METHOD FOR ASSESSING A MEASURING INACCURACY OF AN ENVIRONMENT DETECTION SENSOR

Abstract

A method for assessing measuring uncertainties of at least one environment detection sensor of an ego vehicle is disclosed. The method includes recording an environment of the ego vehicle by means of at least one environment detection sensor; detecting at least one object which is located in a region in front of the ego vehicle in the direction of travel; specifying a sensor output of at least one environment detection sensor as a ground truth when a specifiable minimum distance between the ego vehicle and the detected object is fallen short of; calculating a position of the object in relation to the ego vehicle at an earlier point in time based on data of a system for positioning; comparing a sensor output at the earlier point in time with the calculated position of the object; and assessing the measuring inaccuracy based on a result of the comparison.

Claims

1. A method for assessing measuring uncertainties of at least one environment detection sensor of an ego vehicle, comprising: recording an environment of an ego vehicle by means of at least one environment detection sensor of the ego vehicle; detecting at least one object which is located in a region in front of the ego vehicle in a direction of travel; specifying a sensor output of at least one environment detection sensor as a ground truth when a distance between the ego vehicle and the detected object falls below a specifiable minimum distance between the ego vehicle and the detected object; calculating a position of the object in relation to the ego vehicle at an earlier point in time based on data of a system for positioning; comparing a sensor output at the earlier point in time with the calculated position of the object; and assessing a measuring inaccuracy of the at least one environment detection sensor based on a result of the comparison.

2. The method according to claim 1, wherein a real-time kinematics system or odometry system is used for positioning.

3. The method according to claim 1, wherein the object is a further road user, a feature of the surroundings or a landmark.

4. The method according to claim 1, wherein the assessed measuring inaccuracy is provided to a sensor fusion system and/or a driver assistance system.

5. The method according to claim 1, further comprising establishing at least one angle between the object and ego vehicle.

6. The method according to claim 1, wherein assessing the measuring inaccuracy further comprises considering further environmental factors.

7. The method according to claim 6, wherein the further environmental factors comprise at least one of one or more current weather conditions or a time of day.

8. A system for assessing measuring uncertainties, comprising at least one environment detection sensor, by which an environment of an ego vehicle is recorded and an object is capable of being detected, a system for positioning as well as a processor which receives a plurality of measuring uncertainties from an external computing device, and wherein the computing device is configured to determine a measuring uncertainty from the plurality of measuring uncertainties, based on the sensor data.

9. The system according to claim 8, wherein the system for positioning is a real-time kinematics system or odometry system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Further advantageous configurations of the present disclosure are the subject-matter of the drawings, wherein:

[0036] FIG. 1 shows a schematic flow chart of the method according to an embodiment of the present disclosure; and

[0037] FIG. 2 shows a schematic representation of a system according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

[0038] A schematic flow chart of the method according to an embodiment of the present disclosure is shown in FIG. 1. In step S1, an environment of the ego vehicle is recorded by means of at least one environment detection sensor 2. In step S2, at least one object is detected, which is located in a region in front of the ego vehicle in the direction of travel. In step S3, a sensor output of at least one environment detection sensor is specified as a ground truth when a distance between the ego vehicle and the detected object falls short of a specifiable minimum distance. In step S4, a position of the object in relation to the ego vehicle at an earlier point in time is calculated, based on data of a system for positioning 3. In step S5, a sensor output at an earlier point in time is compared with the calculated position of the object. Finally, the measuring inaccuracy is assessed, based on a result of the comparison, in step S6.

[0039] FIG. 2 shows a schematic representation of a system 1 according to an embodiment of the invention. The system 1 comprises at least one environment detection sensor 2, a system for positioning 3 as well as a processor 4. The environment detection sensor 2 as well as the system for positioning 3 are connected to the processor 4 via a data connection D. The data connection D can be wired or wireless. In this representation, the processor 4 is arranged, for example, in a central control unit, e.g., the ECU. It would also be conceivable for the processor 4 to be arranged in the environment detection sensor 2 for the execution of the corresponding method steps.

LIST OF REFERENCE NUMERALS

[0040] 1 System [0041] 2 Environment detection sensor [0042] 3 System for positioning [0043] 4 Processor [0044] D Data connection [0045] S1-S6 Method steps