Method and device for a motor vehicle for comparing surrounding area map data to surrounding area sensor data to determine the passability of a road object

Abstract

A method for operating at least one vehicle relative to at least one passable object in a surrounding area of the at least one vehicle includes inputting map data values from a map, the map data values including the at least one passable object in the form of first object data values; recording surrounding area data values, which represent the surrounding area of the at least one vehicle and include the at least one passable object in the form of second object data values; reconciling the input map data values with the recorded surrounding area data values in accordance with predefined first comparison criteria; and operating the at least one vehicle as a function of the reconciliation of the data values.

Claims

1. A method for operating a vehicle relative to a passable object in a surrounding area of the vehicle, the method comprising: inputting map data values from a map, the map data values including first object data values representing the passable object; recording, via sensors on the vehicle, second object data values representing the surrounding area, including the passable object; reconciling the input map data values with the second object data values in accordance with predefined first comparison criteria; and operating the vehicle as a function of the reconciliation; wherein in the reconciling, to compare the first object data values to the second object data values, the first object data values include an object in the form of radar values that are already recorded in advance by another vehicle, and wherein the operation of the vehicle is performed based on a height of the vehicle in view of the reconciliation, and wherein the height of the vehicle is obtained by at least one of the sensors on the vehicle.

2. The method of claim 1, wherein the passable object is an object underneath which the vehicle can pass.

3. The method of claim 1, wherein the object is a bridge or a tunnel.

4. The method of claim 1, wherein the first object data values representing the passable object are recorded sensor data.

5. The method of claim 1, wherein the reconciliation includes determining whether the passable object is at least temporarily passable or impassable for the vehicle.

6. The method of claim 5, wherein the operating includes controlling or executing an emergency braking as a driving assistance function in response to a recognition that the passable object is temporarily impassible.

7. The method of claim 1, wherein the map data values are updated with regard to the passable object.

8. The method of claim 1, wherein the operating includes controlling or executing a driving assistance function of the vehicle based on the reconciliation.

9. The method of claim 8, wherein the operating includes controlling or executing an emergency braking as the driving assistance function in response to a recognition, in the reconciliation, that the passable object is temporarily impassible.

10. A device for operating a vehicle relative to a passable object in a surrounding area of the vehicle, comprising: sensors, wherein the sensors are configured to record first object data values representing the surrounding area, including the passable object; and a processor configured to perform the following: obtaining map data values of a map, the map data values including second object data values representing the passable object; reconciling the input map data values with the first object data values in accordance with predefined first comparison criteria; and controlling an operation of the vehicle as a function of the reconciliation; wherein in the reconciling, to compare the first object data values to the second object data values, the first object data values include an object in the form of radar values that are already recorded in advance by another vehicle, and wherein the operation of the vehicle is performed based on a height of the vehicle in view of the reconciliation, and wherein the height of the vehicle is obtained by at least one of the sensors on the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a vehicle that incorporates a transmitting device according to an example embodiment of the present invention.

(2) FIG. 2 shows a situation where a method is advantageously usable according to an example embodiment of the present invention.

(3) FIG. 3 is a flowchart that illustrates a method according to an example embodiment of the present invention.

DETAILED DESCRIPTION

(4) FIG. 1 shows a vehicle 100 that includes a device 110 according to an example embodiment of the present invention. The device thereby includes first means 111 for inputting 310 map data values from a map 120. The map 120 can thereby be both part of the device, as well as already stored in the vehicle 100 in a way that allows map 120 to be accessed by first means 111. The map can thereby be stored, for example, in the form of data values on a corresponding storage medium.

(5) First means 111 are primarily designed for inputting 310 object data stored in map 120 as first object data values.

(6) Furthermore, the device includes second means 112 for recording 320 surrounding area data values. They include sensors 101 which can be both an integral part of the device 110, as well as of the vehicle 100. The second means are thereby designed to allow access to the recorded data values of sensors 101 of vehicle 100 and use thereof for the method according to the present invention.

(7) The sensors are video, lidar, radar, and/or ultrasonic sensors, for example. Other sensors, which are suited for capturing an object in surrounding area 250 of vehicle 100, can also be used for this purpose. Moreover, GPS and/or other position-finding sensors can be used, which can be both an integral part of device 110, as well as an integral part of vehicle 100. They can be used, for example, to determine objects more reliably and/or more rapidly on the basis of knowledge of the vehicle location by accessing two-dimensional map 120, for example, to compare the object to already stored objects and to identify the same.

(8) The second means are primarily designed to use sensors 101 to record 320 objects in the form of second object data values.

(9) Third means 113 make it possible to compare 330 the first object data values to second object data values. This can be accomplished, for example, by the first object data values including an object in the form of radar values that are already recorded in advance by another vehicle, for example. The second object data values thereby include the same object that is to be expected in the surrounding area 250 of vehicle 100, for example, on the basis of the location knowledge of vehicle 100, likewise in the form of radar values that were actually recorded by radar sensors 101.

(10) At this stage, these data values are compared 330 in that differences in both data records, for example, are sought and identified as such. This is accomplished by appropriate computer programs that are likewise included in third means 113.

(11) Following the reconciliation 330 of the first and second object data values by third means 113, the reconciliation results are transmitted to fourth means 114.

(12) Furthermore, third means 113 are thereby designed to enable map 120 to be updated once the first and second object data values are reconciled 330 when it is determined, for example, that the second object data values are recognized as being consistently correct in comparison to the first object data values.

(13) This can occur, for example, when sensors 101 of vehicle 100 detect a bridge that is not yet stored in map 120.

(14) Fourth means 114 can be both an integral part of device 110, as well as an integral part of vehicle 100, for example, in the form of a control unit that is designed for performing driving assistance functions, such as emergency-braking maneuvers. The reconciliation results are thereby forwarded in a way that enables the driving assistance function to use the results to appropriately adapt and influence the maneuvers thereof to be performed.

(15) FIG. 2 shows a situation where the method according to the present invention is advantageously used. Vehicle 100 approaches a passable object 200, here in the form of a bridge to be passed underneath. In principle, object 200 to be passed underneath can be any object whose structure can lead to a limited operation of sensors 101, which, because of the structure, are not able to fully detect surrounding area 250 of the vehicle, specifically detect it in a way that makes possible a safe and/or reliable operation of vehicle 100. In this context, it can also be a tunnel or an overhanging mountain wall, the road running underneath the overhang. In this instance, the height of vehicle 100 also plays a special role and can likewise be considered. This is done, for example, in that, following reconciliation 330, the height of vehicle 100 is additionally recorded by appropriate sensors 101, and the information about the height is transmitted as additional information to fourth means 114.

(16) In the situation shown here exemplarily, an object 210, which prevents a safe passage of vehicle 100, is located underneath the bridge in the lane of vehicle 100. Since this object 210 is located underneath the bridge, it is hardly possible for it to be recorded by the sensors of vehicle 100, and it is recognized as a danger. At this stage, reconciling the recorded second object data values with the first input object data values makes it possible for object 210 to be recognized due to a difference in the data values, whereby the operation 340 of vehicle 100 can be adapted accordingly. In the case of a non-automated vehicle, this can be effected, for example, by already preparing certain safety systems, such as an airbag or an emergency braking system, to ensure that the systems are available as quickly as possible in the case that a driver of vehicle 100 fails to brake. In the case of an automated vehicle, the trajectory, for example, can be adapted (taking into account the existing traffic) and vehicle 100 can be controlled to drive around object 210.

(17) Moreover, it can occur that an object 200, such as the bridge, for example, is altogether recognized as an obstacle, since, for example, the area underneath the bridge is perceived as being so dark that a video sensor recognizes the actual passage possibility as an obstacle. At this stage, reconciliation 330 of the first and second object data values can result here in operation 340 of vehicle 100 being adapted in such a way that no unnecessary emergency braking is triggered, rather vehicle 100 is able to pass underneath the bridge without any problems.

(18) On the basis of a flowchart, FIG. 3 shows an exemplary embodiment of the method according to the present invention. The method begins in step 300. In step 301, the at least one vehicle 100 approaches a passable object 200. This can be realized by a passable object in two-dimensional map 120 being recognized as such, for example, in the manner of a navigation system recognizing a bridge. It is also possible that a passable object be recognized by sensors 101 of vehicle 100 detecting such an object 200 in surrounding area 250 of vehicle 100. In addition, both methods can be used for a mutual plausibility check.

(19) In step 310, first object data values, which include the passable object, are input from map 120. In step 320, sensors 101 record second object data values, which likewise include passable object 200. In step 330, the first object data values are compared to the second object data values.

(20) As a function of the comparison performed in step 330, the at least one vehicle 100 is operated in step 340 in such a way that it is determined whether or not there is a danger for the at least one vehicle 100 and or for the occupants thereof upon passing passable object 200. If such a danger exists, step 341 follows; and if there is no danger, the method ends with step 350.

(21) In step 341, safety systems, such as an airbag or an emergency braking system, for example, are prepared for a potential collision.

(22) In step 342, the decision is made as to whether an emergency braking is to be already initiated and, if indicated, is also initiated. If an emergency braking is initiated, step 350 follows, and the method ends. If the decision is made that there is no need to initiate an emergency braking, step 320 follows since sensors 101 can be able to better detect passable object 200 in response to the at least one vehicle 100 approaching passable object 200 and thus evaluate the situation more efficiently or accurately on the basis of reconciliation 330.

(23) The method ends in step 350.