METHOD FOR OPTIMIZING A SURROUNDINGS MODEL

Abstract

A method for optimizing a surroundings model by at least one control unit, measured data being received from a first sensor set and at least one second sensor set. The first sensor set includes a first scanning area, and the second sensor set includes a second scanning area, the first scanning area and the second scanning area partially overlapping in an overlap area. A surroundings model is created for each sensor set based on the received measured data of the particular sensor set. The at least two surroundings models are compared to one another based on the overlap area and being verified. The at least two surroundings models are combined into an optimized surroundings model. A system, a control unit, a computer program, and a machine-readable memory medium, are also described.

Claims

1-10. (canceled)

11. A method for optimizing a surroundings model by at least one control unit, the method comprising: receiving measured data being received from a first sensor set, and receiving measured data from at least one second sensor set, the first sensor set including a first scanning area, and the second sensor set including a second scanning area, the first scanning area and the second scanning area partially overlapping in an overlap area; creating a respective surroundings model for each of the first sensor set based on the measured data from the first sensor set and each of the at least one second sensor set base based on the measured data from the at least one second sensor set; comparing the respective surroundings models to one another and verifying the respective surrounding models, the comparing and verifying being based on the overlap area; and combining the respective surroundings models into an optimized surroundings model.

12. The method as recited in claim 11, wherein the first sensor set and the least one second sensor set are situated in one vehicle or in different vehicles.

13. The method as recited in claim 11, wherein an inaccuracy of the received measured data at least in the overlap area is reduced by combining the respective surroundings models.

14. The method as recited in claim 11, wherein, as a result of the combination of the respective surroundings models, an expanded scanning area is mapped by the optimized surroundings model, which corresponds to the first scanning area and the second scanning area.

15. The method as recited in claim 11, wherein the measured data of the first sensor set and the at least one second sensor set and/or data of the respective surroundings models are exchanged between at least two control units via a communication link.

16. The method as recited in claim 11, wherein the comparison, the verification and/or the combination of the respective surroundings models into the optimized surroundings model is carried out by at least one vehicle-external or vehicle-internal control unit.

17. The method as recited in claim 11, wherein the respective surroundings model of the first sensor set and/or the respective surroundings model of the second sensor set, is completed, corrected and/or expanded by combining the respective surrounding models.

18. A control unit configured to optimize a surroundings model by at least one control unit, the control unit configured to: receive measured data being received from a first sensor set, and receive measured data from at least one second sensor set, the first sensor set including a first scanning area, and the second sensor set including a second scanning area, the first scanning area and the second scanning area partially overlapping in an overlap area; create a respective surroundings model for each of the first sensor set based on the measured data from the first sensor set and each of the at least one second sensor set base based on the measured data from the at least one second sensor set; compare the respective surroundings models to one another and verify the respective surrounding models, the comparing and verifying being based on the overlap area; and combine the respective surroundings models into an optimized surroundings model.

19. A non-transitory machine-readable memory medium on which is stored a computer program for optimizing a surroundings model by at least one control unit, the computer program, when executed by a computer, causing the computer to perform the following: receiving measured data being received from a first sensor set, and receiving measured data from at least one second sensor set, the first sensor set including a first scanning area, and the second sensor set including a second scanning area, the first scanning area and the second scanning area partially overlapping in an overlap area; creating a respective surroundings model for each of the first sensor set based on the measured data from the first sensor set and each of the at least one second sensor set base based on the measured data from the at least one second sensor set; comparing the respective surroundings models to one another and verifying the respective surrounding models, the comparing and verifying being based on the overlap area; and combining the respective surroundings models into an optimized surroundings model.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG. 1 shows a schematic top view onto a system for illustrating a method according to an example embodiment of the present invention.

[0030] FIG. 2 shows a schematic diagram for illustrating the method according to one exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0031] FIG. 1 shows a schematic top view onto a system 1 for illustrating a method 2 according to the present invention. System 1 includes a first vehicle 4 and a second vehicle 6. Both vehicles 4, 6 may be designed as vehicles operable in an automated manner, which create a surroundings model for planning and carrying out actions. Two vehicles 4, 6 are shown for illustration purposes, however system 1 may include an arbitrary number of vehicles.

[0032] First vehicle 4 includes a first control unit 8. First control unit 8 is connected to a first sensor set 10. First sensor set 10 may, for example, include a LIDAR sensor and one or multiple radar sensor(s). Control unit 8 may, in particular, receive and evaluate measured data of first sensor set 10.

[0033] Moreover, first control unit 8 is connected to a machine-readable memory medium 12, which is used to store data and on which, for example, a computer program executable by first control unit 8 may be stored to carry out method 2.

[0034] Second vehicle 6 includes a second control unit 14, which is connected to a second sensor set 16 in a data-conducting manner. In this way, second control unit 14 may receive measured data from second sensor set 16.

[0035] According to the exemplary embodiment, second sensor set 16 is situated at the rear of second vehicle 6. Furthermore, a second machine-readable memory medium 18 is provided, which is readable by second control unit 14.

[0036] Second machine-readable memory medium 18 may be configured similarly to first machine-readable memory medium 12. For example, second sensor set 16 may include LIDAR sensors and camera sensors.

[0037] The two control units 8, 14 may exchange data and pieces of information with one another via a wireless communication link 20. Moreover, control units 8, 14 may communicate with a vehicle-external control unit 22 via wireless communication link 20 and also exchange data and pieces of information.

[0038] First sensor set 10 is configured to scan a first scanning area 24. A second scanning area 26 is scanned by second sensor set 16. First scanning area 24 and second scanning area 26 include an overlap area 28 in which they overlap one another. The measured data of sensor sets 10, 16 are thus present redundantly in overlap area 28.

[0039] Scanning areas 24, 26 are partially concealed or shadowed by adjoining vehicles 30. Scanning areas 24, 26 and the effect of vehicles 30 are schematically illustrated.

[0040] FIG. 2 shows a schematic diagram for illustrating method 2 according to one exemplary embodiment. Method 2 is used to optimize a surroundings model by at least one control unit 8, 14, 22.

[0041] In one step, measured data 31 are received from a first sensor set 10 and measured data 32, 33 are received from at least one second sensor set 16. According to the exemplary embodiment, the measured data are exchanged between control units 8, 14, 22 via a communication link 20. Communication link 20 may, for example, be a WLAN, GSM, LTE or a similar wireless link. The measured data preferably have a shared time basis or are ascertained in a synchronized manner.

[0042] Sensor sets 10, 16 each include a scanning area 24, 26, which overlap in an overlap area 28.

[0043] In one further step, a surroundings model 34, 35, 36 is created for each sensor set 10, 16 based on the received measured data 31, 32, 33 of the particular sensor set 10, 16. This may take place by the vehicle-side control units 8, 14.

[0044] The at least two surroundings models 34, 35, 36 are, for example, compared to one another based on overlap area 28 and are verified. In particular, an overlap area between the first two surroundings models 34, 35 and an overlap area between every further pair of surroundings models 35, 36 may be used for the comparison and verification.

[0045] In the process, a comparison, verification and/or combination of the at least two surroundings models 34, 35, 36 result(s) in an optimized surroundings model 37. This step may be carried out by the vehicle-side control units 8, 14 or by the vehicle-external control unit 22. In this way, the at least two surroundings models 34, 35, 36 may be combined into an optimized surroundings model 37.

[0046] The arrows illustrate a possible feedback of the optimized surroundings model 37 to improve the respective surroundings models 34, 35, 36 of sensor set 10, 16.