. 2 a method according to an embodiment Fig. 3 a determination of the generation of the data Fig. 4 alternative forms of generation of the data Fig. 5 transmission processes for periodic and aperiodic generation of the data Fig. 6 a structure of a data field for transmitting the data Fig. 7 shows a basic circuit diagram of a device for generating and transmitting data

[0075] Various embodiments will now be described in more detail with reference to the accompanying drawings, in which some embodiments are illustrated. In the figures, the thickness dimensions of lines, layers, and / or regions may be exaggerated for clarity.

[0076] In the following description of the attached figures, which show only a few exemplary embodiments, identical reference numerals may designate identical or comparable components. Furthermore, collective reference numerals may be used for components and objects that appear multiple times in an exemplary embodiment or in a drawing, but are described together with respect to one or more features. Components or objects described with identical or collective reference numerals may be identical with respect to individual, several, or all features, for example, their dimensions, but may also be different, unless the description explicitly or implicitly indicates otherwise.

[0077] Although embodiments are susceptible to various modifications and variations, embodiments are illustrated in the figures as examples and will be described in detail herein. It should be understood, however, that embodiments are not intended to limit the specific forms disclosed, but rather, embodiments are intended to cover all functional and / or structural modifications, equivalents, and alternatives within the scope of the invention. Like reference numerals designate like or similar elements throughout the description of the figures.

[0078] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as one of ordinary skill in the art to which the embodiments belong. Furthermore, it should be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless expressly defined herein.

[0079] The Fig. 1 shows a schematic diagram of V2X communication. A transmitter 10 transmits data to a receiver 20, configured as a road user. The transmission is wireless using electromagnetic waves. The receiver is configured as a passenger car. The data can be sent as an Environmental Perception Message (EPM), which is structured along the lines of the well-known CAM and DENM messages and is Fig. 6 is explained in more detail.

[0080] The Fig. 2 shows a method according to one exemplary embodiment. This is a method for generating and transmitting data from a transmitter to a receiver configured as a road user. The data is based on a geographical environment model of the transmitter, wherein the geographical environment model includes object detection. Method steps at the transmitter include the acquisition 50 of environmental parameters of the transmitter, the generation 60 of the data depending on the detected objects, and the transmission 70 of the data depending on the environmental parameters of the transmitter.

[0081] The Fig. 3 shows a determination of the generation of data 100. This determines which reason is relevant for generating the data. The reason is defined in the higher-level process 110. The higher-level process 110 includes a start process, which leads to the query "Periodic generation of data?" 120. This reason can be selected for a high-priority vehicle (e.g., an ambulance in use) or if no communication partner has been detected so far. Accordingly, with periodic transmission, one can hope for a response. Furthermore, it can be assumed that the information "I do not perceive any object in my environment" is also relevant for other participants in the V2X technology.

[0082] If "Generate data periodically?" 120 is answered in the affirmative, the process branches to "Generate data when an object is present?" 130. This alternative can be selected if the information "I perceive an object in my environment" is relevant to others.

[0083] If the response to operation "Generate data when object is present?" 130 is affirmed, the process branches to operation "Generate data when object is valid?" 140. This event can be selected if only the information "I perceive a valid object in my environment" is relevant to others. This ensures that no "phantom objects" are sent, which has the positive side effect of not placing unnecessary strain on the transmission channel. If the response to operation "Generate data when object is present?" 130 is negative, periodic sending 160 is specified with operation A1.

[0084] If the operation "Generate data when a valid object is present?" (140) is answered negatively, then "periodic generation of data when an object is available" (170) is determined as operation A2. If, however, operation 140 is answered affirmatively, then "periodic generation of data when a valid object is available" is determined as operation A3 / 180. The information "I perceive a valid object in my environment" can be relevant to others. This ensures that no "phantom objects" are sent, which has the positive side effect of avoiding unnecessary load on the channel.

[0085] If the "Periodic Data Generation" operation 120 is answered negatively, the system branches to the "Data Generation if a Valid Object is Found?" operation 150. If the answer is yes, the "Data Generation if a Valid Object Changes" operation 200, process A5, is determined. If the answer is negatively at process 150, the "Data Generation if an Object Changes" operation A4, process 190, is determined. This is an even more stringent restriction compared to the aforementioned case. The advantage here is increased transmission discipline, which can have a beneficial effect on the channel load.

[0086] The Fig. 4 shows alternative forms of data generation. For example, diagram 300 shows various algorithms for generating data. If the data 301 / A1 is generated periodically, the process branches to the "Time interval expired?" process 310. If the answer is yes, the process branches to data generation for periodic transmission S1. If the answer is negative, the process 310 is reached again.

[0087] When data is generated periodically, process A2 or 302, if an object is available, the process "Time interval expired?" 320 is triggered. If the answer is negative, process 320 is reached again. If the answer is affirmative, the process branches to the process "Is object available?" 330. If the answer is negative, the process branches to process 320. If the answer is affirmative, the process branches to the process periodic sending S1 / 331.

[0088] When data is generated periodically, if a valid object is available (process 303 / A3), the system branches to process 340 corresponding to processes 310 and 320. If the answer is yes, the system branches to process 350 corresponding to process 330. If the answer is yes, the system branches to process "Is object valid?" 360. If the answer is yes, the system branches to state "periodic sending S1" 361; if the answer is no, the system branches back to process 340.

[0089] If the data is generated aperiodically when an object 304 / A4 changes, the process branches to process "has the object changed?" 370. If the answer is yes, the process branches to process "aperiodic sending S2" 371. If the answer is negative, the process branches again to process 370.

[0090] If the data is generated aperiodically when a valid object 305 / A5 is changed, the system branches to process 380 corresponding to process 370. If the answer is yes, the system branches to process "Is object valid?" 390. If the answer is yes, the system branches to process "Aperiodic sending S2" 391; if the answer is no, the system branches back to process 380.

[0091] The Fig. 5 shows sending processes for periodically, S1, or aperiodically, S2, generated data. The processes S1 or S2 are derived from the generation forms of the Fig. 4 which in turn end in processes S1 or S2.

[0092] Thus, after starting, process S1 displays the process "is there a higher-priority message present?" 410. If the answer is yes, it branches to process "do not send" 460 and discards the generated data. If the answer is no, it branches to process "does a communication partner exist?" 420. If the answer is no, it branches to process "long-period sending (rare)" 450 and sends at predefined long intervals. This can be achieved by regularly delaying the send process. If the answer is yes, it branches to process "transmission channel overloaded?" 430. If the answer is yes, it branches to process 450. If the answer is no, it branches to process "short-period sending (frequent)" 440 and sends at short intervals. This can be achieved by immediately executing the send process. All branches are terminated by reaching the END process.

[0093] As an alternative to the long-period 450 and short-period 440 transmissions shown, the transmission frequency can also be changed gradually between these two values. Additional parameters can be used for this purpose, which are defined in Fig. 5 are not shown and supplement the processes 440 and 450. The period for the long-period transmission 450 or the short-period transmission 440 can be further influenced depending on parameters for the driving condition, road characteristics, road layout, and traffic condition.

[0094] Influence of driving conditions: It may be advantageous to increase the EPM transmission frequency when the transmitting vehicle is traveling faster. This is because the vehicle's surroundings also change more rapidly. Accordingly, the transmission period (similar to the GALA (speed-dependent volume adjustment) signal on a car radio) could change proportionally to the vehicle speed, for example.

[0095] Influence of road characteristics: It can be advantageous to vary the transmission frequency depending on road characteristics. For example, it seems sensible to transmit an EPM more frequently in city traffic than on country roads or highways. This is because the environment generally changes more rapidly in city traffic than on country roads or highways. The transmission period could change by a fixed factor specific to the road characteristics.

[0096] Influence of road layout: It may be advantageous to increase the transmission frequency by a fixed factor when the vehicle is in a curve, intersection, ramp, or junction, because the environment there is likely to change rapidly. Accordingly, in Algorithm S1, a fixed factor should be imposed on the "short-period transmission" and "long-period transmission" transmission states.

[0097] Influence of traffic conditions: It may be advantageous to lower the EPM transmission frequency as traffic conditions become denser. This is because the visibility of the vehicle sensors becomes poorer and the probability that an object has already been detected by another vehicle increases. The transmission period could change proportionally to traffic density (similar to the GALA signal on a car radio).

[0098] After starting, process S2 for aperiodic transmission branches to the process "is there a higher-priority message?" 470, similar to process 410. If the answer is yes, it branches to process 510 "do not send," and the generated data is discarded. If the answer is no, it branches to process "does a communication partner exist?" 480. If the answer is no, it branches to process 510 and the data is discarded. If the answer is yes, it branches to process "transmission channel overloaded?" 490. If the answer is yes, it branches to process 510 and the data is discarded. If the answer is no, it branches to process "send" 500 and the data is sent. All branches are terminated by reaching the END process.

[0099] The Fig. 6 shows a structure of a data field 600 for transmitting data that can be received via an air interface. This data field 600 contains data from the sender. It can also contain additional data from third-party EPM participants that were previously made available to the sender. The data field 600 comprises a header 610, which can be designed, for example, as an ITS-S (Intelligent Transport Systems-Station) standard based on ETSI TS 102 894-2. It serves to identify the data field 600. A description field 620 can then be arranged, which can include an identification of the sender and / or a position of the sender and / or a distance of the transmitter embodied as a vehicle and / or a speed of the vehicle and / or an acceleration of the vehicle and / or at least one property of the sender's local sensors. The dynamic objects can be transmitted in the following dynamic object container 630.The static objects can be transmitted in the subsequent static object container 640. A dynamic object 632, 634 can include sensor information from the transmitter and / or localization information containing a local or global reference value and / or dynamic information describing the object dynamics and / or a classification of the object and / or an estimated geometric dimension of the object. A static object 642, 644 can include sensor information from the transmitter and / or localization information and / or a classification of the object and / or an estimated geometric dimension of the object or an occupancy grid of a detection space.

[0100] Fig. 7 shows a schematic diagram of a device 700 for generating and transmitting data. The data is transmitted to a receiver embodied as a road user. A generation processor 710 is used to generate information from a geographical environment model of the device, wherein the geographical environment model includes object detection. A data generation processor 730 generates data to be transmitted depending on the detected objects. A detection processor 720 is used to detect environmental parameters of the device, for example, free channel capacity or road layout. A transmission device 740 transmits the data depending on the environmental parameters to a receiver embodied as a road user.

[0101] In general, it can be stated that the efficiency of using the message transmission channel depends largely on the algorithm of message generation and message transmission.

[0102] In principle, there are the following options for generating messages (generation mode): 1. Aperiodic (event-based) An EPM is always generated if, since the last EPM was generated: the orientation of the observed object has changed by more than 4°, the observed object has moved by more than 4 meters, the speed of the observed object has changed by more than 0.5 meters / second. 2. Periodic 2.1. Constant repetition frequency 2.2. Variable repetition frequency 2.2.1. Analogous to the CAM standard, which, unlike the invention, does not separate generation and transmission. Analogous to the CAM, the EPM is generated with a fixed, minimum repetition frequency. This repetition frequency is increased to predefined values ​​if, since the last EPM was generated: the orientation of the observed object has changed by more than 4°, the observed object has moved by more than 4 meters, the speed of the observed object has changed by more than 0.5 meters / second. 2.2.2.not analogous to the CAM standard (proprietary) The EPM can alternatively be generated according to the following criteria: a. regularly, but regardless of whether an object has been detected or not b. as soon as objects are ready for transmission, regardless of whether they are valid or not c. as soon as one of the managed objects has changed (according to CAM criteria, see above) d. as soon as objects are ready that have been validated e. an optional container with the field of view (static) is only generated once per second, for example 2.2.2.e. is an option that can always be used, regardless of the other conditions mentioned. .

[0103] One possibility is to set the above-mentioned generation mode once. Alternatively, the algorithm could look like this, for example, Fig. 3 shown. Accordingly, the algorithm would start as soon as the ignition is turned on. If data is to be generated periodically, it must be clarified whether the data should be generated continuously or only when an object is available. In the latter case, the question still needs to be clarified whether data should be generated every time an object is changed or only when that object is valid. Alternatively, if data is to be generated aperiodically, it must be clarified whether only valid objects should be generated. The algorithm terminates when the ignition is turned off.

[0104] Depending on the generation mode selected, different algorithms are run through (see algorithms A1 to A5 in Fig. 4 ). The generation state is entered as soon as the ignition is switched on or the algorithm according to Fig. 3 It ends as soon as the ignition is switched off or the algorithm Fig. 3 by switching off the ignition.

[0105] Fig. 4 Algorithm A1 describes the periodic generation of a message. The message is always generated after a fixed time interval.

[0106] Fig. 4 Algorithm A2 describes the periodic generation of a message whenever an object is available, i.e., stored in the vehicle's own object database. The message is generated after a fixed time interval has elapsed, provided the check for object availability has been successful.

[0107] Fig. 4 Algorithm A3 describes the periodic generation of a message when an object is available and valid, i.e., has been determined to be valid within the vehicle (e.g., by comparing it with other sensor data). The message is generated after a fixed time interval has elapsed, provided that the object is available and the validity of this object has been verified successfully.

[0108] Fig. 4 Algorithm A4 describes the aperiodic generation of a message when an object changes. The message is generated whenever it is detected that an object has changed according to the aforementioned criteria for aperiodic transmission.

[0109] Fig. 4 Algorithm A5 describes the aperiodic transmission of a message when a valid object with an existence probability above a threshold changes. The message is generated whenever an object is detected to have changed, and the object has also been validated internally within the vehicle (e.g., by comparing it with other sensor data).

[0110] The transmission algorithms S1 and S2 for the algorithms A1 to A2 according to Fig. 5 are essentially identical. They differ only in an additional state for periodic transmission in S1. This takes into account that it may be useful to keep the transmission period flexible depending on the vehicle, driving, road, or traffic conditions. The following examples illustrate this: Driving condition: Speed ​​Road characteristics: Motorway, country road, city center Road topology: Curve, intersection, junction, ramp Traffic condition: "heavy"

[0111] The sending algorithms are entered when they are called from one of the aforementioned algorithms A1 to A5. They end after they have been run through once and then return to the calling algorithm (see Fig. 4 ).

[0112] The S1 transmission algorithm is used for periodic transmission. A distinction is made between short-period and long-period transmission. A long period allows transmission whenever the transmission channel is congested. This serves to reduce data volume. Otherwise, short-period transmission occurs.

[0113] When using aperiodic transmission, it is suggested to only transmit when the transmission channel is not overloaded.

[0114] The features disclosed in the above description, the following claims and the attached figures can be important and implemented both individually and in any combination for the realization of an embodiment in its various forms.

[0115] Although some aspects have been described in connection with a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or component of a device can also be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block, detail, or feature of a corresponding device.

[0116] In general, embodiments of the present invention can be implemented as a program, firmware, computer program, or computer program product with program code or data, wherein the program code or data is effective to perform one of the methods when the program runs on a processor or a programmable hardware component. The program code or data can also be stored, for example, on a machine-readable medium or data carrier. The program code or data can be present, among other things, as source code, machine code, or bytecode, as well as other intermediate code.

[0117] The above-described embodiments are merely illustrative of the principles of the present invention. It is understood that modifications and variations of the arrangements and details described herein will be apparent to others skilled in the art. Therefore, it is intended that the invention be limited only by the scope of the following claims and not by the specific details presented in the description and explanation of the embodiments herein. Bezugszeichenliste

[0118] 10 Transmitter 20 Receiver 30 Transmitter sensors 50 Acquisition of environmental parameters 60 Generation of data 70 Transmission of data 100 Selection of generation mode 110 Selection process of generation mode 120 Periodic generation of data? 130 Generation of data when object is present? 140 Generation of data when object is valid? 150 Generation of data when object is valid? 160 Periodic generation of data 170 Periodic generation of data when object is available 180 Periodic generation of data when valid object is available 190 Generation of data when object changes 200 Generation of data when a valid object changes 300 Algorithms for generating data 301 Periodic generation of data 302 Periodic generation of data when object is available 303 Periodic generation of data,if a valid object is available 304 Generate data when an object changes 305 Generate data when a valid object changes 310 / 320 / 340 Time interval expired? 311 / 331 / 361 Periodic sending S1 371 / 391 Aperiodic sending S2 330 / 350 Is object available? 360 / 390 Is object valid? 370 / 380 Has object changed? 410 / 470 Is a higher priority message present? 420 / 480 Does a communication partner exist? 430 / 490 Transmission channel overloaded? 440 short-period transmission (frequent) 450 long-period transmission (rare) 460 / 510 do not transmit 500 transmit 600 data field 610 header 620 description field 630 dynamic object container 632 dynamic object 634 dynamic object 640 static object container 642 static object 644 static object 700 device for generating and transmitting data 710 generation processor 720 acquisition processor 730 data generation processor 740 transmission device,

Claims

1. Method for generating and transmitting data from a transmitter to a receiver in the form of a road user, wherein the data are based on a geographical environment model of the transmitter (10), wherein the geographical environment model comprises objects in the geographical environment of the transmitter that are relevant to the road user; wherein method steps at the transmitter comprise: acquiring (50) parameters of a transmission system for transmitting the data and / or traffic-relevant parameters of the transmitter; wherein the parameters of the transmission system comprise a reachability of at least one receiver (420, 480); generating (60) the data on the basis of the objects relevant to the road user; and transmitting (70) the data on the basis of the parameters of the transmission system and / or the traffic-relevant parameters of the transmitter, wherein the geographical environment model of the transmitter (10) comprises object recognition on the basis of local sensor data (30) of the transmitter and / or on the basis of sensor data of other road users or infrastructure, wherein the object recognition comprises data for a probability of existence of an object.

2. Method according to any of the preceding claims, wherein the traffic-relevant parameters comprise data for describing at least the transmitter (10) in the form of a vehicle, and / or a traffic condition and / or a road layout.

3. Method according to claim 2, wherein the parameters of the transmission system comprise a channel capacity (430, 490) of the channel for transmitting the data and / or the presence of a higher-priority message (410, 470).

4. Method according to any of claims 2 or 3, wherein the channel capacity and / or the traffic-relevant parameters influence the transmission frequency of the data (440, 450).

5. Method according to any of the preceding claims, wherein the channel for transmitting the data is also used for transmitting general awareness messages - CAM- and / or decentralized environment messages -DENIM-.

6. Method according to claim 1, wherein the channel for transmitting the data is designed according to a standardized reference architecture.

7. Method according to any of the preceding claims, wherein the transmitter (10) is in the form of another road user or infrastructure.

8. Method according to any of claims 1-6, wherein the transmitter (10) and / or receiver (20) are in the form of vehicles.

9. Method according to claim 1, wherein the object recognition comprises data for change information of the object, wherein the data for the change information of the object describe temporal and / or spatial changes.

10. Method according to any of the preceding claims, wherein a reason for generating the data comprises: a periodic generation (160), or a generation as soon as an object is recognized (170), or a generation as soon as an object is recognized with a predominant probability of existence (180), or a generation as soon as an object has exceeded a change level (190), or a generation as soon as an object with a predominant probability of existence has exceeded a degree of change (200).

11. Method according to any of the preceding claims, wherein the data are transmitted in a data field (600) via a mobile network, wherein the data field (600) comprises: a header field (610) comprising general information and the message and vehicle / infrastructure identification; and / or a description field (620) comprising an identification of the vehicle and / or a position of the vehicle and / or a distance of the vehicle and / or a speed of the vehicle and / or an acceleration of the vehicle and / or at least one property of the local sensors of the vehicle; and / or a dynamic object container (630) comprising the description of at least one dynamic object; and / or a static object container (640) comprising the description of at least one static object.

12. Device (10, 700) for generating and transmitting data comprising: a generation processor (710) for generating information relating to a geographical environment model of the device, wherein the geographical environment model comprises objects in the geographical environment of the device that are relevant to a road user; an acquisition processor (720) for acquiring parameters of a transmission system for transmitting the data and / or traffic-relevant parameters of the device; a data generation processor (730) which generates the data on the basis of the relevant objects; and a transmission means (740) which transmits the data on the basis of the parameters of the transmission system and / or the traffic-relevant parameters to a receiver in the form of a road user, wherein the parameters of the transmission system comprise a reachability of at least one receiver (420, 480), wherein the geographical environment model of the device (10) comprises object recognition on the basis of local sensor data (30) of the device and / or on the basis of sensor data of other road users or infrastructure, wherein the object recognition comprises data for a probability of existence of an object.

13. Device (10, 700) according to claim 12, wherein the device (10, 700) is in the form of a vehicle (20) or a traffic infrastructure.

14. Computer program for carrying out the method according to any of claims 1 to 11 when the computer program runs on a programmable hardware component.