Method and apparatus for verifying distance measurements - Patents.com

Abstract

To efficiently and reliably check the adequacy of distance measurement in order to improve the quality of a vehicle's driving function based on the adequacy of distance measurement. A method for checking a distance measurement of a vehicle's distance to an object during an approach process of the vehicle to the object, the method comprising: determining 401 distance measurements at two successive path points on a roadway to the object based on ambient data of ambient sensors of the vehicle, - determining 402 an odometer-based route section between two successive route points based on motion data of a motion sensor of the vehicle; - determining 403 a goodness value for the goodness of the distance measurement based on the path section; and - making the vehicle's functions dependent on the determined value of the degree of well-being 404 Includes.

Description

[Technical field]

[0001] The present invention relates to a method and a corresponding device for verifying sensor-based, in particular camera-based, distance measurements in a vehicle. [Background technology]

[0002] The vehicle is equipped with one or more surrounding sensors (in particular one or more cameras), which are configured to detect surrounding data about the surroundings (in the direction of travel ahead) of the vehicle. Based on the surrounding data, it is possible to detect a signaling unit (e.g. a traffic sign or a traffic light) located ahead. Based on the surrounding data, it is also possible to determine the distance of the detected signaling unit from the vehicle. The vehicle can then be operated depending on the measured distance of the viewed signaling unit, for example to bring about automatic braking at the stop line of the detected signaling unit.

[0003] Distance measurements based on ambient data, in particular based on monocular camera data, can have measurement errors, which can impair driving functions that are operated based on the distance measurements. Summary of the Invention [Problem to be solved by the invention]

[0004] The present description is concerned with the technical problem of efficiently and reliably checking the goodness of distance measurements, in particular in order to improve the quality of the driving functions of a vehicle based on the goodness of the distance measurements. [Means for solving the problem]

[0005] The problem is solved by each independent claim. Advantageous embodiments are set out in particular in the dependent claims. It is to be pointed out that the additional features of the claims dependent on an independent claim may form an independent invention from the combination of all the features of the independent claim, either without the features of the independent claim or only in combination with some of the features of the independent claim, which may be made for the subject matter of an independent claim, a divisional application or a subsequent application. This also applies to technical suggestions given in the description, which may form an independent invention from one of the features of the independent claims.

[0006] According to one aspect, an apparatus (or control unit) is described for checking distance measurements of a (motorized) vehicle's distance to an object during the process of the vehicle's approach to the object. The object may be a signal unit, in particular a signal light installation (e.g. a traffic light) or a traffic sign (e.g. a stop sign).

[0007] The device is configured to determine distance measurements at two successive path points on the roadway to the object, respectively based on ambient data of one or more ambient sensors of the vehicle. The one or more ambient sensors of the vehicle may include (possibly only one and / or possibly just one) camera, in particular a monocular camera. The ambient data may include one (possibly only one) or multiple camera images detected by the (possibly one) camera of the vehicle. In particular, in determining distance measurements based only on a camera image of one monocular camera, the distance measurements may have a relatively large measurement error.

[0008] The device is also configured to determine a path section based on odometer measurements between two successive path points based on motion data of one or more motion sensors of the vehicle. The one or more motion sensors of the vehicle may include wheel rotation speed sensors and / or speed sensors of the vehicle. In this case, the motion data may indicate the motion of the vehicle in the longitudinal and / or lateral directions (e.g. along the x-axis and / or y-axis of the vehicle). It is then possible to take into account the position of the vehicle in the x / y plane of the vehicle and / or about the z-axis (i.e. about the height axis). Thus, the path section of the vehicle 100 along which the vehicle travels in the x / y plane can be precisely determined. In particular, the curvature of the path section can be precisely taken into account.

[0009] Furthermore, the device is configured to determine a goodness value for the goodness, in particular the goodness of the accuracy, of the distance measurement value based on the odometer-based path section. The device can in particular be configured to determine the change in the distance measurement value at two successive path points. For example, it is possible to determine the difference between both distance measurements. The goodness value can then be determined with particular high precision depending on the change, in particular depending on the difference, the distance measurement value, for example depending on a comparison of the change in the distance measurement value with the odometer-based path section.

[0010] Therefore, to check the goodness, and in particular the accuracy, of the (camera-based) distance measurements, it is possible to take into account data based on odometer measurements, thus allowing an efficient and reliable verification of the distance measurements.

[0011] The device can also be configured to operate the vehicle, in particular a function of the vehicle, depending on the determined value of the goodness measure, whereby it can be decided whether or not the distance measurement is taken into account in the operation of the vehicle, in particular in the operation of the function of the vehicle, depending on the determined value of the goodness measure.

[0012] For example, the device can be configured to operate a driving function (e.g. a (following) distance controller and / or a speed controller and / or an emergency braking function) for at least partially automated longitudinal and / or lateral driving of the vehicle depending on the determined value of the goodness. The device can in particular be configured to bring about automated braking of the vehicle at the object (if the goodness indicates a sufficiently high goodness of the distance measurement) or to prevent said braking (if the goodness indicates an insufficient goodness of the distance measurement) depending on the determined value of the goodness. Thus, a particularly reliable operation of the driving function can be enabled.

[0013] x n-1 Let x be the distance measurement at path point n-1, and n may be the distance measurement at path point n that follows (directly and / or indirectly) path point n-1 during the approach process. Δ n-1,n Let n be the odometer-measured route segment between route points n-1 and n.

[0014] The device measures the change in measurement x n-1,n =(x n-1 -x n ) and the change in measurement x n-1,n The route section Δ n-1,n and the goodness value can be specified particularly precisely depending on the comparison and can in particular be (iteratively) adapted.

[0015] The device may, for example, measure a change in measurement x n-1,n and route section Δ based on odometer measurement n-1,n The difference between n-1,n It is possible to configure the method to identify the difference d n-1,n The difference (particularly the magnitude of the difference) can be compared to a difference threshold, and a goodness value can be determined, and in particular increased or decreased, depending on the comparison to the difference threshold. For example, the device can n-1,nto increase the goodness value if the value of is less than the difference threshold, and / or n-1,n It can be configured to reduce the goodness value if σ is greater than the difference threshold in value. In such a case, a high goodness value represents a high goodness, in particular a high accuracy, of the distance measure, and a low goodness value represents a low goodness of the distance measure. It should be noted that the meaning of the goodness values ​​can be the exact opposite. In that case, the (iterative) adaptation of the goodness values ​​and / or the evaluation of the goodness values ​​is performed correspondingly inversely.

[0016] The device measures the change in measurement x n-1,n is the route section Δ n-1,n Alternatively, or in addition, the device may be configured to change the goodness value more (i.e., to a larger fit value) the less the measurement change x n-1,n is the route section Δ n-1,n The betterness value can be configured to be changed more (i.e., to a larger fit value) the more different it is from the original, thus providing a particularly accurate indicator of the accuracy of the distance measurement.

[0017] As already mentioned above, the goodness value can be iteratively adapted during the approach process. In this case, the goodness value can be initialized by an initial value at the beginning of the approach process and can be iteratively adapted during the approach process. In particular, the device can be configured to determine, during the approach process, for a series of mutually consecutive path points n (n>1), a distance measurement value at each path point n (based on the surrounding data for each path point n) and a measurement change x with respect to the distance measurement value at the (directly) preceding path point n-1. n-1,n It is possible to identify

[0018] The device also calculates a route section Δ between successive route points n and n−1 based on odometer measurements. n-1,n(based on the respective associated motion data of one or more motion sensors). n-1,n The route section Δ n-1,n and depending on the respective comparison, the goodness value can be iteratively adapted (by the respective adaptation value), in particular increased or decreased, so that the goodness of the distance measurement during the approach process can be evaluated particularly precisely.

[0019] The device may be configured to take into account one or more other metrics in determining the goodness value. Exemplary metrics include: - the vehicle's speed, The time between two measurement points and / or path points n, n+1 that are directly successive to each other and / or The (absolute) value of the vehicle's distance from the object It is.

[0020] The determined value of goodness can be further refined by considering one or more additional measurements.

[0021] The device can in particular be configured to determine a weight value with which each adaptation value of the goodness measure can be weighted (in particular increased (multiplied)) during the iterative adaptation of the goodness measure values. The weight value can then depend on one or more of the above-mentioned measurement quantities. For example, the weight value can be decreased with an increase in the travel speed of the vehicle, increased with an increase in the time between two directly successive measurement points and / or path points and / or increased with a decrease in the (absolute) value of the distance of the vehicle from the object. Thus, the accuracy of the determined goodness measure values ​​can be efficiently increased.

[0022] The device can be configured to iteratively adapt the goodness value at successive path points during the approach process and to limit said goodness value to a range of values ​​between a minimum and a maximum value, such that the goodness value during the approach process can respond immediately to changes in the goodness of the distance measurement, and thus such changes in goodness can be detected immediately.

[0023] The device can thus be configured to adapt, in particular increase or decrease, the goodness value at each path point starting from the goodness value at the (directly and / or indirectly) preceding path point in a series of successive path points during the approach process to the detected object. The goodness value at each path point can be compared with at least one threshold value and depending on the comparison it can be determined whether the distance measurement at each path point is of sufficiently high goodness for use in the operation of the vehicle function.

[0024] The device may be particularly configured to compare the goodness value at each path point with an upper threshold, and if the goodness value is equal to or greater than the upper threshold, determine that the distance measurement at each path point has a sufficiently high goodness (and therefore can be taken into account in the operation of the vehicle's functions).

[0025] The device may also be configured to determine that the distance measurements at one or more subsequent path points each have a sufficiently high goodness so long as the goodness value is greater than a lower threshold, which is less than an upper threshold, and after falling below the lower threshold, the goodness of the distance measurements may be classified as insufficient (unless the goodness value is (newly) greater than or equal to the upper threshold).

[0026] By comparison of the goodness with a specified value threshold, a particularly accurate and stable classification of the goodness of the distance measurement is possible.

[0027] According to another aspect, there is described a (road vehicle) motor vehicle (in particular a car or a lorry or a bus or a motorcycle) comprising an apparatus as described herein.

[0028] According to another aspect, a method for checking distance measurements of a (motorized) vehicle to an object during the approach of the vehicle to the object is described. The method comprises determining distance measurements at two successive path points on a roadway to the object, respectively, based on ambient data of one or more ambient sensors of the vehicle. The object can then be detected based on the ambient data of the one or more ambient sensors. The method further comprises determining an odometer-based path section between two successive path points based on motion data of one or more motion sensors of the vehicle, and determining a goodness value for the goodness of the distance measurements based on the odometer-based path section. Then, the distance measurements can be checked based on the goodness value. The method also comprises operating the vehicle, in particular a function of the vehicle, depending on the determined goodness value.

[0029] According to another aspect, a software (SW) program is described, the software program being configurable to execute in a processor (e.g., in a vehicle controller) and thereby to perform the methods described herein.

[0030] According to another aspect, a storage medium is described. The storage medium can include a software program configured to execute on a processor and thereby perform the methods described herein.

[0031] It should be noted that the methods, devices and systems described herein can be used alone or in combination with other methods, devices and systems described herein. Furthermore, aspects of the methods, devices and systems described herein can be combined with each other in various ways. In particular, the features of the claims can be combined in various ways. Also, features shown in parentheses should be understood to be optional features.

[0032] The present invention will be described in detail below with reference to examples. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 illustrates exemplary components of a vehicle. [Diagram 2] FIG. 2 shows an exemplary driving situation in which a vehicle drives towards a signal unit. [Figure 3a] FIG. 2 illustrates an example distance measurement upon approaching an object. [Figure 3b] FIG. 1 illustrates exemplary measures of goodness and associated limits and / or thresholds. [Figure 3c] FIG. 13 illustrates an exemplary change in goodness value upon approaching an object. [Figure 4] FIG. 1 illustrates a flowchart of an exemplary method for validating a distance measurement. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] As explained at the beginning, the present description relates to an efficient and reliable check of the goodness of sensor-based distance measurements, in particular in order to improve the goodness of the driving function of the vehicle based on the distance measurements. In this context, Fig. 1 shows an exemplary vehicle 100 including one or more surrounding sensors 102 (e.g. cameras, lidar sensors, radar sensors, ultrasonic sensors) configured to detect surrounding data relating to the surroundings of the vehicle 100. A (control) device 101 of the vehicle 100 can be configured to recognize objects (in particular signaling units) arranged in front of the vehicle in the direction of travel based on the surrounding data of the one or more surrounding sensors 102.

[0035] Based on the surrounding data it is also possible to determine distance measurements for the distance of an object from the vehicle 100 (or for the distance of the vehicle 100 from the object). For example, based on images detected by a camera it is possible to recognize a signal unit (e.g. a traffic light or a traffic sign). Based on the images, and under the assumption of a typical real size of the signal unit, it is also possible to determine distance measurements based on the images, in particular based on the size of the signal unit in the images.

[0036] The vehicle 100 may further comprise one or more longitudinal and / or lateral driving actuators 103 (e.g. a drive engine (drive motor), a braking device and / or a steering device). To provide driving functions of the vehicle, in particular driver assistance functions, the (control) device 101 may be configured to activate (control) the one or more actuators 103 depending on detected objects and / or depending on determined distance measurements. For example, it may be possible to cause an automated deceleration of the vehicle 100 based on the distance measurements, such that the vehicle 100 is stopped before reaching or at the object.

[0037] 2 shows an exemplary driving situation where a vehicle 100 is driving towards a signal unit 200 (generally towards an object) on a roadway 201. The vehicle 100 has a distance and / or a certain gap 202 to the signal unit 200, which distance or gap becomes smaller and smaller as the vehicle approaches.

[0038] The quality of distance measurements determined based on the ambient data of one or more ambient sensors 102 may be compromised, particularly in the case of relatively small objects, such as for example traffic light units, which may impair the driving functionality of the vehicle 100 for which the distance measurements are used.

[0039] The vehicle 100 may include one or more motion sensors 104 configured to detect motion data relating to the motion of the vehicle 100. Exemplary motion sensors 104 are an inertial measurement unit, an acceleration sensor, a wheel rotation speed sensor, a speed sensor. The (control) device 101 may be configured to determine, based on the motion data of the one or more motion sensors 104, a path section that the vehicle 100 follows when approaching the signal unit 200. A path section determined based on the motion data may be called an odometry-based path section, since an odometry technique (especially using wheel rotation speed measurements) can be used to determine the path section. It is then possible to determine the path section that the vehicle 100 follows, in particular between successive measurement points of distance measurements.

[0040] When approaching the signal unit 200, distance measurements can be repeatedly determined on the basis of the surrounding data at successive measurement or route points. This is exemplarily illustrated in Fig. 3a. In particular, Fig. 3a shows the time progression of the (actual) distance of the vehicle 100 from the signal unit 200 during the approach process of the vehicle 100. Here, the dotted line shows how the actual distance 202 decreases with increasing route section 301 travelled by the vehicle 100 (a different (larger) scale has been chosen for the distance 202 in Fig. 3a).

[0041] During the approach process, distance measurements 302 can be repeatedly determined at a series of successive path points and / or measurement points 303, where the distance measurements 302 for the path points 303 differ from the actual distance 202 (e.g. at least minimally due to measurement noise).

[0042] The path section to be traveled between two path points 303 can be determined based on motion data of one or more motion sensors 104. In particular, for a path section between two path points 303, a path section 304 based on odometer measurements can be determined. Here, the path section between two path points 303 may change due to, for example, changes in the speed of the vehicle 100 (if the measurements 302 are detected with a fixed measurement frequency).

[0043] The odometer-based path segments 304 determined during the approach process can be used to check the goodness of the determined distance measurements 302. For this purpose, goodness values ​​can be iteratively reversed during the approach process, the goodness values ​​representing the goodness of the distance measurements 302 (at each path point 303).

[0044] As exemplarily illustrated in Fig. 3b, the goodness 310 can take values ​​on a linear scale, in particular between a minimum value 312 (e.g. 0) and a maximum value 311 (e.g. 10). It is also possible to define one or more thresholds 313, 314 against which the value of the goodness 310 can be compared to determine whether the distance measurement 302 has a sufficiently large goodness (for use in the driving function). For example, an upper threshold 313 and a lower threshold 314 can be defined. If the value of the goodness 310 is equal to or greater than the upper threshold 313, the distance measurement 302 can be classified as sufficiently accurate. On the other hand, if the value of the goodness 310 is equal to or less than the lower threshold 314, the distance measurement 302 can be classified as insufficient.

[0045] When a signal unit 200 is detected and a first distance measurement 302 is determined at a first path point 303, the goodness measure 310 can be initialized by an initial value (e.g. halfway between the minimum value 312 and the maximum value 311). In this case, it is possible to determine the actual distance measurements 302 successively at each path point 303 on approach to the signal unit 200, as illustrated in Figures 3a and 3c.

[0046] The distance measurement value 302 for the path point n 303 is x n and the odometer-based route segment 304 between route points n-1 and n can be expressed as Δ n-1,n Then, at the path point n 303, the distance measurements 302x n-1,n =(x n-1 -x n ) between these two route points 303 based on the odometer measurement of the route section 304Δ n-1,n In particular, the route section 304Δ based on the measurement changes and odometer measurements can be compared to n-1,n The difference between n-1,n =x n-1,n -Δ n-1,n It is possible to identify the difference d n-1,n If x is smaller in (absolute) value than a predefined difference threshold, the goodness 310 value is (distance measure x n 302) can be increased. On the other hand, the difference d n-1,n If is greater in (absolute) value than a predefined difference threshold, the goodness 310 value is (distance measure x n 302) can be reduced.

[0047] As already mentioned above, in an alternative example, the scale of the goodness 310 values ​​can be reversed, such that a relatively small value of the goodness 310 represents a relatively high goodness and / or a relatively large value of the goodness 310 represents a relatively low goodness. In this case, the difference d n-1,n If is smaller in value than a given difference threshold, then (distance measure xn It is possible to reduce the value of the goodness 310 (to represent a higher goodness of the difference d n-1,n If is greater in value than a predefined difference threshold, the goodness 310 value is (distance measure x n 302) can be augmented.

[0048] In some cases, the goodness of fit of the goodness 310 value is the difference d n-1,n The value of the goodness 310 may depend on the absolute value of the difference d n-1,n On the other hand, in some cases, the value of the goodness 310 may be increased (or alternatively decreased) by a factor of d n-1,n The greater the absolute value of may be reduced (or alternatively increased). When the value of goodness 310 reaches a maximum value 311, it may be possible to prevent further increases in the value of goodness 310. Correspondingly, it may be possible to prevent further reductions in the value of goodness 310 below a minimum value 312.

[0049] Fig. 3c shows how the value of the goodness 310 (at each path or measurement point 303) is iteratively adapted during the approach process according to Fig. 3a. Also, for each individual path point 303, the value of the goodness 310 can be compared with thresholds 313, 314. If the value of the goodness 310 at a path point 303 is equal to or greater than the upper threshold 313, it can be determined that the distance measurement value 302 determined on the basis of the surrounding data has a sufficiently high goodness (and can therefore be used in the driving function). This classification can be maintained for the further course of the approach process until the value of the goodness 310 is equal to or less than the lower threshold 314. It can then be determined that the goodness of the distance measurement value 302 is insufficient. This classification can be maintained for the further course of the approach process until the value of the goodness 310 is (possibly again) equal to or greater than the upper threshold 413.

[0050] As explained at the beginning, when using optical sensors (cameras) 102 that are not configured stereoscopically, uncertainties about the determined distances may occur when positioning objects in three-dimensional space. In particular, objects 200 with relatively small end faces, such as traffic lights, may be subject to relatively large measurement errors in their positioning. The measures described herein make it possible to recognize such measurement errors at an early stage.

[0051] The distance of the object 200 can be measured based on a single lens camera (monocular camera) 200 and distance estimation based on the size of the object 200. A Kalman filter can then be used to provide recursive distance measurements 302 over time (during the approach process).

[0052] As described herein, a score 310, or goodness, can be calculated based on matching (comparing) a distance measurement 302 of an object 200 with an odometer-based path segment 304 over time (and possibly other attributes) of the distance measurement. The score 310 can be used to assess the reliability of the distance measurement 302.

[0053] The device 101 is configured to check whether the distance measurement value 302 has a sufficiently high degree of goodness during the approach to the signal light installation 200. If it is determined that the distance measurement value 302 has a sufficiently high degree of goodness, it is possible to possibly cause automatic braking of the signal light installation 200. On the other hand, if it is determined that the distance measurement value 302 does not have a sufficiently high degree of goodness, it is possible to possibly prevent automatic braking of the signal light installation 200 and to inform the driver of this via a user interface of the vehicle 100. It is thus possible to increase the reliability of the function for at least partially automated driving.

[0054] 4 shows a flow chart of an exemplary (possibly computer-implemented) method 400 for checking distance measurements 302 for a distance 202 of a vehicle 100 to an object 200 (in particular a signal unit, e.g. a signal light fixture or a traffic sign) during the process of the vehicle 100 approaching the object 200. The object 200 can be detected based on ambient data of one or more ambient sensors 102 of the vehicle 100.

[0055] The method 400 includes determining 401 a distance measurement 302 at each of two successive path points 303 on the roadway 201 to the object 200 based on ambient data (in particular possibly based only on camera data) from one or more ambient sensors 102 (in particular (just) one camera) of the vehicle 100.

[0056] The method 400 further includes identifying 402 an odometer-based route section 304 between two successive route points 303 based on motion data from one or more motion sensors 104 of the vehicle 100 (in particular based on rotation speed data from wheel rotation speed sensors).

[0057] Furthermore, the method 400 comprises determining 403 a value of goodness 310 for the goodness of the distance measurement 302 based on the odometer-based route section 304. Then, the vehicle 100, in particular the functionality of the vehicle 100, can be operated (step 404) depending on the determined value of goodness 310. Thus, the quality of the functionality of the vehicle 100 can be improved.

[0058] It should be noted that the invention is not limited to the embodiments shown, and in particular that the specification and drawings are merely illustrative of the principles of the proposed methods, devices and systems.

Claims

1. A device (101) for checking a distance measurement (302) regarding the distance (202) of a vehicle (100) to an object (200) during the process of the vehicle (100) approaching the object (200), wherein the device (101) - At two consecutive path points (303) on the roadway (201) to the object (200), distance measurement values ​​(302) are determined based on ambient data from one or more ambient sensors (102) of the vehicle (100), - Based on motion data from one or more motion sensors (104) of the vehicle (100), a route section (304) is identified based on the measurement by the odometer between two consecutive route points (303). - Based on the route section (304) measured by the odometer, determine the value of the degree of goodness (310) regarding the goodness of the distance measurement (302), and - To operate the vehicle (100), in particular the functions of the vehicle (100), in a manner that depends on a specified value of the goodness (310). A device (101) characterized by being configured in this way.

2. The aforementioned device (101) - To identify the change in distance measurement values ​​(302) at the two adjacent path points (303), and - The value of the degree of goodness (310) is determined depending on the change in the distance measurement value (302), and in particular depending on a comparison of the change in the distance measurement value (302) with the route section (304) based on the measurement by the odometer. The apparatus (101) according to claim 1, characterized by its configuration.

3. -x ｎ－１ This is the distance measurement (302) at path point n-1 (303), -x ｎ However, this is the distance measurement value (302) at the path point n(303) following the path point n-1(303) during the approach process, -Δ ｎ－１，ｎ However, the route section (304) is based on the measurement by the odometer between the route point n-1 and n(303), - The device (101) - Change in measured value x ｎ－１，ｎ = (x ｎ－１ -x ｎ ) to identify - Change in the measured value x ｎ－１，ｎ The route section Δ based on the measurement by the aforementioned odometer ｎ－１，ｎ (304) and - In order to determine the value of the degree of goodness (310) based on the comparison, The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

4. The aforementioned device (101) - the measured value change x ｎ－１，ｎ and the path section Δ ｎ－１，ｎ based on the measurement by the travel distance meter (304), ｎ－１，ｎ identify the difference d -The difference d ｎ－１，ｎ Compare it to the difference threshold, and - Depending on the comparison with the difference threshold, the value of the goodness (310) is to be increased or decreased in particular to determine the value. The apparatus (101) according to claim 3, characterized by its configuration.

5. The aforementioned device (101) - The aforementioned difference d ｎ－１，ｎ If the value of is smaller than the difference threshold, increase the value of the goodness (310), and / or - The aforementioned difference d ｎ－１，ｎ If the value is greater than the difference threshold, the value of the goodness (310) is reduced. The apparatus (101) according to claim 4, characterized by its configuration.

6. The aforementioned device (101) - Change in the measured value x ｎ－１，ｎ The value of the route section Δ is based on the measurement by the odometer. ｎ－１，ｎ The less it differs from (304), the greater the value of the goodness (310) should be changed, especially the greater the value should be increased, and / or - Change in the measured value x ｎ－１，ｎ The value of the route section Δ is based on the measurement by the odometer. ｎ－１，ｎ The more it differs from (304), the greater the change in the value of the goodness (310), especially the greater the reduction. The apparatus (101) according to claim 3, characterized by its configuration.

7. The device (101), during the approach process, at a series of interconnected path points n(303), - To identify the distance measurement (302) at each path point n (303), - The change in the measured value x relative to the distance measurement value (302) at the preceding path point n-1 (303) ｎ－１，ｎ To identify, - Path section Δ based on measurements taken by a odometer between mutually consecutive path points n and n-1 (303) ｎ－１，ｎ (304) to be identified, - Change in each of the above measured values ​​x ｎ－１，ｎ The route section Δ based on measurements by each of the aforementioned odometers ｎ－１，ｎ (304) and - Depending on each comparison, the value of the goodness (310) is repeatedly adjusted, particularly to increase or decrease. The apparatus (101) according to claim 3, characterized by its configuration.

8. The apparatus (101) according to claim 7, characterized in that the apparatus (101) is configured to iteratively adjust the value of the goodness (310) at a series of mutually consecutive path points (303) during the approach process, and to limit the value of the goodness (310) to a range between a minimum value (312) and a maximum value (311).

9. The device (101), during the approach process, at a series of interconnected path points (303), - Using the value of goodness (310) at the preceding path point (303) as a starting point, adjust the value of goodness (310) at each path point (303), particularly increasing or decreasing it. - Compare the value of goodness (310) at each of the path points (303) with at least one threshold (313, 314), and - To determine, by comparison, whether the distance measurement values ​​(302) at each of the aforementioned path points (303) are sufficiently good for use in the operation of the vehicle (100) The apparatus (101) according to claim 1 or 2, characterized by being configured as follows.

10. The aforementioned device (101) - Compare the value of the quality (310) at each of the aforementioned path points (303) with the upper threshold (313), and - If the value of the goodness score (310) is equal to or greater than the threshold (313) above, it is determined that the distance measurement value (302) at each of the path points (303) has a sufficiently high goodness score. The apparatus (101) according to claim 9, characterized by being configured as follows.

11. The apparatus (101) according to 10, wherein the apparatus (101) is configured to determine that the distance measurement values ​​(302) at one or more subsequent path points (303) are each sufficiently good, as long as the goodness value (310) is greater than the lower threshold (314), and the lower threshold (314) is smaller than the upper threshold (313).

12. The device (101) according to claim 1 or 2, characterized in that the device (101) is configured to operate the driving functions for longitudinal and / or lateral driving of the vehicle (100) which are at least partially automated, depending on a specified value of the goodness (310).

13. The apparatus (101) according to claim 12, characterized in that the apparatus (101) is configured to bring about or prevent automated braking of the vehicle (100) on the object (200) depending on a specified value of goodness (310).

14. - The one or more surrounding sensors (102) of the vehicle (100) include a camera, in particular a monocular camera, - The surrounding data includes one or more camera images detected by the camera of the vehicle (100), and / or - The one or more motion sensors (104) of the vehicle (100) include a vehicle (100) wheel rotation speed sensor and / or speed sensor. The apparatus (101) according to claim 1 or 2, characterized by the above.

15. A method (400) for checking a distance measurement (302) for the distance (202) of a vehicle (100) to an object (200) during the process of the vehicle (100) approaching the object (200), wherein the method (400) is - At two consecutive path points (303) on the roadway (201) to the object (200), distance measurement values ​​(302) are determined (401) based on the surrounding data of one or more surrounding sensors (102) of the vehicle (100). - Based on motion data from one or more motion sensors (104) of the vehicle (100), identify the route section (304) based on the measurement by the odometer between two consecutive route points (303) (402), - Based on the route section (304) measured by the odometer, determine the value of the degree of goodness (310) regarding the goodness of the distance measurement (302) (403), and - To operate the vehicle (100), in particular the functions of the vehicle (100), depending on a specified value of the goodness (310) (404) A method (400) characterized by including the following.

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