Method for providing an inspection report for a vehicle

Abstract

In order to simplify the provision of an inspection report (PB) for a vehicle (1), and thereby in particular to reduce the effort involved in a periodic inspection of the vehicle (1), the invention relates to a method wherein vehicle sensor data (FSD) is compared with reference sensor data (RSD) by an evaluation unit (4) in order to determine a difference between the vehicle sensor data (FSD) and the reference sensor data (RSD), wherein the inspection report (PB) for the vehicle (1) is generated by the evaluation unit (4), and the determined difference between the vehicle sensor data (FSD) and the reference sensor data (RSD) is indicated in the inspection report (PB), wherein the generated inspection report (PB) is made accessible to an external device (6) on an external storage unit (7), or the generated inspection report (PB) is transmitted directly to an external device (6) and made available there.

Description

[0001] Procedure for providing a vehicle inspection report

[0002] Technical field of the invention

[0003] The present invention relates to a method for providing a test report for a vehicle, wherein the method comprises at least the following steps: detecting the vehicle in a detection range of an external vehicle detection sensor, wherein the vehicle detection sensor detects at least one position and one orientation of the vehicle relative to a reference reference system of an external reference sensor unit; transmitting the detected position and orientation of the vehicle to an evaluation unit; acquiring reference sensor data relative to the reference reference system in a reference detection range with the external reference sensor unit and transmitting the acquired reference sensor data to the evaluation unit; acquiring vehicle sensor data relative to a vehicle reference system of the vehicle in a vehicle detection range with a vehicle sensor unit of the vehicle;Transmitting the acquired vehicle sensor data and at least one piece of information describing the vehicle's reference system to the evaluation unit; transforming the transmitted vehicle sensor data from the vehicle reference system into the reference reference system or transforming the transmitted reference sensor data from the reference reference system into the vehicle reference system based on the transmitted position and orientation of the vehicle and the transmitted at least one piece of information describing the vehicle's reference system by the evaluation unit;The evaluation unit compares the vehicle sensor data transformed into the reference reference system with the reference sensor data, or vice versa, to determine a difference between the vehicle sensor data and the reference sensor data. Furthermore, the present invention also relates to a use of the provided vehicle test report and an arrangement for providing a vehicle test report.

[0004] State of the art

[0005] During a periodic technical inspection of a vehicle, for example at a vehicle repair shop, the vehicle and its components are checked to determine its roadworthiness and operational safety. Following this inspection, the inspector prepares an inspection report. Based on this report, the vehicle's roadworthiness and operational safety, or its condition, is assessed, and a decision is made as to whether the vehicle is fit for road use. Periodic inspections take place repeatedly at regular intervals (legally mandated inspection intervals), with these intervals determined, for example, by the vehicle's age.

[0006] Currently, standardized tests of the vehicle's sensors used for safety and driver assistance systems are not performed as part of routine inspections such as periodic technical inspections. During the vehicle inspection, the inspector visually examines the sensors, for example, to detect stone chips in the camera's field of view, damage to radar sensors, and so on. Active warning lights on the dashboard are also checked, and the vehicle's fault memory is read electronically if necessary.

[0007] The increasing prevalence of vehicles with (now legally mandated) safety and assistance systems, as well as highly automated vehicles, necessitates more efficient testing of these systems, particularly during periodic vehicle inspections, due to the resulting high number of vehicle sensors. Several approaches exist for this purpose. For example, objects are simulated on a test bench for a vehicle, which are then detected by a vehicle sensor. This sensor could be an environmental sensor, such as a radar or lidar sensor, a vehicle camera, etc. The condition of the vehicle sensor is then checked based on the data collected from the simulated objects.

[0008] However, this approach requires complex hardware and software to simulate the objects for the vehicle sensors. Furthermore, the hardware, in particular, must be adapted to the specific vehicle being tested. For periodic inspections in a vehicle workshop, this method of determining the condition of the vehicle sensors is too time-consuming and expensive.

[0009] EP 4 191 275 A1 circumvents the simulation of objects by capturing real objects (stationary or moving) in the vicinity of the vehicle being inspected. For example, a vehicle camera captures an object, and the captured image data is compared with that of an external (second) observer (e.g., another vehicle). This allows the system to determine how the vehicle's sensors perceive the environment compared to the external observer. In the event of a detected discrepancy in perception, the vehicle's control unit issues an error message. However, to determine the condition of the vehicle sensors, particularly for periodic inspections, it remains necessary for the inspector to create a separate, time-consuming, and often manual test report, thus making periodic inspections still costly and time-consuming.

[0010] It is therefore an object of the present invention to simplify the provision of a test report for a vehicle, in particular for a test report for a vehicle sensor, and thereby in particular to reduce the effort involved in checking the vehicle.

[0011] According to the invention, the problem is solved by the evaluation unit creating a test report of the vehicle, wherein the test report lists the determined difference between the vehicle sensor data and the reference sensor data, and wherein the created test report is made accessible to an external device on an external storage unit or the created test report is transmitted directly to and made available to an external device.

[0012] On the one hand, the inventive method allows the vehicle's sensor units to be tested jointly and automatically, i.e., without user intervention, thereby reducing the effort required, particularly during periodic technical inspections. Furthermore, the evaluation unit performs an independent and reproducible determination of the vehicle sensor units' condition. On the other hand, the inventive method enables the vehicle's test report to be provided to an external device in advance, thus eliminating the need for the inspector to perform the check or troubleshooting separately, especially during inspections such as periodic technical inspections.The relevant information for assessing the condition of the vehicle sensors is already available in the provided test report, which allows for better advance planning of, for example, periodic inspections and vehicle repairs.

[0013] The information transmitted, preferably at least one part, describing the vehicle's reference system is the position of an origin of the vehicle reference system on the vehicle, the orientation of the vehicle reference system relative to the vehicle, and the type of vehicle reference system. This allows the evaluation unit to accurately describe the vehicle reference system for the transformation.

[0014] Preferably, the evaluation unit identifies at least one reference object in the reference sensor data and checks whether the reference object is also present in the vehicle sensor data. The absence of this reference object in the vehicle sensor data is then used to determine the difference between the vehicle sensor data and the reference sensor data. By using real reference objects in the sensor data to generate the test report, the need for complex object simulations is eliminated. This significantly reduces costs and effort, particularly during periodic technical inspections and when generating the test report.

[0015] If at least one reference object is identified in both the reference sensor data and the vehicle sensor data, the evaluation unit preferably determines at least one identical object property, particularly preferably an object type, position, or motion parameter, from both the vehicle sensor data and the reference sensor data and compares the determined object properties to identify any deviation in the same object property as the difference between the vehicle sensor data and the reference sensor data. This can also increase the scope of the test report. The verification can be improved by using the object properties, especially the position data, and determining a deviation, e.g., target / actual position in meters or degrees.

[0016] Preferably, the external reference sensor unit is used in a vehicle repair shop or on road traffic infrastructure, preferably at a gas station, toll plaza, parking garage, border crossing, or at critical points in the road network, preferably at an intersection. The fact that the external reference sensor unit can be used in different locations also increases the flexibility and availability of the method, as the method can be carried out at multiple locations.

[0017] Preferably, an environmental sensor, preferably a camera, a radar sensor, a lidar sensor, and / or an ultrasonic sensor, is used as both the vehicle sensor unit and the reference sensor unit. The correct functioning of these vehicle sensors is particularly crucial in autonomous vehicles, and the method according to the invention can reliably provide a test report.

[0018] The reference sensor unit is preferably also used as the external vehicle detection sensor. This reduces the complexity of the process.

[0019] The test report provided by the inventive method is particularly advantageous for determining the condition of at least one vehicle sensor unit. This eliminates the need for the inspector to perform a separate check or troubleshooting procedure during periodic vehicle inspections to determine the condition of the vehicle sensor unit. This reduces the effort required for periodic vehicle inspections. The inventive method is especially advantageous when there are a large number of vehicle sensors, such as those used for autonomous driving. In addition to radar sensors, cameras and lidar sensors, which are otherwise difficult or impossible to test in a workshop environment, can also be tested.

[0020] Additionally, it is advantageous to repair at least one of the vehicle's sensor units based on its determined condition. Because repairs can begin immediately based on this condition, the time required, for example during vehicle servicing, is significantly reduced.

[0021] Preferred embodiments of the arrangement according to the invention for providing a test report of a vehicle are described in claims 10 and 11.

[0022] The present invention is explained in more detail below with reference to Figures 1 to 3, which show exemplary, schematic, and non-limiting advantageous embodiments of the invention.

[0023] Fig. 1 shows basic components of the method according to the invention, Fig. 2 shows a preferred embodiment of the components, and Fig. 3 shows a schematic sequence of the method.

[0024] Figure 1 shows the basic components for carrying out the method according to the invention. For the purposes of describing the invention, a passenger car (PC) serves as the vehicle 1 to be tested. Of course, the method is not limited to PCs, but is also applicable to trucks (HGVs), buses, motorhomes, etc. The vehicle 1 can, for example, be controlled by a driver or it can be an autonomous (driverless) vehicle.

[0025] The vehicle 1 comprises at least one vehicle sensor unit 5. The vehicle sensor unit 5 has a number of individual vehicle sensors which form a vehicle detection area FD of the vehicle sensor unit 5. The vehicle detection area FD is the area in which the vehicle sensor unit 5 can detect the environment of the vehicle 1. In Figures 1 and 2, the vehicle detection area FD is shown schematically as a cone-shaped area. Within the vehicle detection area FD, the vehicle sensor unit 5 detects the environment of the vehicle 1, including any objects located therein, as vehicle sensor data FSD. The detected vehicle sensor data FSD and the vehicle detection area FD of the vehicle sensor unit 5 depend on the specific embodiment of the vehicle sensor unit 5, for example, the type and number of vehicle sensors, but can be assumed to be given or known.For example, a plurality of individual vehicle sensors are provided in the vehicle sensor unit 5, wherein the individual vehicle sensors each acquire a portion of the vehicle sensor data (FSD). Preferably, the vehicle sensor unit 5 comprises at least one environmental sensor, such as an image-based environmental sensor (e.g., a vehicle camera) and / or a beam-based environmental sensor (e.g., a radar sensor or a lidar sensor) and / or another type of environmental sensor (e.g., an ultrasonic sensor). For example, the environment of the vehicle 1, in particular an object in the environment of the vehicle 1, is acquired by a vehicle camera as image-based vehicle sensor data (FSD) (image data) and / or by a radar sensor as signal-based vehicle sensor data (FSD).

[0026] The vehicle sensor unit 5 may include further components, e.g. a data processing unit to manipulate individual sensor data, an interface to a communication unit of the vehicle, etc.

[0027] The vehicle sensor unit 5 can be located at different points on the vehicle 1. For example, the vehicle sensor unit 5 is located in a bumper, in a windshield, at the rear, in a side mirror, etc. The location of the vehicle sensor unit 5 on the vehicle 1 influences the orientation of the vehicle detection area FD of the vehicle sensor unit 5. In one possible embodiment of the vehicle sensor unit 5, the vehicle detection area FD completely surrounds the vehicle 1 (i.e., a 360° all-round view), for example, if forward-, rear-, and sideways-oriented vehicle sensors are installed.

[0028] The vehicle sensor unit 5, or the number of individual vehicle sensors of the vehicle sensor unit 5, acquire the vehicle sensor data FSD with respect to a vehicle reference system FS of the vehicle 1. The vehicle reference system FS is preferably configured as a Cartesian coordinate system. In Fig. 1 and Fig. 2, the vehicle reference system FS is shown in two dimensions only as an example. It is also possible that a number of individual vehicle sensors of the vehicle sensor unit 5 initially each acquire the vehicle sensor data FSD with respect to their own (local) sensor reference system, wherein the vehicle sensor data FSD is transformed from the sensor reference system into the vehicle reference system FS and thus also acquired with respect to the vehicle reference system FS of the vehicle 1. For this purpose, the sensor reference system can be, for example,The vehicle reference system (FS) can be defined as a Cartesian coordinate system with a predefined origin and orientation relative to the vehicle reference system (FS). In automotive engineering, the origin of the FS is typically defined as being at the center of a rear axle of vehicle 1. Depending on the type of vehicle (e.g., vehicle model), the FS may differ or be predefined.

[0029] The method also includes a reference sensor unit 2 as a central component. The reference sensor unit 2 is located externally from the vehicle 1, preferably in a stationary position. The reference sensor unit 2, which is external to the vehicle 1, can be located, for example, in a vehicle workshop, particularly for the periodic inspection of the vehicle 1, or at road traffic infrastructure, e.g., at a petrol station, a toll plaza, in a parking garage, at a border crossing, etc., or at critical points in the road network, such as an intersection, bridge, etc.

[0030] The reference sensor unit 2 has a number of individual sensors which form a reference detection area RD of the reference sensor unit 2. The reference detection area RD is the area in which the reference sensor unit 2 can detect its surroundings. Within the reference detection area RD, the surroundings of the reference sensor unit 2, including any objects located therein, are detected as reference sensor data RSD. In Fig. 1, the reference detection area RD is shown schematically as a cone-like shape, and in Fig. 2 as a rectangular (planar) area. The detected reference sensor data RSD and the reference detection area RD of the reference sensor unit 2 depend on the specific embodiment of the reference sensor unit 2, for example, the type and number of sensors, but can be assumed to be given or known. For example, the reference sensor unit 2 includes at least one environmental sensor, such as...An image-based environmental sensor (e.g., a camera) and / or a beam-based environmental sensor (e.g., a radar sensor or a lidar sensor) and / or another type of environmental sensor (e.g., an ultrasonic sensor). In Figures 1 and 2, the reference sensor unit 2 is shown as an example camera. The reference sensor unit 2 can also include other components, such as a data processing unit (e.g., for manipulating sensor data), communication interfaces, etc.

[0031] The external reference sensor unit 2 acquires the reference sensor data RSD with respect to a predefined reference reference system RS of the reference sensor unit 2. The predefined reference reference system RS can be chosen arbitrarily. The reference reference system RS is preferably configured as a Cartesian coordinate system with a predefined coordinate origin and orientation. In Fig. 1 and Fig. 2, the reference reference system RS is shown in two dimensions only as an example. Furthermore, an external vehicle detection sensor 3 is used for the method. The vehicle detection sensor 3 has a detection range D and is configured to determine at least one position and one orientation PA of the vehicle 1 within the detection range D with respect to the reference reference system RS of the external reference sensor unit 2. The vehicle detection sensor 3 can comprise at least one position sensor, a camera, etc.For example, the orientation of the vehicle 1 in a plane (as shown in Fig. 1 and Fig. 2) can be determined based on the vehicle's longitudinal axis. The vehicle's longitudinal axis typically runs in the direction of its greatest extent, and is determined, for example, from image data captured by a camera (e.g., an external vehicle detection sensor 3) in a top view of the vehicle 1. Preferably, the detection range D of the external vehicle detection sensor 3 is many times larger than the spatial dimensions of the vehicle 1. Several sensors, such as multiple position sensors or cameras, may also be required to determine the spatial position and orientation PA of the vehicle 1.

[0032] In Fig. 1, the vehicle detection sensor 3 is shown only schematically, where the vehicle detection sensor 3 is implemented separately from the external reference sensor unit 2. Alternatively, as indicated in Fig. 2, the external reference sensor unit 2 can also be used simultaneously as the vehicle detection sensor 3. In this case, the reference detection range RD coincides with the detection range D, as shown in Fig. 2.

[0033] As shown in Fig. 1, the vehicle detection area FD of the vehicle sensor unit 5 and the reference detection area RD of the reference sensor unit 2 are aligned during a check such that they overlap at least partially within a coverage area DB. The coverage area DB depends in particular on the position and orientation PA of the vehicle 1 and on the orientation of the vehicle detection area FD of the vehicle sensor unit 5 as well as the reference detection area RD of the reference sensor unit 2. This can be achieved, for example, by a suitable arrangement and orientation of the reference sensor unit 2, for instance, under the condition or assumption of a specific position and orientation PA of the vehicle 1.

[0034] Particularly when using the method in a vehicle workshop, a predefined coverage area DB can be established through controlled conditions, such as a defined position and orientation PA of vehicle 1 and a known vehicle detection range FD as well as a known reference detection range RD (e.g., via the arrangement of vehicle 1 relative to the external reference sensor unit 2). When using the method in real traffic, for example at a gas station or toll plaza, the position and orientation PA of vehicle 1 may be at least partially restricted (e.g., by the road surface, barriers, infrastructure such as fuel pumps or charging stations, or similar). Therefore, it is advantageous that the reference detection range RD of the reference sensor unit 2 is aligned with the limitations of vehicle 1 due to its surroundings, so that a coverage area DB exists.At a toll plaza, for example, vehicle 1 is positioned in a defined stopping area in front of a barrier that is about to open, where, for example, a camera (vehicle sensor unit 5) detects the barrier. The reference sensor unit 2 can be positioned such that at least the barrier is detected within the reference detection range RD of the reference sensor unit 2.

[0035] Furthermore, an evaluation unit 4 is used for the method according to the invention. The evaluation unit 4 is preferably microprocessor-based hardware, for example a microcontroller or computer. The evaluation unit 4 can be provided as a separate external component (as shown in Fig. 1 and Fig. 2) or preferably be integrated into the external reference sensor unit 2. The evaluation unit 4 is connected to the reference sensor unit 2 via a suitable wired or wireless connection, so that the reference sensor unit 2 can transmit the acquired reference sensor data RSD to the evaluation unit 4.

[0036] As shown in Fig. 1, the evaluation unit 4 can also be connected to the vehicle detection sensor 3 if it is provided separately from the reference sensor unit 2. The vehicle detection sensor 3 transmits the detected position and orientation PA of the vehicle 1 to the evaluation unit 4 in a suitable manner, for example, wired or wirelessly. If the reference sensor unit 2 is used as the vehicle detection sensor 3, the detected position and orientation PA of the vehicle 1 can be transmitted from the reference sensor unit 2 to the evaluation unit 4 together with the reference sensor data RSD.

[0037] The evaluation unit 4 is further connected to the vehicle 1 under test via a suitable wired or wireless connection, so that, in particular, the vehicle 1 can transmit the acquired vehicle sensor data (FSD) to the evaluation unit 4. If the evaluation unit 4 is integrated into the external reference sensor unit 2, the vehicle 1 can also be connected to the reference sensor unit 2. Preferably, a wireless connection, e.g., via mobile network or WLAN, is used, as shown by the dashed arrows in Figures 1 and 2. A wireless connection is particularly advantageous away from a vehicle workshop. Preferably, if the vehicle 1 has a correspondingly compatible communication unit, a known V2X ("Vehicle-to-everything") connection, in particular a V2I ("Vehicle-to-infrastructure") connection, is established as a wireless connection with the evaluation unit 4 via WLAN or a mobile network.Alternatively, a wireless connection can also be established via a so-called dongle, which is wired to a data interface (e.g. OBD interface) of the vehicle 1 and which in turn communicates with the evaluation unit 4 via Bluetooth, WLAN or mobile network.

[0038] In addition to the acquired vehicle sensor data (FSD), at least one piece of information (FBS) describing the vehicle reference system (FS) of vehicle 1 is transmitted from vehicle 1 to the evaluation unit 4. This can be done directly, but could also be done indirectly, for example via the reference sensor unit 2 or the vehicle recognition sensor 3. The information FBS describing the vehicle reference system (FS) preferably includes the position of the origin of the vehicle reference system (FS) on vehicle 1 (e.g., center of the rear axle, geometric center of vehicle 1, etc.), the orientation of the vehicle reference system (FS) relative to vehicle 1 (e.g., relative to the vehicle's longitudinal axis), and the type of vehicle reference system (e.g., Cartesian or cylindrical).If the individual vehicle sensors of the vehicle sensor unit 5 each acquire the vehicle sensor data FSD relative to a sensor reference system, the known position of the respective sensor reference system relative to the vehicle reference system FS is also transmitted as the information FBS describing the vehicle reference system FS. It is also conceivable that the evaluation unit 4 determines the vehicle reference system FS itself based on the vehicle model and the information FBS describing the vehicle reference system FS.Crucially, the evaluation unit 4, using this information FBS, can perform a transformation of the vehicle sensor data FSD, if available, from the respective sensor reference system to the vehicle reference system FS, and from the vehicle reference system FS to the reference reference system RS, or vice versa, based on the transmitted position and orientation PA of vehicle 1 and the transmitted information FBS describing the vehicle reference system FS of vehicle 1. Performing a coordinate transformation between two reference systems, for example using transformation matrices, is within the capabilities of the average specialist, which is why it will not be discussed further below.

[0039] A key step of the method according to the invention is the comparison of the vehicle sensor data FSD with the reference sensor data RSD by the evaluation unit 4, wherein the vehicle sensor data FSD and the reference sensor data RSD are in the same reference system, for example, in the reference reference system RS or the vehicle reference system FS, which is ensured by the prior transformation. From this, a difference between the vehicle sensor data FSD and the reference sensor data RSD is determined. It is checked whether the perception of the environment by the vehicle sensor unit 5 corresponds to that of the reference sensor unit 2, or whether there is a difference between the perceptions of the two sensor units.If a difference is detected between the vehicle sensor data (FSD) and the reference sensor data (RSD), this indicates that the vehicle sensor unit 5 is faulty (e.g., incorrectly calibrated or misadjusted) or at least not fully functional. If the vehicle sensor unit 5 comprises multiple individual vehicle sensors, a difference can also be determined from the vehicle sensor data (FSD) acquired by each individual sensor, thus identifying individual faulty sensors within the vehicle sensor unit 5.

[0040] The difference between the vehicle sensor data (FSD) and the reference sensor data (RSD) can be determined, for example, by identifying whether the vehicle sensor unit 5 is recording any vehicle sensor data (FSD) at all, and / or which vehicle sensor data (FSD) is being recorded. Furthermore, the absence of at least one reference object 8 in the vehicle sensor data (FSD) can be determined as a difference between the vehicle sensor data (FSD) and the reference sensor data (RSD). To do this, the evaluation unit 4 first identifies at least one reference object 8 in the reference sensor data (RSD) and checks whether the reference object 8 is also present in the vehicle sensor data (FSD). This process can be repeated several times to determine multiple reference objects 8. Reference objects 8 to be recorded include, for example, stationary objects such as signs, buildings, etc., but also moving objects such as other vehicles, people, etc.Reference objects 8 can be identified from the acquired data. Preferably, a reference object 8 known to the external reference sensor unit 2 is identified.

[0041] The term "comparison" can also include additional processing of the vehicle sensor data (FSD) and the reference sensor data (RSD) by the evaluation unit 4. For example, the aforementioned data is further processed, filtered, etc., for comparison. Both the reference sensor data (RSD) and the vehicle sensor data (FSD) are typically acquired continuously by the respective sensor units 2 and 5. For comparing the sensor data, especially with moving objects and / or when the vehicle 1 itself is moving, it is advantageous for the evaluation unit 4 to sample the vehicle sensor data (FSD) and the reference sensor data (RSD) at the same time. This ensures, for example, that the moving object can be identified in both sets of sensor data. For stationary objects, it may be sufficient to sample the sensor data for comparison within a predefined time interval.Preferably, the procedure is carried out with a stationary vehicle 1. This also includes a vehicle 1 that is stopped for a certain period of time, e.g. at a toll plaza.

[0042] If the evaluation unit 4 determines that an identified reference object 8 is present in both the reference sensor data RSD and the vehicle sensor data FSD, the evaluation unit 4 can identify at least one identical object property of the reference object 8 in both the vehicle sensor data FSD and the reference sensor data RSD for comparison. The evaluation unit 4 compares the identified object properties to determine any deviation in the same object property as the difference between the vehicle sensor data FSD and the reference sensor data RSD.

[0043] The determinable object property of the reference object 8 naturally depends on the embodiment of the vehicle sensor unit 5 and the external reference sensor unit 2. Depending on the embodiment, different object properties can be determined from the data. Preferably, the same object property of the reference object 8 is determined to be an object type, a position, an orientation, a motion parameter such as a velocity or acceleration of the reference object 8 relative to the reference reference system RS, a radar cross section (ROS), a reflectivity, etc. Crucially, the determined object property must be comparable, and it is also possible, in principle, to determine the same object property from the acquired vehicle sensor data FSD and reference sensor data RSD from differently designed vehicle sensor units 5 and reference sensor units 2.For example, a camera is used to detect the object type and position of the reference object 8. A radar sensor detects the distance or relative movement of the reference object 8 to the vehicle sensor unit 5 and / or to the reference sensor unit 8, from which the position of the reference object 8 can then be determined. Thus, the position of the reference object 8 can be determined and compared from the sensor data acquired by the camera and the radar sensor as a single object property.

[0044] The core of the method according to the invention is the provision of a test report PB for the vehicle 1 to be tested. After the comparison has been completed and a difference between the vehicle sensor data FSD and the reference sensor data RSD has been determined, the test report PB for the vehicle 1 is first generated by the evaluation unit 4. The test report PB lists the determined difference between the vehicle sensor data FSD and the reference sensor data RSD. Preferably, a tolerance for the difference between the vehicle sensor data FSD and the reference sensor data RSD is specified, and any exceedance of the specified tolerance is recorded in the test report PB. The tolerance can, for example, be selected based on the design of the vehicle sensor unit 5. Alternatively, a tolerance can also be specified by the manufacturer of the vehicle sensor unit 5, which can then be stored in the method.

[0045] The test report PB generated by evaluation unit 4 is then sent to an external

[0046] The test report PB is made accessible on an external storage unit 7 on device 6, or the generated test report PB is transmitted directly to and made available on an external device 6. The test report PB is provided in an electronic format (e.g., as PDF, XML, etc.). In Fig.

[0047] Figures 1 and 2 schematically illustrate the two transmission paths, one of which leads directly to the external device 6. The other path leads first to the external storage unit 7, where the test report PB is accessible to the external device 6, as indicated by the dotted arrow. A server or a cloud server is preferably used as the external storage unit 7 for making the test report PB accessible to the external device 6. In Figures 1 and 2, a cloud server is schematically depicted as the external storage unit 7.

[0048] Depending on the application of the method according to the invention, a suitable external device 6 can be used. Preferably, a desktop computer or a mobile device, e.g., a tablet, smartphone, or notebook, is used as the external device 6. The external device 6, particularly as a mobile device, can be used flexibly in different locations to access the provided test report PB. Depending on the specific implementation of the method, different external devices can be used, resulting in a high degree of flexibility in the application of the method. For example, the external device 6 can also include a printer to print out the (electronic) test report PB determined and provided by the method according to the invention as a hard copy for further use.

[0049] The test report PB provided by the method according to the invention can be used to determine the condition of the at least one vehicle sensor unit 5 of the vehicle 1. For example, for a periodic technical inspection (PTI) of the vehicle 1 (e.g., in a vehicle workshop), the test report PB provided by the method is displayed on the external device 6 for an inspector performing the periodic technical inspection of the vehicle 1. The inspector can use the provided test report PB to determine the condition of the at least one vehicle sensor unit 5. The condition of the at least one vehicle sensor unit 5 can also be determined based on the provided test report PB for servicing the vehicle 1 (e.g., by a mechanic).

[0050] The vehicle sensor unit 5 of vehicle 1 can be repaired based on the determined condition of at least one vehicle sensor unit 5 (e.g., in a vehicle repair shop). The term "repair" also includes replacing, adjusting, calibrating, etc., of the vehicle sensor unit 5. For example, to calibrate the vehicle sensor unit 5, it is realigned with the vehicle reference system FS of vehicle 1 (e.g., with the vehicle reference system FS) to compensate for the difference in the recorded sensor data mentioned in test report PB. The method according to the invention can also be used for an initial calibration of the vehicle sensor unit 5. For example, a vehicle camera acting as the vehicle sensor unit 5 may have a defective lens (e.g., from a stone chip), which restricts the camera's view and limits the functionality of the vehicle sensor unit 5.This limited view is determined as a difference in the acquired sensor data in the inventive method. A mechanic can repair the faulty vehicle sensor unit 5 (e.g., by replacing the defective lens) to restore the functionality of the vehicle sensor unit 5.

[0051] Finally, Figure 3 illustrates an exemplary sequence of the inventive method with an advantageous use of the test report PB of vehicle 1 provided therein. The method is carried out in a vehicle workshop for the periodic technical inspection (PTI) of vehicle 1, wherein, accordingly, vehicle 1 is located in the workshop and the external reference sensor unit 2 is arranged in the workshop. Furthermore, a (predefined) stationary reference object 8 is provided in the reference detection range RD of the external reference sensor unit 2. Thus, the reference object 8 of the external reference sensor unit 2 is known.

[0052] As a first step S1, the vehicle 1 is positioned autonomously or by a tester performing the PTI of the vehicle 1 within the detection area D of the vehicle recognition sensor 3, preferably such that the reference object 8 is located within the vehicle detection area FD of at least one vehicle sensor unit 5 and the vehicle sensor data FSD can be acquired. The coverage area DB thus includes the reference object 8. Furthermore, a wireless connection is established between the vehicle 1 to be tested and the evaluation unit 4, so that the vehicle 1 can transmit vehicle sensor data FSD and information FBS describing the vehicle reference system FS of the vehicle 1 to the evaluation unit 4.

[0053] As a next step S2, the vehicle detection sensor 3 detects the position and orientation of the vehicle 1 with respect to the reference reference system RS of the external reference sensor unit 2 in the detection area D, whereby the detected position and orientation of the vehicle 1 is transmitted to the evaluation unit 4.

[0054] In a further step S3, the external reference sensor unit 2 acquires reference sensor data RSD from the reference detection area RD with respect to the reference reference system RS, and the acquired reference sensor data RSD is transmitted to the evaluation unit 4. In addition, preferably simultaneously in step S3, the at least one vehicle sensor unit 5 of the vehicle 1 also acquires vehicle sensor data FSD in the vehicle detection area FD of the vehicle 1 with respect to the vehicle reference system FS.

[0055] In a next step S4, the evaluation unit 4 transforms the transmitted vehicle sensor data FSD from the vehicle reference system FS into the reference reference system RS or the transmitted reference sensor data RSD from the reference reference system RS into the vehicle reference system FS on the basis of the transmitted position and orientation PA of the vehicle 1 and the information FBS describing the vehicle reference system FS of the vehicle 1.

[0056] In the comparison of the vehicle sensor data (FSD) with the reference sensor data, which are now in the same reference system, by the evaluation unit 4 in a step S5, the reference object 8 is first identified in the reference sensor data (RSD) by the evaluation unit 4 in the coverage area DB (the so-called ground truth is determined). Then it can be checked whether the reference object 8 is also present in the vehicle sensor data (FSD). If it is determined that the reference object 8 is not present in the vehicle sensor data (FSD), this is determined as a difference between the vehicle sensor data (FSD) and the reference sensor data (RSD). If the reference object 8 is also determined in the vehicle sensor data (FSD), a similar object property can be determined from the vehicle sensor data (FSD) and the reference sensor data (RSD) for comparison purposes.The comparison of the same object property has already been described, therefore a repetition is omitted here.

[0057] In the next step S6, the test report PB of vehicle 1 is then created by the evaluation unit 4, whereby the determined difference between the vehicle sensor data FSD and the reference sensor data RSD is listed in the test report PB.

[0058] In a further step S7, the generated test report PB is transmitted directly to and made available on the external device 6. In this case, the external device 6 can be a tablet used by the inspector in the vehicle workshop.

[0059] In a final (additional) step S8, the provided test report PB for the PTI of vehicle 1 is used by displaying the provided test report PB on the external device 6 for the inspector (in this case, on the tablet as external device 6). The inspector can then check the test report PB on the external device 6 (e.g., for errors, plausibility, etc.). Based on the test report PB, the inspector determines the condition of at least one vehicle sensor unit 5 of vehicle 1 to ascertain whether the vehicle sensor unit 5 requires repair and therefore needs to be further examined or repaired in the vehicle workshop. AV-4509 where

[0060] For example, the discrepancy identified in test report PB between the vehicle sensor data FSD and the reference sensor data RSD can be resolved. The tester can also send test report PB to the owner of vehicle 1.

[0061] Outside the controlled environment of a vehicle repair shop, the inventive method can also be used, for example, at a petrol station or toll station.

[0062] For example, the external reference sensor unit 2 is mounted at a gas station, and the reference detection range RD extends around the area of ​​a fuel pump or charging station. If a vehicle 1 is positioned within the detection range D of the vehicle detection sensor 3, e.g., if a driver of vehicle 1 parks it at the charging station to charge, the procedure, as already described, can be carried out automatically while vehicle 1 is charging at the charging station in order to provide the vehicle 1 test report PB.

[0063] The provided test report PB can, for example, be communicated directly to the driver of vehicle 1 or retrieved in advance during the next PTI (Process Technical Inspection) of vehicle 1 or during a service of vehicle 1. In the event of a defective vehicle sensor unit 5, it can be repaired depending on the type and extent of the defect. The test report PB provided by the method according to the invention can thus be used in various ways.

Claims

Patent claims 1. A procedure for providing a vehicle inspection report (1), wherein the procedure comprises at least the following steps: - Detection of the vehicle (1) in a detection area (D) of a vehicle detection sensor (3) external to the vehicle (1), wherein the vehicle detection sensor (3) detects at least one position and one orientation (PA) of the vehicle (1) with respect to a reference reference system (RS) of a reference sensor unit (2) external to the vehicle; - Transmitting the detected position and orientation (PA) of the vehicle (1) to an evaluation unit (4); - Acquisition of reference sensor data (RSD) related to the reference reference system (RS) in a reference detection area (RD) using the external reference sensor unit (2) and transmission of the acquired reference sensor data (RSD) to the evaluation unit (4); - Acquisition of vehicle sensor data (FSD) related to a vehicle reference system (FS) of the vehicle (1) in a vehicle detection area (FD) with a vehicle sensor unit (5) of the vehicle (1); - Transmitting the acquired vehicle sensor data (FSD) and at least one piece of information (FBS) describing the vehicle reference system (FS) of the vehicle (1) to the evaluation unit (4); - Transforming the transmitted vehicle sensor data (FSD) from the vehicle reference system (FS) into the reference reference system (RS) or transforming the transmitted reference sensor data (RSD) from the reference reference system (RS) into the vehicle reference system (RS) based on the transmitted position and orientation (PA) of the vehicle (1) and the transmitted information (FBS) describing the vehicle reference system (FS) of the vehicle (1) by the evaluation unit; - Comparing the vehicle sensor data (FSD) transformed into the reference reference system (RS) with the reference sensor data (RSD) or the reference sensor data (RSD) transformed into the vehicle reference system (FS) with the vehicle sensor data (FSD) by the evaluation unit (4) in order to determine a difference between the vehicle sensor data (FSD) and the reference sensor data (RSD), characterized in that the test report (PB) of the vehicle (1) is created by the evaluation unit (4), wherein the determined difference between the vehicle sensor data (FSD) and the reference sensor data (RSD) is stated in the test report (PB) and that the created test report (PB) is made accessible to an external device (6) on an external storage unit (7) or the created test report (PB) is transmitted directly to and made available to an external device (6).

2. Method according to claim 1, characterized in that the at least one piece of information (FBS) describing the vehicle reference system (FS) of the vehicle (1) is transmitted, including a position of an origin of the vehicle reference system (FS) on the vehicle (1), an orientation of the vehicle reference system (FS) with respect to the vehicle and the type of vehicle reference system (FS).

3. Method according to claim 1 or 2, characterized in that the evaluation unit (4) identifies at least one reference object (8) in the reference sensor data (RSD) and checks whether the reference object (8) is also present in the vehicle sensor data (FSD) in order to determine the absence of the at least one reference object (8) in the vehicle sensor data (FSD) as the difference between the vehicle sensor data (FSD) and the reference sensor data (RSD).

4. Method according to one of claims 1 to 3, characterized in that at least one reference object (8) is identified in reference sensor data (RSD) and in the vehicle sensor data (FSD), wherein the evaluation unit (4) determines at least one of the same object properties, preferably an object type, a position or a motion parameter, from the at least one reference object (8) in the vehicle sensor data (FSD) and in the reference sensor data (RSD) and compares the determined object properties with each other in order to determine a deviation in the same object property as the difference between the vehicle sensor data (FSD) and the reference sensor data (RSD).

5. Method according to one of claims 1 to 4, characterized in that the external reference sensor unit (2) is used in a vehicle workshop or on a road traffic infrastructure, preferably at a filling station, at a toll station, in a parking garage or at a border crossing, or at critical points in the road traffic network, preferably at an intersection.

6. Method according to one of claims 1 to 5, characterized in that an environmental sensor, preferably a camera, a radar sensor, a lidar sensor and / or an ultrasonic sensor, is used as the vehicle sensor unit (5) and reference sensor unit (2).

7. Method according to one of claims 1 to 6, characterized in that the reference sensor unit (2) is also used simultaneously as the external vehicle detection sensor (3).

8. Method for inspecting a vehicle (1), wherein a test report (PB) according to one of claims 1 to 7 is provided, characterized in that the The test report (PB) provided is used to determine the condition of at least one vehicle sensor unit (5) of the vehicle (1).

9. Method according to claim 8, characterized in that the at least one vehicle sensor unit (5) of the vehicle (1) is repaired on the basis of the determined condition of the at least one vehicle sensor unit (5).

10. Arrangement for providing a test report (PB) of a vehicle (1), wherein the arrangement comprises a vehicle detection sensor (3) external to the vehicle (1), a reference sensor unit (2) external to the vehicle (1), and an evaluation unit (4), wherein, when the arrangement is used, the vehicle (1) comprises the vehicle (1) which has at least one vehicle sensor unit (5), wherein the external vehicle detection sensor (3) has a detection area (D) and is configured to detect at least one position and one orientation of the vehicle (1) in the detection area (D) with respect to a reference reference system (RS) of the external reference sensor unit (2) and to transmit the detected position and orientation (PA) of the vehicle (1) to the evaluation unit (4), wherein the external reference sensor unit (2) has a reference detection area (RD) and the external reference sensor unit (2) is configured toto acquire reference sensor data (RSD) in the reference detection area (RD) with respect to the reference reference system (RS) and to transmit the acquired reference sensor data (RSD) to the evaluation unit (4), wherein the at least one vehicle sensor unit (5) of the vehicle (1) has a vehicle detection area (FD) and the at least one vehicle sensor unit (5) is configured to acquire vehicle sensor data (FSD) with respect to a vehicle reference system (FS) of the vehicle (1) in the vehicle detection area (FD), wherein the vehicle (1) is configured to transmit the acquired vehicle sensor data (FSD) and at least one piece of information (FBS) describing the vehicle reference system (FS) of the vehicle (1) to the evaluation unit (4), wherein the evaluation unit (4) is configured toto transform the transmitted vehicle sensor data (FSD) from the vehicle reference system (FS) into the reference reference system (RS) based on the transmitted position and orientation (PA) of the vehicle (1) and the transmitted at least one information (FBS) describing the vehicle reference system (FS) of the vehicle (1) into the reference detection area (RD), wherein the evaluation unit (4) is further configured to compare the vehicle sensor data (FSD) transformed into the reference reference system (RS) with the reference sensor data (RSD) in order to determine a difference between the vehicle sensor data (FSD) and the reference sensor data (RSD), characterized in that the evaluation unit (4) is further configured to generate the test report (PB) of the vehicle (1), wherein the test report (PB) contains the determined difference between the vehicle sensor data (FSD) and the reference sensor data. (RSD) and that the evaluation unit (4) is further configured to make the generated test report (PB) accessible to an external device (6) on an external storage unit (7) when the arrangement is used, or to transmit and make the generated test report (PB) directly available to an external device (6).

11. Arrangement according to claim 10, characterized in that the reference sensor unit (2) is configured to be used as the external vehicle detection sensor (3).

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