Method and vehicle for measuring the quality of a traffic infrastructure element
Patent Information
- Application Number
- EP2023750951
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-02-21
- Filing Date
- 2023-07-27
- Publication Date
- 2025-12-31
AI Technical Summary
Calibration errors in traffic infrastructure elements, such as shifts or inclinations of sensors, lead to inaccurate measurement data, and the quality of data varies by manufacturer and sensor type, making it difficult for receiving vehicles to assess the reliability of transmitted data without a certification process.
A method where a vehicle receives sensor values from traffic infrastructure elements, determines corresponding sensor values using its own sensors, calculates deviations, and transmits these deviations to assess and correct questionable sensor values, thereby improving data quality and reliability.
This method allows for real-time correction of sensor data errors and enhances the reliability of traffic infrastructure element data, improving vehicle safety by filtering out faulty reports and ensuring accurate data usage, even when sensors are known to be incorrect.
Smart Images
Figure EP2023070861_29082024_PF_FP_ABST
Abstract
Description
[0001] Description
[0002] Method and vehicle for measuring the quality of a transport infrastructure element
[0003] The invention relates to a method for a vehicle, in particular a method for measuring the quality of a roadside traffic infrastructure unit. Furthermore, the invention relates to a method for a traffic infrastructure element and to a vehicle and a traffic infrastructure element configured to carry out the respective methods.
[0004] Traffic infrastructure elements use sensors to record the traffic situation and transmit the collected data to surrounding road users. Calibration errors can occur during the installation or operation of traffic infrastructure elements, for example, due to a displacement or inclination of the sensor used relative to the target position. This can lead to the transmitted measurement data no longer reflecting reality, resulting in a discrepancy between a transmitted object and its real-life counterpart.
[0005] To detect these errors, the traffic infrastructure elements in use must be regularly checked for correct calibration. For this purpose, drives can be conducted with a reference vehicle on the traffic infrastructure elements. This process, which involves regularly checking the traffic infrastructure elements in operation, is time-consuming and requires the presence of a reference vehicle with a driver and, if necessary, a technician on-site.
[0006] Furthermore, the quality of the data from traffic infrastructure elements can vary depending on the sensors and algorithms used. For example, manufacturer A may provide better data quality than manufacturer B, even if the sensor is correctly configured. Furthermore, the information about the sensors used may also be more or less accurate (e.g., information about sensor range, update frequency, etc.).
[0007] Without a certification process for the transmitting traffic infrastructure elements, the receiving vehicle can therefore only inadequately assess how well the data from a traffic infrastructure element can be trusted. The invention is therefore based on the object of overcoming or reducing at least some of the disadvantages of the prior art and providing methods for improved quality measurement of a traffic infrastructure element.
[0008] The object of the invention is achieved by a method for a vehicle, a method for a traffic infrastructure element, a vehicle, and a traffic infrastructure element according to the patent claims. Preferred developments are the subject of the dependent claims.
[0009] A first aspect of the present disclosure relates to a method for a vehicle. A vehicle, within the meaning of this disclosure, is preferably a means of transportation designed to transport people and / or loads on earth, in the air, and / or in space. The vehicle is preferably a passenger car with an internal combustion engine, electric motor, or hybrid engine.
[0010] The method comprises, as one method step, receiving a first message from a traffic infrastructure element. The first message is preferably received directly or indirectly. Preferably, the first message is received via direct communication according to the ITS-G5 and / or the C-V2X standard and / or via indirect communication via a backend. Particularly preferably, the first message is a Collective Perception Message (CPM) according to the ETSI TR 103 562 or ETSI TS 103 324 standard.
[0011] The first message is based on a first sensor value that can be determined by the traffic infrastructure element. Preferably, the first message contains information about the first sensor value. Preferably, the first sensor value relates to the vehicle. Preferably, the first sensor value can be determined by at least one radar, lidar, sonar, GPS, odometry, inertial, and / or camera sensor of the traffic infrastructure element.
[0012] As a further method step, the method comprises determining a second sensor value. The second sensor value is determined corresponding to the first sensor value. Preferably, the second sensor value relates to the surroundings of the vehicle. Preferably, the second sensor value is determined by at least one radar, lidar, sonar, GPS, odometry, inertial and / or camera sensor of the vehicle. In a further method step of the vehicle method, a second message is transmitted to the traffic infrastructure element. The second message is based on the second sensor value. Preferably, the second message contains the second sensor value. Preferably, the second message is transmitted via a different form of communication than the first message. Preferably, the second message is also transmitted to other participants in an autonomous driving system, such as other vehicles or servers.
[0013] The method of a vehicle according to the present disclosure is advantageously designed such that, for certain first sensor values, corresponding further sensor values are determined and transmitted in order to enable a verification of the first sensor values.
[0014] In a preferred embodiment, the method of a vehicle further comprises, as a further method step, determining a deviation between the first sensor value and the second sensor value. Preferably, an offset between the first and second sensor values is detected and / or an overestimation or underestimation of confidence values is / are detected on the basis of the first and second sensor values. Preferably, the detection of the offset and / or the overestimation or underestimation is based on a plurality of first and second sensor values. Particularly preferably, the deviation is determined on the basis of the detected offset and / or the detected overestimation or underestimation. Furthermore, the first message preferably comprises the first sensor value, and the deviation is determined as the difference between the first sensor value and the second sensor value. The deviation is thus advantageously calculated in a particularly simple manner.The second message is preferably based on the deviation. Particularly preferably, the second message contains the deviation. The vehicle thus advantageously checks any questionable sensor values of the traffic infrastructure element itself, and the computational effort required to determine the deviation is performed in the vehicle. It is further advantageous that, if the second message contains the deviation, the first sensor value and / or the second sensor value do not have to be transmitted via the second message, thereby saving resources. If the second message contains the deviation, it can also advantageously be transmitted to other participants in the autonomous driving system to inform them of the deviation.
[0015] Also preferably, the first message includes a first derivative value based on the first sensor value. The first derivative value is, for example, a position of the vehicle calculated from a first sensor value determined by a distance sensor of the traffic infrastructure element. Preferably, a second derivative value is determined based on the second sensor value. Preferably, the first derivative value and the first sensor value have the same relationship as the second derivative value and the second sensor value. Alternatively, preferably, the first derivative value and the first sensor value are related in a different way than the second derivative value and the second sensor value. For example, the second derivative value is a position calculated from a second sensor value detected by a GPS sensor. Further preferably, the deviation is determined as the difference between the first derivative value and the second derivative value.In this embodiment, the first and / or second message preferably contains information about the derivative values, e.g., about the method for determining the values. Furthermore, the second message preferably contains the first derivative value and the second derivative value. This advantageously results in a larger number of different sensor types of the traffic infrastructure element being able to be checked by the vehicle. It is also particularly advantageous that sensors of the traffic infrastructure element can be checked whose type is not installed in the vehicle.
[0016] In a further preferred embodiment, the first message comprises sensor-based information relating to a plurality of vehicles. The sensor-based information preferably comprises first sensor values and / or first derivative values derived from the first sensor values. The first message comprises, for example, a current traffic scenario, i.e., information about all vehicles located in the vicinity of the traffic infrastructure element. The method preferably further comprises the step of determining vehicle-related information based on the first message. As a further step, the method in the preferred embodiment comprises determining the deviation based on the vehicle-related information and the second sensor value.In this preferred embodiment of the method of a vehicle, the information relevant for a check of the traffic infrastructure element is advantageously selected independently by the vehicle from a large number of pieces of information. In particular, the information can advantageously also be obtained from messages that were not created and sent for the purpose of the check, such as CPMs, which are regularly exchanged between various participants in the autonomous driving system. In a likewise preferred embodiment of the method of a vehicle, in a further method step, further sensor values received from the traffic infrastructure element are corrected based on the deviation. Preferably, further derivative values received from the traffic infrastructure element are also corrected based on the deviation.In this way, the data received from the traffic infrastructure element can advantageously be used by the vehicle even if they are known to be erroneous, in particular by correcting the errors by the vehicle itself.
[0017] Also preferably, in the method, further first messages are evaluated only if the deviation falls below a predetermined first threshold. Preferably, all further messages sent by the traffic infrastructure element are evaluated only if the deviation falls below the first threshold. In this way, messages from a traffic infrastructure element known to be particularly faulty are advantageously not processed, leading to increased vehicle safety.
[0018] A second aspect of the present disclosure relates to a method of a traffic infrastructure element. As a first step, the method comprises transmitting a first message to at least one vehicle. Preferably, first messages are transmitted to a plurality of vehicles. The first message is preferably transmitted directly or indirectly. Preferably, the first message is transmitted via direct communication according to the ITS-G5 and / or the C-V2X standard and / or via indirect communication via a backend. Particularly preferably, the first message is a collective perception message (CPM) according to the standard ETSI TR 103 562 or ETSI TS 103 324. The first message is based on a first sensor value that can be determined by the traffic infrastructure element. Preferably, the first message contains information about the first sensor value. Preferably, the first message is the first message previously described in the method of a vehicle.
[0019] In a further step, the method of a traffic infrastructure element comprises receiving a second message from the at least one vehicle. Second messages are preferably received from a plurality of vehicles. The second message is based on a second sensor value detected by the at least one vehicle and corresponding to the first sensor value. The second message preferably contains the second sensor value. The second message is preferably transmitted via a different form of communication than the first message. The second message is preferably the second message previously described in the method of a vehicle.
[0020] In the method of a traffic infrastructure element according to the present disclosure, messages are advantageously received that relate to corresponding sensor values from vehicles and from the traffic infrastructure element and can be used to measure the quality of the traffic infrastructure element. The received messages can also advantageously be used to measure the quality of the vehicles.
[0021] In a preferred embodiment, the method of a traffic infrastructure element comprises, as a further method step, determining a deviation based on the second message and a first sensor value detected by the sensor. Preferably, an offset between the first and second sensor values is detected and / or an overestimation or underestimation of confidence values is determined on the basis of the first and second sensor values. Preferably, the detection of the offset and / or the overestimation or underestimation is based on a plurality of first and second sensor values. Particularly preferably, the deviation is determined on the basis of the detected offset and / or the detected overestimation or underestimation. Furthermore, the second message preferably comprises the second sensor value, and the deviation is determined as the difference between the first sensor value and the second sensor value. The deviation is thus advantageously calculated in a particularly simple manner.With the preferred embodiment of the method, the traffic infrastructure element can thus advantageously check its own sensor values that are of concern.
[0022] Also preferably, the second message includes a second derivative value based on the second sensor value. For example, the second derivative value is a position calculated from a second sensor value detected by a GPS sensor of the vehicle. Preferably, the method further comprises determining a first derivative value based on the first sensor value. Preferably, the first derivative value and the first sensor value have the same relationship as the second derivative value and the second sensor value. Alternatively, preferably, the first derivative value and the first sensor value are related in a different way than the second derivative value and the second sensor value. The first derivative value is, for example, a position of the vehicle calculated from a first sensor value determined by a distance sensor of the traffic infrastructure element.More preferably, the deviation is determined as the difference between the first derivative value and the second derivative value. In this embodiment, the first and / or second message preferably contains information about the derivative values, e.g., about the method for determining the values. This advantageously results in a larger number of different sensor types of the traffic infrastructure element being able to be checked. It is also particularly advantageous that sensors of the traffic infrastructure element can be checked whose type is not installed in the vehicle.
[0023] In a further preferred embodiment, the first message comprises a first sensor value detected by the sensor. The second message preferably comprises a deviation based on the second sensor value detected by the at least one vehicle and the first sensor value. In other words, the deviation is preferably determined by the vehicle and received by the traffic infrastructure element with the second message. Thus, the computational effort for determining the deviation is advantageously performed in the vehicle. It is further advantageous that the first sensor value and / or the second sensor value do not have to be transmitted via the second message, thereby saving resources.
[0024] The method preferably further comprises the step of aggregating the deviations as deviation data in a memory of the traffic infrastructure element. The deviation data is preferably based on calculations by the traffic infrastructure element and / or the vehicle. In other words, the deviations aggregated as deviation data were calculated by the at least one vehicle and transmitted with the second message and / or determined by the traffic infrastructure element itself.
[0025] Furthermore, in the method for a traffic infrastructure element, a further step preferably involves determining a mean deviation based on the deviation data. The mean deviation is preferably determined as a mean or a median of the deviations. The preferred embodiment allows the quality measurement of the traffic infrastructure element to be advantageously performed based on a plurality of deviations, which leads to a lower susceptibility to errors.
[0026] In a preferred embodiment, the method for a traffic infrastructure element further comprises the step of triggering maintenance of the traffic infrastructure element based on the deviation data. For this purpose, the average deviation is preferably compared with a predefined second limit value. Maintenance of the traffic infrastructure element is preferably triggered if the average deviation exceeds the second limit value. This advantageously ensures that particularly faulty traffic infrastructure elements are removed from service and repaired. This has the advantage of increasing the safety of the entire autonomous driving system.
[0027] The method preferably also comprises, as a further step, correcting further sensor values detected by the sensor of the traffic infrastructure element. The sensor values are preferably corrected based on the deviation data. Preferably, the sensor values are corrected until a triggered maintenance has been carried out. In this way, it is advantageously ensured that, once the problem has been detected, no more erroneous sensor values are provided by the traffic infrastructure element before maintenance can be carried out.
[0028] A further aspect of the present disclosure relates to a vehicle, in particular a passenger car with an internal combustion engine, electric motor, or hybrid engine. The vehicle has a sensor, preferably a first sensor. The first sensor is configured to detect a sensor value, preferably a second sensor value as described above. The vehicle further comprises a communication module configured for wireless communication with a traffic infrastructure element. Furthermore, the vehicle has a control unit configured to carry out the previously described vehicle method.
[0029] Preferred embodiments of the vehicle according to the present disclosure correspond to preferred embodiments of the method of a vehicle according to the disclosure, as described above. Advantages of the vehicle correspond to the advantages of the method of a vehicle, as described above.
[0030] A further aspect of the present disclosure relates to a traffic infrastructure element. The traffic infrastructure element has a sensor, preferably a second sensor. The second sensor is configured to detect a sensor value, preferably a first sensor value as described above. Furthermore, the traffic infrastructure element has a communication unit configured for wireless communication with a vehicle. The traffic infrastructure element further has a memory configured to store a plurality of data items. Furthermore, the traffic infrastructure element has a control unit configured to carry out the previously described method of a traffic infrastructure element.
[0031] Preferred embodiments of the traffic infrastructure element according to the present disclosure correspond to preferred embodiments of the method of a traffic infrastructure element according to the disclosure, as described above. Advantages of the traffic infrastructure element correspond to the advantages of the method of a traffic infrastructure element, as described above.
[0032] Another aspect of the disclosure relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a vehicle, cause the computer to carry out the method of a vehicle as described above.
[0033] A further aspect of the disclosure relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a traffic infrastructure element, cause the computer to carry out the method of a traffic infrastructure element as described above.
[0034] Further preferred embodiments of the invention emerge from the remaining features mentioned in the subclaims.
[0035] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.
[0036] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show:
[0037] Figure 1 shows a method of a vehicle according to a preferred embodiment of the present disclosure;
[0038] Figure 2 shows a method of a traffic infrastructure element according to a preferred
[0039] Embodiment of the present disclosure; Figure 3 shows an exemplary application case for the method of a vehicle and the method of a traffic infrastructure element according to preferred embodiments of the present disclosure;
[0040] Figure 4 shows a vehicle and a traffic infrastructure element according to preferred
[0041] Embodiments of the present disclosure and
[0042] Figure 5 shows another example application of the vehicle and the
[0043] Traffic infrastructure element according to preferred embodiments of the present disclosure.
[0044] Figure 1 shows a method of a vehicle, in particular a passenger car with an internal combustion engine, electric motor or hybrid engine, according to a preferred embodiment of the present disclosure.
[0045] The method comprises, as method step S101, receiving a first message from a traffic infrastructure element. In particular, the first message is a collective perception message (CPM) according to the ETSI TR 103 562 or ETSI TS 103 324 standard. The first message is based on a first sensor value that can be determined by the traffic infrastructure element.
[0046] As a further method step S102, the method comprises determining a second sensor value. The second sensor value is determined corresponding to the first sensor value. In particular, both sensor values relate to the vehicle and are determined by at least one radar, lidar, sonar, GPS, odometry, inertial, and / or camera sensor of the vehicle or the traffic infrastructure element.
[0047] In a further method step S103, a second message is transmitted to the traffic infrastructure element. The second message is based on the second sensor value determined in the previous method step S102.
[0048] Figure 2 shows a method of a traffic infrastructure element according to a preferred embodiment of the present disclosure. As a first step S201, the method comprises transmitting a first message to at least one vehicle. In particular, the first message is a collective perception message (CPM) according to the standard ETSI TR 103 562 or ETSI TS 103 324 and is transmitted to a plurality of vehicles. The first message is based on a first sensor value that can be determined by the traffic infrastructure element. In particular, the first message is the first message received in step S101 of the method of a vehicle, as described above.
[0049] In a further method step S202, the method comprises receiving a second message from the at least one vehicle. The second message is based on a second sensor value detected by the at least one vehicle and corresponding to the first sensor value. In particular, the second message is the second message transmitted to a vehicle in step S103 of the method, as described above.
[0050] Figure 3 shows an exemplary application case for the method of a vehicle 1 and the method of a traffic infrastructure element 2 according to preferred embodiments of the present disclosure.
[0051] In the first method step S201, a first message 111 is sent by the traffic infrastructure element 2 to the vehicle 1, and in the second method step S101, the first message 111 is received by the vehicle 1. The method is also carried out, in particular, by other vehicles 4, 5 located within reception range of the traffic infrastructure element. In particular, the first message 111 is a collective perception message (CPM) according to the ETSI TR 103 562 or ETSI TS 103 324 standard. The first message 111 is based on a first sensor value that can be determined by the traffic infrastructure element. In particular, the first message 111 contains the first sensor value.
[0052] In a third method step S102, the vehicle 1 determines a second sensor value corresponding to the first sensor value. In particular, both sensor values refer to the vehicle 1 and are determined by at least one radar, lidar, sonar, GPS, odometry, inertial, and / or camera sensor of the vehicle 1 or the traffic infrastructure element 2.
[0053] In a fourth method step S103, a second message 112 is transmitted to the traffic infrastructure element 2 and received by it in a further method step S202. The second message contains the second sensor value determined in the third method step S102. In a fifth method step S104, the vehicle 1 determines a deviation between the first sensor value and the second sensor value. The deviation is determined in particular as the difference between the first sensor value and the second sensor value. In addition, further sensor values received by the traffic infrastructure element 2 are corrected based on the deviation.
[0054] In a further method step S203, the traffic infrastructure element 2 also determines a deviation based on the second message 112 and the first sensor value. In particular, the traffic infrastructure element 2 reads the second sensor value from the second message 112 and determines the deviation as a difference between the first and second sensor values.
[0055] In the eighth method step S204, the traffic infrastructure element 2 aggregates the deviations as deviation data in a memory. Based on the deviation data, the traffic infrastructure element 2 then triggers maintenance in a ninth method step S205. In particular, the traffic infrastructure element 2 determines an average deviation based on the deviation data, for example, as a mean or a median of the deviations, and triggers maintenance if the average deviation exceeds a predefined limit.
[0056] The traffic infrastructure element 2 then corrects, in a tenth method step S206, further sensor values recorded by the sensor of the traffic infrastructure element 2 until the maintenance has been carried out.
[0057] Figure 4 shows a vehicle 1 and a traffic infrastructure element 2 according to preferred embodiments of the present disclosure.
[0058] The vehicle 1 has a plurality of sensors 11, 12, 13, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The sensors 11, 12, 13 are designed to capture environmental data of the vehicle 1 and include, for example, a camera for capturing an image of a traffic situation in front of the vehicle 1, distance sensors, such as ultrasonic sensors, for detecting distances to objects or other vehicles in the vicinity of the vehicle 1, or GPS sensors. The sensors 11, 12, 13 transmit the environmental data they capture to a control unit 40 of the vehicle 1. The control unit 40 according to the present disclosure is designed to carry out the method of a vehicle according to the present disclosure, as described above. For this purpose, the control unit 40 has an internal memory 41 and a CPU 42, which communicate with one another, for example via a suitable data bus.Furthermore, the control unit 40 is in communication connection with at least the sensors 11, 12, 13 and a communication module 30, for example via one or more respective CAN connections, one or more respective SPI connections or other suitable data connections.
[0059] The communication module 30 consists of a memory 31 and one or more transceivers 32. The transceiver 32 is a radio, WLAN, GPS, or Bluetooth transceiver or the like, in particular a transceiver designed for communication in a network 3. The transceiver 32 communicates with the internal memory st of the communication module 30, for example, via a suitable data bus. The communication module 30 also communicates with the control unit 40, in particular sending data received to it and / or receiving data to be sent from it. Furthermore, the communication module 30 is configured to communicate with a communication unit 50 of a traffic infrastructure element 2 via V2I communication, in particular via a network 3.In addition, the communication module 30 can also be configured to communicate with one or more participants of an autonomous driving system, such as servers or other vehicles.
[0060] The network 3 is preferably a network according to the 3GPP standard, for example an LTE, LTE-A (4G) or 5G communication network. The network 3 can further be configured for the following operations or according to the following standards: High Speed Packet Access (HSPA), a Universal Mobile Telecommunication System (UMTS), UMTS Terrestrial Radio Access Network (UTRAN), evolved-UTRAN (e-UTRAN), Global System for Mobile communication (GSM), Enhanced Data rates for GSM Evolution (EDGE), GSM / EDGE Radio Access Network (GERAN). Alternatively or additionally, the network 3 can also be designed according to one of the following standards: Worldwide Interoperability for Microwave Access (WIMAX) network IEEE 802.16, Wireless Local Area Network (WLAN) IEEE 802.11.In addition, the network 3 preferably uses one of the following coding methods: Orthogonal Frequency Division Multiple Access (OFDMA), Time Division Multiple Access (TDMA), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), Frequency Division Multiple Access (FDMA) or Spatial Multiple Access (SDMA), etc. The communication unit 50 of the traffic infrastructure element 2 consists of a memory 51 and one or more transceivers 52. The transceiver 52 is a radio, WLAN, GPS or Bluetooth transceiver or the like, in particular a transceiver configured for communication in a network s. The transceiver 52 communicates with the internal memory st der.
[0061] Communication unit 50, for example via a suitable data bus. The communication unit 50 further communicates with a control unit 60 of the traffic infrastructure element 2, for example via one or more respective CAN connections, one or more respective SPI connections, or other suitable data connections, in particular to transmit data received thereto and / or to receive data to be sent therefrom.
[0062] Furthermore, the traffic infrastructure element 2 has a plurality of sensors 21, 22, 23, in particular a fourth sensor 21, a fifth sensor 22, and a sixth sensor 23. The sensors 21, 22, 23 are designed to capture data related to the vehicle 1 and include, for example, a camera for capturing an image of a traffic situation around the vehicle 1, distance sensors such as ultrasonic sensors, or GPS sensors. The sensors 21, 22, 23 transmit the sensor data they capture to the control unit 60 of the traffic infrastructure element 2.
[0063] The control unit 60 according to the present disclosure is configured to execute the method of a traffic infrastructure element according to the present disclosure as described above. For this purpose, the control unit 60 comprises a memory 61 and a CPU 62 that communicate with each other, for example, via a suitable data bus.
[0064] Figure 5 shows another exemplary application of the vehicle and the traffic infrastructure element according to preferred embodiments of the present disclosure.
[0065] The traffic infrastructure element 2 detects a first sensor value 101, in particular a position 101 of the vehicle 1. The traffic infrastructure element 2 further sends a first message 111 to the vehicle 1. The first message 111 is based on the first
[0066] Sensor value 101. The vehicle 1 also detects its position as a second sensor value 102 and determines a deviation 103 based on the first and second sensor values 101, 102. The vehicle 1 also sends a second message 112 to the traffic infrastructure element 2. The second message 112 contains the deviation 103.
[0067] List of reference symbols
[0068] 1 vehicle
[0069] 2 Transport infrastructure element
[0070] 3 Network
[0071] 4 second vehicle
[0072] 5 third vehicle
[0073] 11 first sensor
[0074] 12 second sensor
[0075] 13 third sensor
[0076] 101 first sensor value
[0077] 102 second sensor value
[0078] 103 Deviation
[0079] 111 first message
[0080] 112 second message
[0081] 21 fourth sensor
[0082] 22 fifth sensor
[0083] 23 sixth sensor
[0084] 30 Communication module
[0085] 31 internal memory
[0086] 32 transceivers
[0087] 40 Control unit
[0088] 41 internal memory
[0089] 42 CPU
[0090] 50 communication unit
[0091] 51 internal memory
[0092] 52 transceivers
[0093] 60 control unit
[0094] 61 storage
[0095] 62 CPU
[0096] S101 second process step 5102 third process step
[0097] 5103 fourth procedural step
[0098] 5104 fifth procedural step
[0099] 5201 first procedural step
[0100] 5202 sixth procedural step
[0101] 5203 seventh process step
[0102] 5204 eighth process step
[0103] 5205 ninth process step
[0104] 5206 tenth process step
Claims
Patent claims 1 . Method of a vehicle (1, 4, 5), comprising the steps: Receiving (S101) a first message (111) from a traffic infrastructure element (2), wherein the first message (111) is based on a first sensor value (101) that can be determined by the traffic infrastructure element (2); Determining (S102) a second sensor value (102) corresponding to the first sensor value (101); and Transmitting (S103) a second message (112) to the traffic infrastructure element (2), wherein the second message (112) is based on the second sensor value (102).
2. Method of a vehicle (1, 4, 5) according to claim 1, further comprising the step: Determining a deviation (103) between the first sensor value (101) and the second sensor value (102), wherein the first message (111) comprises the first sensor value (101) and the second message (112) is based on the deviation (103).
3. A method of a vehicle (1, 4, 5) according to claim 2, wherein the first message (111) comprises sensor-based information relating to a plurality of vehicles (1, 4, 5), further comprising the steps: Determining information related to the vehicle (1, 4, 5) based on the first message (111); and Determining the deviation (103) on the basis of the information relating to the vehicle (1, 4, 5) and the second sensor value (102).
4. Method of a vehicle (1, 4, 5) according to claim 2 or 3, further comprising the step: Correcting (S104) further sensor values received from the traffic infrastructure element (2) based on the deviation (103).
5. Method of a transport infrastructure element (2), comprising the steps: Transmitting (S201) a first message (111) to at least one vehicle (1, 4, 5), wherein the first message (111) is based on a first sensor value (101) that can be determined by a sensor (21, 22, 23) of the traffic infrastructure element (2); Receiving (S202) a second message (112) from the at least one Vehicle (1, 4, 5), wherein the second message (112) is based on a second sensor value (102) detected by the at least one vehicle (1, 4, 5) and corresponding to the first sensor value (101).
6. Method of a traffic infrastructure element (2) according to claim 5, further comprising the step: Determining (S203) a deviation (103) based on the second message (112) and a first sensor value (101) detected by the sensor (21, 22, 23).
7. A method of a traffic infrastructure element (2) according to claim 5 or 6, wherein the first message (111) comprises a first sensor value (101) detected by the sensor (21, 22, 23), and the second message (112) comprises a deviation (103) based on the second sensor value (102) detected by the at least one vehicle (1, 4, 5) and the first sensor value (101); and / or wherein the method further comprises the step (S204) of aggregating the deviations (103) as deviation data in a memory (61).
8. A method of a traffic infrastructure element (2) according to claim 7, further comprising the steps, based on the deviation data: Triggering (S205) maintenance of the traffic infrastructure element (2), and / or Correcting (S206) further sensor values detected by the sensor (21, 22, 23).
9. Vehicle (1, 4, 5), comprising a sensor (11, 12, 13) designed to detect a sensor value, a communication module (30) designed for wireless communication with a traffic infrastructure element (2), and a control unit (40) designed to carry out the method of a vehicle (1, 4, 5) according to one of claims 1 to 4.
10. Traffic infrastructure element (2), comprising a sensor (21, 22, 23) designed to detect a sensor value; a communication unit (50) designed for wireless communication with a vehicle (1, 4, 5), a memory (61) designed to store a plurality of data, and a control unit (60) designed to carry out the method of a Transport infrastructure element (2) according to one of claims 5 to 8.