Detection of a decreasing performance of a sensor

Patent metadata

Field	Value
Publication number	US-11338817-B2
Application number	US-201916524411-A
Country	US
Kind code	B2
Filing date	Jul 29, 2019
Priority date	Jul 31, 2018
Publication date	May 24, 2022
Grant date	May 24, 2022

Abstract

A method for detecting a decreasing performance of at least one sensor is described, in particular in a vehicle, wherein a setpoint trajectory of the vehicle is calculated, the setpoint trajectory is driven by the vehicle or is simulated by an artificial intelligence, the actual trajectory driven by the vehicle or the simulated trajectory is compared with the setpoint trajectory, a performance of the at least one sensor is tested by the control unit if a deviation of the actual trajectory or the simulated trajectory from the setpoint trajectory is determined, in which test each sensor of the vehicle is alternately deactivated and with the aid of at least one alternative sensor the setpoint trajectory is driven by the vehicle or is simulated by an artificial intelligence. Furthermore, a control unit, a computer program and a machine-readable storage medium are described.

First claim

What is claimed is:

1. A method for a vehicle, comprising:
calculating a setpoint trajectory of the vehicle;
at least one processor (a) controlling the vehicle to drive in a manner by which the vehicle is to travel along the setpoint trajectory with the controlling resulting in an actual trajectory along which the vehicle travels, or (b) executing an artificial intelligence that simulates the drive in the manner by which the vehicle is to travel along the setpoint trajectory resulting in a simulated version of the actual trajectory;
the at least one processor comparing the actual trajectory resulting from the drive or the simulation to the setpoint trajectory;
based on the comparing, the at least one processor identifying a deviation between the compared actual trajectory from the setpoint trajectory;
based on the identification of the deviation, the at least one processor checking respective performances of each of a plurality of sensors of the vehicle by performing the following for each of one or more of the plurality of sensors:
deactivating the respective sensor;
while the respective sensor is deactivated and all others of the plurality of sensors that have not been identified as being deficient are active:
re-performing the controlling of the vehicle or the executing of the artificial intelligence to obtain a respective additional instance of the actual trajectory;
comparing the respective additional instance of the actual trajectory to the setpoint trajectory; and
determining whether a performance of the respective sensor is deficient based on a result of the respective comparison performed while the respective sensor is deactivated.

2. The method as recited in claim 1 , wherein the performance of at least one of the plurality of sensors is determined to be deficient, and the method further comprises the at least one processor deactivating the at least one of the plurality of sensors whose performance has been determined to be deficient.

3. The method as recited in claim 1 , wherein the vehicle is switched to a safe state in response to the identification of the deviation in response to which the checking of the respective performances of the each of the plurality of sensors is performed.

4. The method as recited in claim 1 , wherein the setpoint trajectory is calculated in the vehicle.

5. The method as recited in claim 1 , wherein at least one vehicle-internal or vehicle-external artificial intelligence is executed to perform a plausibilization of the actual trajectory.

6. The method as recited in claim 1 , wherein sensor data of a defined time span are stored temporarily in a memory unit and are subsequently analyzed by the artificial intelligence being executed for performing a plausibilization.

7. The method as recited in claim 1 , wherein he sensor data are analyzed for the checking of the respective performances, the analysis being performed by the artificial intelligence being executed in parallel to an implemented automated driving mode.

8. The method as recited in claim 1 , wherein the setpoint trajectory is calculated by a server that is external to the vehicle and is communicated to the vehicle from the server via a car-to-x communication link.

9. A control unit for connecting to a plurality of sensors of a vehicle, the control unit comprising a processor that is configured to:
calculate a setpoint trajectory of the vehicle;
(a) control the vehicle to drive in a manner by which the vehicle is to travel along the setpoint trajectory with the control resulting in an actual trajectory along which the vehicle travels or (b) execute an artificial intelligence that simulates the drive in the manner by which the vehicle is to travel along driving of the setpoint trajectory resulting in a simulated version of the actual trajectory;
compare the actual trajectory resulting from the drive or the simulation to the setpoint trajectory;
based on the comparison, identify a deviation between the compared actual trajectory from the setpoint trajectory;
based on the identification of the deviation, check respective performances of each of the plurality of sensors by performing the following for each of one or more of the plurality of sensors:
deactivating the respective sensor;
while the respective sensor is deactivated and all others of the plurality of sensors that have not been identified as being deficient are active:
re-performing the control of the vehicle or the execution of the artificial intelligence to obtain a respective additional instance of the actual trajectory;
comparing the respective additional instance of the actual trajectory to the setpoint trajectory; and
determining whether a performance of the respective sensor is deficient based on a result of the respective comparison performed while the respective sensor is deactivated.

10. A server unit having at least one non-transitory memory, the server unit configured to:
connect to a vehicle;
calculate a setpoint trajectory of the vehicle;
(a) control the vehicle to drive in a manner by which the vehicle is to travel along the setpoint trajectory with the control resulting in an actual trajectory along which the vehicle travels or (b) execute an artificial intelligence that simulates the drive in the manner by which the vehicle is to travel along the setpoint trajectory resulting in a simulated version of the actual trajectory;
compare the actual trajectory resulting from the drive or the simulation to the setpoint trajectory;
based on the comparison, identify a deviation between the compared actual trajectory from the setpoint trajectory;
based on the identification of the deviation, check respective performances of each of the plurality of sensors by performing the following for each of one or more of the plurality of sensors:
deactivating the respective sensor;
while the respective sensor is deactivated and all others of the plurality of sensors that have not been identified as being deficient are active:
re-performing the control of the vehicle or the execution of the artificial intelligence to obtain a respective additional instance of the actual trajectory;
comparing the respective additional instance of the actual trajectory to the setpoint trajectory; and
determining whether a performance of the respective sensor is deficient based on a result of the respective comparison performed while the respective sensor is deactivated.

11. A non-transitory machine-readable storage medium on which is stored a computer program that is executable by a processor, that is executable by a control unit, and that, when executed by the control unit, causes the control unit to perform a method, the method comprising:
calculating a setpoint trajectory of the vehicle;
(a) controlling the vehicle to drive in a manner by which the vehicle is to travel along the setpoint trajectory with the controlling resulting in an actual trajectory along which the vehicle travels, or (b) executing artificial intelligence of the program that simulates the drive in the manner by which the vehicle is to travel along the setpoint trajectory resulting in a simulated version of the actual trajectory;
comparing the actual trajectory resulting from the drive or the simulation to the setpoint trajectory;
based on the comparing, identifying a deviation between the compared actual trajectory from the setpoint trajectory;
based on the identification of the deviation, checking respective performances of each of a plurality of sensors of the vehicle by performing the following for each of one or more of the plurality of sensors:
deactivating the respective sensor;
while the respective sensor is deactivated and all others of the

Assignees

• Bosch Gmbh Robert

Inventors

• Ewert Marlon Ramon

Classifications

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title

• B60W50/0205 Primary

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• G01S15/86

  Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection · CPC title

• B60W60/00186

  related to the vehicle · CPC title