Method for optimizing a surroundings model

Patent metadata

Field	Value
Publication number	US-12585017-B2
Application number	US-202017618280-A
Country	US
Kind code	B2
Filing date	May 7, 2020
Priority date	Jun 12, 2019
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

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.

First claim

What is claimed is:

1 . A method of a first vehicle, the method comprising:
generating, by a sensor set of the first vehicle, measured data of current immediate surroundings of the first vehicle that are within a scanning range of the first sensor set, wherein an original version of a first surroundings model of the surroundings of the first vehicle is generated based on the measured data generated by the first sensor set, and wherein the first vehicle is configured for automated vehicle control based on the first surroundings model representing the current immediate surroundings of the first vehicle; wirelessly transmitting, by the first vehicle, the measured data generated by the first sensor set or the original version of the first surroundings model to a central processing unit that functions as a vehicle-external control unit, wherein:
the central processing unit is configured to modify the first surroundings model based on a second surroundings model, thereby obtaining an updated version of the first surroundings model;
the second surroundings model is generated based on measured data from a second sensor set of a second vehicle sensing surroundings of the other vehicle that are within a scanning range of the second sensor set;
the scanning range of the first sensor set and the scanning range of the second sensor set partially overlap each other, the overlap occurring in an overlap area; and
the modification of the first surroundings model is based on a discrepancy between the original version of the first surroundings model and the second surroundings model corresponding to the overlap area;
receiving, by a control unit of the first vehicle, the updated version of the first surroundings model from the central processing unit; and controlling, by the control unit of the first vehicle, an automated driving operation of the first vehicle based on the updated version of the first surroundings model, such that the automated driving operation is based on a representation of the current immediate surroundings of the first vehicle that differs from the representation, by the first surroundings model generated from measured data of the first vehicle's own sensor set, of the current immediate surroundings of the first vehicle.

2 . The method as recited in claim 1 , wherein the modification reduces an inaccuracy of the measured data generated by the first sensor set at least in the overlap area by combining the first and second surroundings models.

3 . The method as recited in claim 1 , wherein, as a result of the modification of the first surroundings model, an expanded scanning area is mapped by the updated version of the first surroundings model, which corresponds to an area covered by a combination of the first scanning area and the second scanning area.

4 . The method of claim 1 , wherein:
the second sensor set is mounted on the second vehicle that is different from the first vehicle; the measured data used to generate the second surroundings model is sensor data collected by the second sensor set; and the central processing unit is configured to:
receive the sensor data collected by the second sensor set;
generate the second surroundings model based on the received sensor data from the second sensor set;
subsequently use the second surroundings model and the first surroundings model to determine the discrepancy in the overlap area;
based on the discrepancy, modify the first surroundings model to obtain the updated version of the first surroundings model; and
transmit the updated version of the first surroundings model to the first vehicle, which performs the controlling of the automated driving operation based on the updated version of the first surroundings model as received from the central processing unit.

5 . The method of claim 1 , wherein:
the second sensor set is mounted on the second vehicle that is different from the first vehicle; the measured data used to generate the second surroundings model is sensor data collected by the second sensor set; the second vehicle is configured to generate the second surroundings model based on the measured data and subsequently transmit the generated second surroundings model to the central processing unit; and the central processing unit is configured to:
receive, from the second vehicle, the generated second surroundings model that the second vehicle has transmitted;
subsequently use the second surroundings model and the first surroundings model to determine the discrepancy in the overlap area;
based on the discrepancy, modify the first surroundings model to obtain the updated version of the first surroundings model; and
transmit the updated version of the first surroundings model to the first vehicle, which performs the controlling of the automated driving operation based on the updated version of the first surroundings model as received from the central processing unit.

6 . A system of a first vehicle, the system comprising:
a sensor set; and a control unit, wherein:
the sensor set is configured to generate measured data of current immediate surroundings of the first vehicle that are within a scanning range of the first sensor set, wherein an original version of a first surroundings model of the surroundings of the first vehicle is generated based on the measured data generated by the first sensor set, and wherein the first vehicle is configured for automated vehicle control based on the first surroundings model representing the current immediate surroundings of the first vehicle;
the control unit is configured to wirelessly transmit the measured data generated by the first sensor set or the original version of the first surroundings model to a central processing unit that functions as a vehicle-external control unit;
the central processing unit, to which the wireless transmission is made, is configured to modify the first surroundings model based on a second surroundings model, thereby obtaining an updated version of the first surroundings model;
the second surroundings model is generated based on measured data from a second sensor set of a second vehicle sensing surroundings of the other vehicle that are within a scanning range of the second sensor set;
the scanning range of the first sensor set and the scanning range of the second sensor set partially overlap each other, the overlap occurring in an overlap area;
the modification of the first surroundings model is based on a discrepancy between the original version of the first surroundings model and the second surroundings model corresponding to the overlap area; and
the control unit is configured to:
receive the updated version of the first surroundings model from the central processing unit; and
control an automated driving operation of the first vehicle based on the updated version of the first surroundings model, such that the automated driving operation is based on a representation of the current immediate surroundings of the first vehicle that differs from the representation, by the first surroundings model generated from measured data of the first vehicle's own sensor set, of the current immediate surroundings of the first vehicle.

7 . A non-transitory machine-readable memory medium on which is stored a computer program that is executable by computer of a first vehicle and that, when executed by the computer, causes the computer to perform the following:
obtaining, from a sensor set of the first vehicle, measured data of surroundings of the first vehicle that are within a scanning range of the first sensor set, wherein an original version of a first surroundings model of the surroundings of the first vehicle is generated based on the measured data generated by the first sensor set, and wherein the first vehicle

Assignees

• Bosch Gmbh Robert

Inventors

• Pfeil Jerg

Classifications

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S13/862

  Combination of radar systems with sonar systems · CPC title

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title