DE102004010197A1 - Digital board or car navigation system function checking procedure uses separate object detection imaging system for comparison - Google Patents

Abstract

A digital board (24) or car (10) navigation system (22) function checking procedure uses an imager (20) to record an object (12, 14, 16, 18) separation image for object recognition processing (26), to determine the car position for comparison with the board output and produce an error signal if preset limits are exceeded. An independent claim is included for board position adjustment equipment using the above procedure.

Description

The The present invention relates to a method for controlling a digital map and / or to check the functionality a position determination device arranged on or in a vehicle for Determining a position of the vehicle and / or a likewise on or in the vehicle arranged environment detection device for detecting layers of objects in an environment of the Vehicle. Furthermore, the invention relates to a corresponding device for mounting on or in a vehicle with a position determining device for determining a position of the vehicle, an environment detection device for detecting layers of objects in an environment of the Vehicle and a digital map.

vehicles are becoming increasingly equipped with navigation systems, which enable a driver of such vehicles, among other things, to determine his position. The position can be particularly in Connection with a digital card can be used to To guide drivers to a given destination. In addition, a digital Map information about contain the environment of the instantaneous position of the vehicle, the items listed on the card, which are included in the scope of the Invention also buildings such as buildings, tunnels or walls or Walls are counted may affect.

Independently of can Vehicles equipped with environmental detection devices, by means of suitable image capture devices images of the environment capture the vehicle, which then, for example, for detection and / or Tracking of detected items corresponding objects can be used. The resulting information about For example, the environment of the vehicle for driver assistance systems be used. A driver assistance system can do this, for example serve the danger of possible Collisions with objects Detect in the vicinity of the vehicle and, where appropriate, appropriate To give warning signals or in the vehicle control, for example the braking system, to intervene.

requirement for one meaningful use of these facilities, however, is that these work reliably.

Of the The present invention is therefore based on the object, a method to control a digital map and / or to check the functionality a position determination device arranged on or in a vehicle for determining a position of the vehicle and / or a likewise on or in the vehicle arranged environment detection device for detecting layers of objects in an environment of the Vehicle provide and a device for mounting on or in a vehicle with a position detection device, a Environment detection device and a digital map to create their functionality easy to control.

The Task is solved by a first alternative by a method with the features of claim 1.

at the method according to the invention to control a digital map and / or to check the functionality a position determination device arranged on or in a vehicle for determining a position of the vehicle and / or a likewise on or in the vehicle arranged environment detection device for detecting layers of objects in an environment of the Vehicle having an image capture device for capturing Distance images of at least a portion of the environment of the vehicle and a device for recognizing and / or tracking objects, correspond to the objects detected by the image capture device, based on distance images acquired by the image capture device comprises, is at least one by means of the image capture device Distance image is detected and it is by means of the object recognition and / or tracking device using the distance image Data at least with respect to the location of at least one object corresponding Object determined. By means of the position detection device is a current position of the vehicle and depending on the detected Position of the vehicle in a digital map a section of the Determined surrounding the position of the vehicle. Data regarding the object will be using data from the cutout of the digital map compared and if there is a discrepancy between the data at least a predetermined error criterion generates an error signal.

The Task is still solved by a first alternative a device with the features of claim 23.

The inventive device for mounting on or in a vehicle comprises a position detection device for determining a position of the vehicle, an environment detection device for the determination of layers of objects in an environment of the Vehicle having an image capture device for capturing Distance images of at least a portion of the environment of the vehicle and a device for detecting and / or tracking objects, correspond to the objects detected by the image capture device, based on distance images acquired by the image capture device, a digital map and a function control device, by means of those in dependence from the determined position of the vehicle in the digital map a section of the environment of the position of the vehicle can be determined is, data relating to one by the environment detection device determined object with data from the section of the digital map comparable and by means of which, if a deviation is detected between the data according to at least a fault signal can be generated according to a predetermined error criterion.

at the method according to the invention become the position detecting means and the environment detecting means used, both arranged on and / or in the same vehicle are. Furthermore, the digital card is used, preferably is also arranged on or in the vehicle.

The Position determining device is used to determine a position used of the vehicle. It can in principle Any position detecting devices are used. The Position determining device may in particular initially only capture the own position, which then taking into account the position of the position detection device or one for Position relevant part of the position detection device relative to the vehicle for determining a position of a reference point the vehicle, such as a geometric center or also the center of gravity of the vehicle. The Position preferably refers to an earth-fixed coordinate system, hereinafter also referred to as world coordinate system, the one absolute determination of the location of the vehicle allows.

Farther the digital card is used, which is a device can act with a memory in which depending on positional data Information or corresponding data about properties of the corresponding Place, for example, existing buildings and / or roads and / or traffic signs and / or other stationary objects and / or carriageways and preferably also road markings can be stored. When Memory in particular can be a removable disk like For example, a CD or a DVD are used, but are also other, nonvolatile Memory usable. The device may further include means for reading the data from the memory depending on the device supplied Have position data.

The Environment detection device serves to at least a section an environment of the vehicle to capture. For this she owns the Image capturing device for capturing distance images at least a section of the surroundings of the vehicle. The image capture device In particular, a sensor for Have electromagnetic radiation, by means of which distance images a detection or visual range of the sensor can be detected. Under a distance image of a sensor for detecting electromagnetic Radiation that often also as deep-dissolved Image or distance image is called a lot of at understood a scanning of the detection range of the sensor detected distance pixels, which points or, depending on the resolution of the sensor, also areas of a detected by the sensor Ge object or the surface of the object. The distance pixels, below for the sake of simplicity, may also be referred to as pixels at least the position of the associated object points or Areas corresponding coordinates for defining a location of these object points or areas at least in one area, preferably one level, which is not oriented orthogonal to a viewing direction of the sensor is. From the coordinates, in particular the distance of the object points or areas of the sensor can be determined. Regions of the coverage area, in which no objects can exist, depending on the sensor, still be assigned distance pixels, the then be marked accordingly. Preferably, the Coordinates in a polar coordinate system or a Cartesian Be given coordinate system.

When Sensors for electromagnetic radiation can For example, corresponding radar sensors can be used. Preferably However, sensors are used in the infrared or visible spectral range work.

To determine the positions of objects from the distance images, the environment detection device has the object recognition and / or tracking device. On the basis of distance images acquired by the image acquisition device, the latter determines at least the position of objects which correspond to objects which were detected by the image acquisition device and are reproduced accordingly in the distance images. By means of this device, by evaluating at least one distance image, distance image points can be combined to form objects which correspond to objects detected by the image detection device. Methods for recognizing and / or tracking objects on the basis of distance images are known in principle. An example of such a method is in the series Progress Reports, Subject area: Traffic Engineering / Automotive Engineering, Volume 438 published dissertation by Kirchner, Alexander entitled "Sensor data processing of a laser scanner for autonomous driving functions of motor vehicles," Hamburg, 2000, ISBN 3-18-343812-7, ISSN 0178-9449, the contents of which are hereby incorporated by reference. Furthermore, there is a description of such a method in the publication by Fürstenberg, K.Ch. et al .: "Pedestrian Recognition and Tracking of Vehicles using a vehicle based Mulitlayer laser scanner", Proceedings of ITS 2003 10 ^th World Congress on Intelligent Transport Systems, November 2003 is taken Madrid, Spain, the contents of which are hereby incorporated by reference in the description ,

The Location of objects can basically be relative to the vehicle or relative to a terrestrial coordinate system. It contains at least information about the location of a reference point of the object, for example a geometric one Center of gravity. About that In addition, a location specification but also an orientation information containing an alignment of an object or object with respect to a predetermined reference axis, for example, indicates a longitudinal axis of the vehicle.

to execution the object recognition and / or tracking can in particular a Data processing device used with the image capture device connected and to carry out the Object recognition and / or tracking method is programmed.

to Functional control is exploited that, on the one hand, in the digital Map data on stationary objects with the positions and if necessary, also expansions of the objects are stored. Under objects are in the context of the invention, as already mentioned, for example Buildings, such as buildings, Bridges, Walls or tunnels, other fixedly anchored bodies, such as For example, delineators, lampposts or other piles as well trees, and / or roadway and / or Lane markings understood. The positions are in one Earth-fixed coordinate system specified.

on the other hand may be a relative position to objects that correspond to detected objects be assigned to the image capture device or the vehicle. Using the determined with the position detecting device Position of the vehicle can then data related to at least one object, in particular its Location, compared with data from a section of the digital map be a portion of the environment of the vehicle or the Represents position of the vehicle and in particular at least partially the detection range of the image capture device used by the image capture device Includes sensor.

there can Location or position data from the digital map using the determined by means of the position detection means position be transformed into a coordinate system in which the layers the objects are specified. However, it is also possible the locations of the objects dependent on from the determined position of the vehicle in a coordinate system transform the digital map.

at a faultless digital card, a faultless position determination and error-free detection of objects in the vicinity of the vehicle allowed to within specified tolerances or Messge these inaccuracies Facilities no deviations between the corresponding data result. In the method according to the invention therefore becomes a given error criterion with respect to deviations the data checked from each other and in dependence of whether the criterion met is, generates a corresponding error signal and output.

To carry out these steps, the function control device is provided in the device according to the invention, which may be given in particular by an appropriately programmed processor used in the context of object recognition and / or tracking, the corresponding via hardware and / or software interfaces with the digital card , the environment detection device and the position detection device is connected. However, a separate device may be used with the digital map, the environment detection device and the position detecting ver is bound.

On This can be done by the comparison of data according to the invention Distance images with data from a digital map a functional test of Position determining device and / or the environment detection device and / or a control of the digital map are performed, which only a small additional Means are necessary.

Especially can the inventive method be carried out in parallel to the normal work of the said facilities, so that the control of functioning permanently during the Operation can take place.

The formed error signal can be used, directly or by means a corresponding warning device to the driver about the malfunction inform or a suitable response of a driver assistance system trigger.

at of the invention any image capture devices used to capture distance images become. For example, you can Stereo video cameras are used with at least two video cameras by means of which in a known manner from synchronously recorded video images based on the relative arrangement of the video cameras to each other and the imaging characteristics of these video cameras distance images can be generated. It is however as an embodiment preferred that the image capture device is a laser scanner having. Under a laser scanner is in particular a Understood device in which distance pixels are determined by emitting a laser pulse and its transit time from the sensor to a surface point or area on an object and back to the sensor becomes. Particularly preferred is a laser scanner is used, the at one scan its detection range with at least one pulsed one radiation beam scans, a predetermined angular range, preferably with a pivoting movement, sweeps over, and the discarded from a point or area of an object Radiation pulses of the radiation beam detected. The for A sampling pixel acquired a distance pixel can then be used as coordinates to the Angle at which the discarded Pulse was recorded and the from the duration of the pulse or discarded Pulse specific distance of the object point or area contained by the laser scanner. At the electromagnetic radiation in particular, it may be visible or preferably infrared Act light.

Around a simple and as possible to allow accurate determination of the position of the vehicle it is in a method according to the invention preferred that a position-determining device is used, the one receiver a satellite-based Position detection system comprises. In the device according to the invention it is preferred that the position determining means a receiver a satellite-based Position detection system has. Such satellite-based position detection systems are for example the GPS (Global Positioning System) or the planned position detection system GALILEO of the European Union. As the position of the recipient In essence, the position of an antenna is detected, which is the Receives signals from the satellites of the system. In addition to normal receivers, in particular also differentially operating receivers are used, the in the case of the GPS also be referred to as DGPS receiver. The Position detection system can in particular with vehicle sensors be coupled to the data over to provide the movement of the vehicle. For example, data can be such as steering angles and / or wheel revolutions and / or yaw rates be recorded. Because satellite-based position detection systems Signals frequently only in fixed time sequence, but not continuously Give up and the position thus only at the appropriate times can be detected this vehicle movement data is used in particular Position data at times between the receipt of two signals appreciate.

In the method according to the invention, data relating to moving objects can also be compared with data from a corresponding section of the digital map. For example, from a position or a trajectory of a moving object, which may correspond to a vehicle on a road, for example, data relating to the position of the road or a lane can be determined, which can be compared with corresponding data of the digital map. However, in order to enable a quick and / or accurate comparison, it is preferable that the comparison is made only for objects corresponding to stationary objects. It is exploited that in a digital map usually stationary more than movable or stationary objects are listed. In the case of object recognition and / or tracking, classification of the objects is particularly preferably carried out, in which pedestrians, for example, appear to be stationary objects which are similar to spacers and are therefore small or narrow, such as traffic lights or street lighting be differentiated. This facilitates the selection of objects. The detection of stationary objects can be carried out in particular solely on the basis of distance images. A method for determining such stationary objects on the basis of distance images is described in Fürstenberg, Kay Ch. Et al .: "Laser Scanner Innovations for Detection of Obstacles and Road", Proceedings of AMAA 2003, 7th International Conference on Advanced Microsystems for Automotive Applications, May 2003, Berlin, Germany (published in Valldorf, Jürgen; Gessner, Wolfgang (Eds.): "Advanced Microsystems Automotive Applications 2003", in the series VDI book, 2003, ISBN: 3-540-00597-8, pages 223 -247) and the German patent application of the applicant filed on 11 November 2002 with the official file number DE 102 52 323.1 described, the contents of which are hereby incorporated by reference into the description.

Around a comparison with the cutout of the digital map faster carry out to be able to it is preferred that in the comparison only those in the digital Card listed items be taken into account that meet a given selection criterion. In this way need Data relating to objects, which, due to their location or shape, did not register for comparison Distance images are suitable, not taken into account in the comparison to become. The selection criterion may be, for example, the Expansion of objects, refer to their contour or their type. For example, need for the comparison only objects are used, which serve as roadway boundaries or basically on the edge lanes such as, for example, guide posts, street lights or traffic lights. Furthermore, it can be used as a selection criterion whether the objects from the image capture device at all detectable and for example not by other objects are covered.

Of the For example, a section of the map can be selected to match that of the environment detection device detectable portion of the environment of the vehicle or the detection range of a sensor of the environment detection device fully includes. However, this can cause problems if items are in the Detection area in the distance image obscure other objects. It is therefore preferred that at least one area in the cutout the digital card detected in the distance images Hiding is not visible, and that data from this area not considered in the comparison become. The data can in particular, relate to existing articles in the field. That way, not just the amount of a comparison to be considered Data is reduced, but there are also misallocations of objects to objects avoided in the digital map, in a current distance image can not be visible due to occlusion and thus be detectable.

Around To speed up the comparison, it is further preferred that before the comparison, an association between at least one object and one for used the comparison, listed in the digital map Object performed becomes. With this step can be achieved that data in relation on an object, especially the location of the object, only with data in terms of one actually object corresponding to this object from the digital map be compared. This increases the security of a detection of a malfunction essential. The assignment can be done in different ways. So can for objects a certain predetermined shape, size or object class or corresponding objects in each distance image are searched again, in particular, also empirical knowledge of typical arrangements of objects can be used. It can when performing an object tracking however, in the case of recognized objects, an existing assignment is also continued, if there are no contradictions occur. Only for newly recognized objects is then to perform a new assignment. It can then in particular an identification or assignment of a new object to a corresponding object of the digital map considering the recognized objects and their locations take place, reflecting the assignment simplify and increase their safety.

The However, assignment may also be solely based on the relative arrangements the objects and corresponding objects to each other.

In the comparison of data relating to an object with data from the section of the digital map, for example, from the location data for an object that corresponds to a vehicle, data relating to the location of lane or lane markings are derived, which then with corresponding Data can be compared from the cutout of the map. However, such indirect action may involve relatively large errors for the purpose of functional testing. It is therefore preferred that a position of at least one item recorded in the digital map is compared with the determined position of the object. Preferably, this comparison is made for objects and objects that are associated with each other. Depending on whether a detected deviation meets a predetermined error criterion, then a corresponding error signal can be output. The layers can thereby the layers in one with to the vehicle moving reference frame or layers in a terrestrial reference system.

Around preferably simply the distance images with the corresponding sections of the to be able to compare digital map, Preferably, the orientation is one of the environmental detection device used or given by this reference direction, for example a direction parallel to the longitudinal axis of the vehicle, to a corresponding reference direction of the digital Map, for example, geographically north, known. The orientation For example, with the help of a compass or when moving of the vehicle determined by the position detecting device become. Alternatively, it is preferable that a trajectory of the vehicle using the position detection device and / or the Environment detection device is detected, and that the trajectory with roadways is compared in a digital map. To one as possible To achieve high accuracy, it is preferred that the layers at least two items listed in the section of the digital map or Subject areas from the digital map and the locations of these objects or object areas corresponding objects or object areas be determined that a rotation angle is determined by the By means of the digital map determined positions against the rotated corresponding determined from a distance image layers are, and that this angle of rotation to determine the orientation a reference direction in the digital map relative to a reference direction is used in a distance image. It can be so instead of two objects also uses only one object, of which at least two different Areas can be recorded and used separately. In particular, can a whole contour of an object can be used. With this embodiment the method according to the invention can determine the orientation of the vehicle with high accuracy which is not necessarily what with a position detector possible is. If the orientation of the distance image relative to the digital Map or the reference direction of the digital card is known a conditional by errors of the position detection device linear Shifting between the layers of objects in the digital map and corresponding objects with greater security and more accurate be determined. Will over it In addition, by means of the environment detection device a self-motion of the vehicle can be determined on the basis of the determined angle of rotation the determination of the vehicle's own motion and thus a partial function the environment detection device to be tested.

at a comparison of the section of the map with the distance image or The layers of objects can be the case that one in the Map recorded object can not be found. It is Therefore, it is preferable that if one does not find one in the cutout of the digital map recorded object corresponding object a corresponding error signal is output. The error signal needs generally indicating only the occurrence of an error. Preferably However, at the same time, the error signal reflects which of the devices a malfunction as far as it is localizable.

Around a cause of a malfunction specify more precisely it is preferred that if one does not find one in the cutout of the digital map recorded object corresponding object an angle sector of the field of view encompassing the position of the object the image capture device is determined that in successive Distance images checked whether objects are detected in this angle sector, and that in the case that no objects are detected in the angle sector, although according to the digital Card at least one in the cut-out of the digital map recorded object corresponding object can be determined should, an error signal is formed, which is a malfunction of the Image capture device displays. Such a test is suitable especially for Laser scanners that use a panned laser beam for distance measurement. When dirty, a transparent cover through which the laser beam emitted is, in a certain angle sector, the laser scanner in this angle sector become "blind", so that no distance pixels are more detectable. By examining whether does not repeat actually detectable objects in the same angle sector be detected, contamination can be reliably detected. Preferably will take this exam used in conjunction with a masking detection to make sure that not objects or those corresponding items one obscure the item listed in the card.

Especially it is then preferred that with the error signal that a malfunction of the Image capture device displays data that is output the location and / or size of the angle sector play. In this way, in case of a sudden, partial Contamination the image capture device at least partially be used, but in the evaluation of the images and in particular also a further use of the results of the image analysis the restriction of the field of view due to contamination.

If the positions of an object and a corresponding object are compared with each other, is it is preferred that, upon detection of a deviation between a position of an object recorded in the section of the digital map and the position of the object corresponding to the object, which is too strong according to a predetermined criterion, an error signal is formed which indicates a malfunction of the position determining device , It is assumed that the digital map is not faulty and the environment detection device either works without errors or corresponding errors are known. As a criterion for excessive deviation, it can be used, for example, that the average absolute or quadratic distance of the positions determined from the digital map and the positions determined with the environment detection device is greater than a predefined threshold value, which depends, for example, on the tolerances of the position-determining device expected in normal operation , which may be selected from the digital map and the environment detector. The layers can be given in each case in the same reference or coordinate system.

is however, it is not known for certain that the environment detection device works error-free and in particular the distance image relative to a reference direction in the digital map is not properly oriented it is preferred that the layers of at least two in the digital Map of listed objects from the cutout of the digital map and the layers corresponding to these objects Objects are determined, and that is checked whether the means of digital map determined relative to the corresponding with the Environment detection device determined layers to each of the same shift are shifted. The shifts, both the direction as well as the size of the shift include only need to be substantially the same. This Criterion can be checked, for example, that the size of the difference between the displacements of the two objects or corresponding ones Displacement vectors is determined. Exceeds the difference or their size, for example the mean absolute or quadratic amount, a given first threshold, the shifts are considered not equal. exceeds the size of the shifts a predetermined second threshold, a corresponding Error signal are output. The thresholds can in particular dependent on on the expected accuracy of the digital map, the position detection device and the environment detection means are selected in normal operation. In this development of the method according to the invention is exploited, that at a misorientation of the image capture device or a distance image relative to the digital map typically no same linear displacements, within the scope of detection accuracy would be significant may occur. In the case that the positions determined by means of the digital map shifted by the same shift relative to the determined positions may therefore be due to a total displacement of the distance image across from Point out the digital map that indicates a detection of a wrong Position are returned by the position detecting device can.

It is then particularly preferred that upon detection of a exceeding given threshold, same shift between the determined by means of the digital map Layers and the corresponding with the environment detection device determined positions an error signal is formed, which is the size and direction the shift reflects. Particularly preferably, the determined Value of the shift used to be an appropriate one Correction of the output from the position detection device Perform positions, so that overall increased Accuracy of position data can be achieved.

Farther it is preferred that upon detection of one according to a given criterion for strong deviation between the situation and / or Orientation of one listed in the section of the digital map Object corresponding object and the means of digital Map determined location and / or orientation of the object Error signal is formed, which is a malfunction of the environment detection device displays. It is assumed that the position detection device works without errors and the digital card has no errors. As criterion for too great a deviation can be used in particular that the amount of the difference of the layers exceeds a predetermined threshold, in dependence of expected measuring accuracies of the position-determining device, the environment detection device and the accuracy of the digital Map and, where appropriate, depending on the distance of Object can be selected by the image capture device.

In particular, when using laser scanners, the case may arise that the detected distances are too large or too small compared to the actual distance by a fixed value or offset. It is therefore preferred that the positions of at least two objects recorded in the digital map from the digital map and the positions of the objects corresponding to these objects are determined, and it is checked whether the positions of the objects determined by means of the digital map correspond to a predetermined criterion the positions of the corresponding objects in the radial direction of one the distance image detecting sensor of the image detection device are shifted, and that upon detection of a shift, an error signal is formed indicating a malfunction of the image detection device. By using two objects can be avoided that errors of the position detecting device are detected as errors of the environment detection device. As a criterion for the occurrence of a shift can be used in particular whether the shifts are the same and whether the shifts exceed a predetermined minimum value. For this purpose, it can be checked whether the projections of the position differences on the radial direction from the sensor of the image acquisition device to the object, ie a radial displacement, exceeds a first threshold value or the difference of the radial displacement falls below a second threshold value. The threshold values may be selected in particular as a function of expected unsystematic measurement errors of the image capture device and in particular of a sensor of the image capture device.

It is then particularly preferred that when exceeding a predetermined Threshold for the displacement in the radial direction together with an error signal, which indicates a corresponding error of the image capture device, Data is output that indicates the size and preferably direction of the Play shift. Also in this case, the determined Shift can be used to correct the distance images and so an increased Accuracy of the distance pixels to achieve.

Around the deviations between the layers in the distance images and the easily detect corresponding locations in the digital map can, it is preferred that the layers in the digital map or the detected by the environment detection means layers in dependence rotated from a rotation angle and / or in response to a displacement vector shifted against each other and / or depending on a constant Distance value to be shifted in the radial direction, so that the average deviations between the layers will be minimal. With agreement of distance image and section of the digital map should be the Layers match and the mean deviations are also very small. Therefore then the error criterion can be checked, whether the middle one Size of the minimized Deviations exceed a predetermined threshold, and, if so If this is the case, a corresponding error signal can be output. The threshold may vary depending on the expected Accuracy of the digital map, the position detection device and the environment detection device are selected. For example can be any strictly monotonic function of the differences of the Layers, for example, the mean of the absolute or quadratic Deviations, as a function of the angle of rotation, the linear displacement and / or the distance value are minimized. That way, along with an orientation in relation to the digital map different Errors are determined simultaneously and separately from each other.

It is further preferred that when not finding a in corresponding to the excerpt of the digital map Object or upon determination of one according to a predetermined criterion too strong deviation between the location of the in the digital Map recorded object corresponding object and the means the digital map determined position of the object an error signal is formed, which indicates an error in the digital map. It gets away from it assumed that the position detection device and the environment detection device work essentially error-free. An excessive deviation can especially if the absolute or quadratic Amount of differences of the layers exceeds a predetermined threshold, in dependence from the expected in normal operation measurement accuracy of the position detection device and the environment detection device and the expected accuracy depend on the digital map can.

can can not be excluded that the position detection device and / or the environment detection device have an error, so it is preferred that the layers of at least two in the digital Map of listed objects from the cutout of the digital map and the layers corresponding to these objects Objects are determined, that is checked, whether the means of digital map distances determined of the objects to each other according to a predetermined criterion of the corresponding from the distance image determined distances of the objects to each other deviate, and that when a deviation is detected an error signal which indicates an error in the digital map. there is exploited that misalignments of reference directions in the distance images relative to a reference direction of the digital Card and / or error in the position detection device not lead to, that the distances falsified by objects become. It can so position errors can be detected in the digital map.

Become more than three objects can be used instead of the distances Relative positions are used.

It is then particularly preferred that a detected deviation to correct the digital map in one of the facilities or another storage device is stored in the vehicle. At a later Using the digital map can be a corrected version be used.

alternative or additionally It is preferable that data in relation to the location of the object to a publisher of the digital map.

Around the assignment of objects to objects in the digital map it is preferred that at least in one area, in which an object was detected, a video image is detected, and that checked in the video image whether an item listed in the digital map is available is. By means of the image capture device is so to speak a Attention control of a video capture performed. On this way you can for example, simply pedestrians of Lampposts are distinguished.

The Task is still solved by a second alternative a method having the features of claim 23.

at the method according to the invention to control the functionality an environment detection device arranged on or in a vehicle for detecting layers of objects in an environment of the Vehicle having an image capture device for capturing Distance images of at least a portion of the environment of the vehicle and a device for detecting and / or tracking objects, correspond to the objects detected by the image capture device, on the basis of distance images acquired by the image capture device includes, data is about a movement of the vehicle between two consecutive Times recorded on the basis of at least one of the Image acquisition device acquired distance image are data via a Movement of stationary objects and / or a reference direction in the digital map relative to one Sensors of the image capture device at least one of the times or between times. The given by the data Movement of the vehicle and based on the distance image determined movement of the stationary objects or by the movement the direction given by the vehicle and the reference direction become one with another and it becomes a result of the comparison Signal formed.

The Task will continue after a second alternative by a Device solved with the features of claim 28.

The inventive device for mounting on or in a vehicle according to the second alternative comprises a position determination device for determining a Position of the vehicle, an environment detection device for Determination of layers of objects in an environment of the vehicle, which is an image capture device for acquiring distance images of at least a portion of Environment of the vehicle and a device for detection and / or Tracking objects captured by the image capture device objects on the basis of the image capture device captured distance images, a digital map and a Function control device, by means of which on the basis of at least a distance image acquired by means of the image acquisition device Data about a movement of stationary objects and / or a reference direction in the digital map relative to one Sensors of the image capture device at least one of the times or can be determined between the times and the movement with one Movement of the vehicle or by the movement of the vehicle given direction with the reference direction between two following times and a result of the comparison reproducing signal is bildbar.

Either the method as well as the device according to the second alternative can combined with the method or device according to the first alternative become.

The Explanations with respect to the position detection device, the environment detection device and the digital map and the terms used apply accordingly also for the second alternative.

The method according to the second alternative can in particular serve to control an alignment of the sensor of the image capture device with respect to a reference direction of the vehicle, in particular the longitudinal axis of the vehicle. In this case, it is used that, on the one hand, a reference direction predetermined by means of the digital map or a movement of stationary objects caused by a movement of the vehicle relative to the sensor of the image capture device, and in particular one Be zugsachse can be determined.

To the another is an orientation of the vehicle carrying the sensor determined by the movement of the vehicle, if it is assumed that the movement at any point in time is essentially parallel to vehicle longitudinal axis he follows.

By Comparison of the movement of the vehicle and that based on the distance image Determined movement of the stationary objects or by the movement given direction of the vehicle and the reference direction, for example After transformation into a common coordinate system, one can Maladjustment by twisting or pivoting the sensor relative to the Vehicle easily be determined.

The Movement of the vehicle is determined between two times. The times can thereby two consecutive cycles correspond, in which in each case a distance image is detected and at least partially processed. Preferably, however, the times are farther apart. The movement can be done by corresponding position data of the vehicle or its trajectory or data for at least one direction, for example, the speed, be given. However, it is no comprehensive detection of the movement of the vehicle necessary.

The Data about The movement of fixed objects can in particular the data include data corresponding to the vehicle movement. The statement whether objects are stationary objects can, according to the digital map after a corresponding Assignment or with the previously mentioned Method for determining stationary objects on the basis of distance images respectively. To achieve high accuracy are preferably as stationary objects used only in the digital map recorded items.

give way after a transformation into a common coordinate system the Movement of the vehicle and the fixed objects, apart from the opposite sign of a speed, from each other From, it is to assume a misalignment of the sensor.

The same applies when comparing a given by the movement of the vehicle Direction, for example, one due to positions or positions at different times or one between two times estimated Speed given direction, and that by means of digital Map determined reference direction.

It then a corresponding signal, in particular an error signal are formed, which are supplied for example to a driver assistance system can.

Also in the device according to the second alternative, it is preferable the image capture device has a laser scanner.

to Determining the movement of the vehicle is an alternative preferred that the data about the movement of the vehicle by means of a position detection device be determined. For this purpose, it is preferred that the position detection device a receiver a satellite-based Position detection system has. This determination has the advantage that the environment detection device is not used and that errors of position detection are in many cases the determination of the movement, in particular of speeds, cancel by subtraction.

alternative or additionally It is preferable that the data is about the direction of movement of the vehicle determined by means of the object tracking device become. For this purpose, for example by means of the digital map, the Location of the sensor of the image capture device relative to the digital Map at different times can be determined by taking distance images and in particular locations of objects contained in the digital map listed objects match the digital map.

Farther it is preferred that the reference direction in the digital map through at least two objects and / or subject areas. The reference direction can be determined from only one distance image. Preferably objects with a small extent and / or objects with clearly detectable and able to use defined contour features.

The Invention will be further exemplified below with reference to the Drawings explained. Show it:

1 a schematic plan view of a scene with a vehicle with a device according to a preferred embodiment of the invention, another vehicle and three piles, and

2A , B is a flowchart for a method according to a preferred embodiment of the invention.

In 1 are a vehicle 10 , another vehicle 12 and three stationary objects in the form of piles 14 . 16 . 18 shown along a in 1 not shown roadway edge are set up.

The vehicle 10 has a device according to a preferred embodiment of the invention, which is used for navigation and environmental monitoring. This includes an image capture device 20 , a position detecting device 22 , a digital map 24 and one with the image capture device 20 , the position detecting device 22 and the digital map 24 connected data processing device 26 , which embodies a device for object recognition and tracking and a function control device in the sense of the invention.

The image capture device 20 has one on the front of the vehicle 10 arranged sensor for the detection of distance images, in the example a laser scanner, whose reduced shown viewing or detection area 28 in the direction of travel in front of the vehicle 10 lying area, ie a section of the surroundings of the vehicle 10 , includes.

The laser scanner 20 gropes his field of vision 28 with a rotating, pulsed IR laser beam 30 and captures the locations of subject areas on the objects 12 . 14 . 16 . 18 , one of which is a pulse of the laser beam 30 was thrown back. Exemplary are in 1 only representative of all recorded subject areas in a small number of subject areas 32 on the vehicle 12 represented by black circles. The extent of the object regions corresponds essentially to the cross section of the laser radiation beam 30 on the surface of the object.

The detection of the layers takes place on the basis of a reference direction of a sensor coordinate system of the laser scanner 20 relative angle at which the laser radiation pulse was emitted or received, and the distance to the laser scanner 20 which results from the transit time of the radiation pulse from the emission to the reception after the remission of an object. The scanning therefore occurs in a scanning plane that is substantially parallel to a plane in which the vehicle is traveling 10 emotional. When scanning the field of view 28 Thus, a distance image is detected, which comprises the detected during the scanning distance image points containing at least the coordinates of the subject areas in a sensor coordinate system, of which the laser beam 30 was reflected. The updating of the complete pictures takes place at a constant time interval T.

The data of the distance images thus include positions of detected object points in the sensor coordinate system that are with the vehicle 10 is moved.

The from the image capture device 20 , or the laser scanner, acquired distance images are, if necessary, after a correction of the coordinates of the pixels to which with the laser scanner 12 connected data processing device 26 transferred, in which a further processing of the images takes place.

The position detection device 22 has a GPS receiver with a corresponding antenna. It is via a data connection with the data processing device 26 which can retrieve position data from the GPS receiver, which includes coordinates of the current position of the GPS receiver. After shifting one vector from the antenna of the GPS receiver to a reference point of the vehicle 10 In the example, the geometric center of gravity, the shifted coordinates can then coordinate the vehicle 10 in a terrestrial world coordinate system. The position detection device 22 Further, it may be connected to vehicle steering angle, wheel revolutions, etc. sensors to couple vehicle motion data collected therefrom with the position data of the GPS receiver, including, for example, vehicle positions in the time intervals between receipt of GPS signals based on the last one of Position detected by the GPS receiver appreciate.

The digital map 24 includes means for reading data from a data carrier, such as a DVD, and one for the location area of the vehicle 10 suitable data carrier, in the example a DVD, on the given positions in the world coordinate system data on existing buildings, objects such as piles, traffic lights, signs, etc. or the type of ground surface, such as lanes with lane markings or fields, if necessary stored are.

The data processing device 26 owns, in 1 not shown, a processor and a memory and interfaces for transmitting the data from the image capture device 20 and for data exchange with the position detection device 22 and the digital map 24 , Furthermore, there is an interface for outputting data to other data processing or output devices in the vehicle 10 provided, which are also not shown in the figures.

The data processing device 26 is programmed to carry out a preferred embodiment of the method according to the invention. The program comprises, on the one hand, a module for recognizing and tracking objects that are received by the image capture device 20 detected objects in the field of view 28 correspond. For this purpose, distance images are cyclically read in and processed. As a method, for example, the previously mentioned, published in the series Progress Reports, Subject area: Traffic Engineering / Vehicle Technology, Volume No. 438 dissertation Kirchner, Alexander entitled "Sensor data processing of a laser scanner for autonomous driving functions of motor vehicles," Hamburg, 2000, ISBN 3-18-343812-7, ISSN 0178-9449 or the method described in the publication by Fürstenberg, K.Ch. 10 ^th World Congress on Intelligent Transport Systems, November 2003, Madrid, Spain, described method are used et al .: "Pedestrian Recognition and Tracking of Vehicles using a vehicle based Mulitlayer laser scanner", Proceedings of ITS of 2003. The data processing device 26 represents in this respect a device for detecting and tracking objects in the context of the invention. This forms with the image capture device 20 an environment detection device according to the invention.

The program also has a function control module, which is executed in interleaving with the other module, so that the data processing device 26 insofar also represents a functional control device in the context of the invention.

For the preferred embodiment of the invention described below, two reference systems and therein each a Cartesian coordinate system are used, which is substantially parallel to the plane in which the vehicle 10 are aligned and aligned with the scanning plane in which positions of objects or subject areas are detectable.

The Cartesian coordinate system, referred to below as the vehicle coordinate system, which in 1 the coordinate axes X _F and Y _F is offset from the sensor coordinate system by only one translation vector, from the origin of the sensor coordinate system to a reference point of the vehicle 10 whose geometric center of gravity leads. The direction of the coordinate axes is equal to that of the coordinate axes of the sensor coordinate system.

With correct adjustment of the image capture device 20 or the laser scanner, the Y _F axis runs parallel to the longitudinal axis L of the vehicle 10 , In 1 is the Y _F axis with respect to the longitudinal axis L of the vehicle 10 shown misaligned by rotation through an angle ψ.

Farther will be the already mentioned used Cartesian world coordinate system that is stationary. It is given by the coordinate axes X and Y.

The method according to a preferred embodiment of the invention is shown schematically as a flowchart in FIG 2A and 2 B shown. The process is carried out cyclically, with the following in each cycle: 2A and 2 B illustrated steps are executed.

In step S10, the laser scanner is used 20 its field of vision 28 scanned, wherein distance pixels are detected with the layers of object areas of detected objects in the sensor coordinate system.

The following steps are performed by means of the data processing device 26 executed.

In step S12, the distance pixels for the object areas in the sensor coordinate system, if necessary after corrections, are shifted by the known distance vector f between the laser scanner 12 and the reference point of the vehicle 10 transformed into Cartesian coordinates in the vehicle coordinate system. Furthermore, on the basis of this transformed sensor data, another cycle of a cyclic, known object recognition and tracking method is executed. Each object is assigned as the reference point of the geometric center of gravity of the object defining object areas or distance pixels. After a segmentation of the images, which are given by object areas corresponding, transformed distance pixels, objects are detected or tracked, corresponding to the entire objects. For each object, positions are assigned in the vehicle coordinate system and, as far as the object has already been tracked for at least two cycles, speeds.

In addition, in this step, stationary objects are detected with respect to the world coordinate system or the earth. For this purpose, for example, the state of motion of the vehicle 10 be determined by appropriate motion sensors. Using the thereby determined intrinsic speed of the vehicle 10 then velocities of the objects in the world coordinate system can be calculated, which results in which objects rest in the world coordinate system. However, the still objects are preferably determined on the basis of distance images. A corresponding method is described, for example, in the conference article by Fürstenberg, K.Ch. et al., "Laserscanner Innovations for Detection of Obstacles and Road", Proceedings of AMAA 2003, 7th International Conference on Advanced Microsystems for Automotive Applications, May 2003, Berlin, Germany (published in Valldorf, Jürgen; Gessner, Wolfgang (Eds.) : "Advanced Microsystems Automotive Applications 2003", in the series VDI book, 2003, ISBN: 3-540-00597-8, pages 223-247) and in the filed on November 11, 2002 by the applicant German patent application with the official file number DE 102 52 323.1 described, the content of which is hereby included in the description.

Farther In this step, an object classification is performed at the objects in dependence from their contour in the distance images, their size, theirs dynamic data and, if appropriate, positions to each other an object class is assigned. examples for such object classes are classes for pedestrians, for trucks, for passenger cars, for bicycles, for poles, traffic lights or lampposts, for delineators or for Traffic signs.

Appropriate Data can then stored and / or for example to a driver assistance system be issued.

In Step S14 become objects to be used for functional testing selected. In the method, after a first selection of an object in one cycle, the object marked accordingly and in the following Cycles continue to be used, which reduces the effort for selection. at the method in the embodiment become stationary or unmoved only with respect to the world coordinate system Objects used, which are assigned an object class for objects or objects is that listed in the digital map. Unselected objects are checked for these criteria and optionally selected.

In step S16 is then by means of the position detecting means 22 the position of the vehicle 10 , ie corresponding coordinates, determined and stored in the world coordinate system.

In step S18, a preliminary orientation of the vehicle coordinate system relative to the world coordinate system, and thus a reference direction of the digital map, such as the Y-axis, is determined. The orientation of the X _F or Y _F axis in the world coordinate system or the angle between the Y _F axis and the Y axis used as the reference axis of the digital map, for example, by means of a corresponding, on the vehicle 10 arranged compass or upon movement of the vehicle along the vehicle longitudinal axis by means of the position detecting means 22 be determined. Alternatively and preferably, the orientation in the previous cycle, which was determined by means of the digital map, can be used to a good approximation (compare step S30). To increase the accuracy, the proper motion of the vehicle 10 be used for extrapolation.

In step S20, a current field of view of the image capture device 20 determined. This consists of the sections of the field of view or coverage 28 that are not distorted by objects or objects are covered. In 1 for example, hides the vehicle 12 a sector 34 of the coverage area 28 so that objects lying in this sector, in 1 the stake 14 , are not detectable. The current field of view is stored in parametric form in world coordinates.

In step S22, based on the current position and orientation of the vehicle 10 in the world coordinate system corresponding to the current field of view section of the digital map 24 selected for the current vehicle position. The section is overall stretched with a scaling factor, in the example of about 1.2, compared to the current field of view, but where the position of the laser scanner 20 corresponding point or the origin of the sensor coordinate system remains unchanged.

In Step S24 then takes place an assignment of selected objects and in the digital map in the section listed, corresponding objects to each other. This step and the following steps S26 to S34 are only executed if at least two objects have been selected.

An assignment once in a cycle is maintained until the corresponding object is no longer in the current field of view. For reassignment, the object classes of the selected, not yet assigned objects and, if present, their relative positions to other already assigned objects are used. The relative positions need not coincide with high accuracy, but it is sufficient that these layers match up to a predetermined maximum distance from each other. The maximum distance may vary depending on the distance in the digital map 24 listed, from the image capture device 20 be selected and the expected accuracy of the digital map selected in the example to about 10 m.

In step S26, a check is made for errors of the digital map 24 , For this purpose, distances between the objects or between the objects are determined for all pairs of objects which are assigned to objects in the section of the digital map, and the corresponding pairs of objects. In order to check the coincidence of the distances, the distances between the respective positions of the objects of the pairs or the respective positions of the objects of the pairs are calculated for corresponding pairs of objects, whereupon for each pair of objects and the corresponding pair of objects Amount of the difference of the corresponding distances is determined. If this amount falls below a corresponding limit, depending on the expected accuracy of the digital map 24 and the measurements of the image capture device 20 depends, the distances are considered to be consistent. If the relative positions do not coincide for a pair of objects, a corresponding error signal is output which contains the positions of the objects concerned. These positions are still stored in a memory of the data processing device 26 to correct the digital map 24 saved.

In step S28, a first check of the functionality of the image capture device takes place 20 , For this purpose, in the section of the digital map, all objects are determined which are suitable for function control in the context of the method, ie, correspond to the object classes used in step S14. If no corresponding object is found for such an object that could be assigned to it, the corresponding angle sector is marked in the sensor or vehicle coordinate system. In the following cycles, it is checked whether no objects, including objects of other object classes, are still being detected in this angle sector. If this is the case, even though such an object would have been detected according to the digital map, a corresponding error signal is output which, in addition to the type of the error, contains data relating to the position of the angular sector. This angle sector is then no longer used in the context of object recognition and tracking.

In steps S30 to S34, a further check of the functionality of the environment detection device and of the position determination device then takes place 22 with a simultaneous determination of the orientation of the reference direction of the image capture device 20 to the reference direction of the digital map, ie the angle between the Y _F axis and the Y axis.

there is trying to find the positions of the objects with the positions of matching objects assigned to best match.

For this purpose, in step S30, the positions p _{Si of} the objects i = 1, ... N, (N number of used or selected objects) in the sensor coordinate system in the radial direction along a unit vector e _ri of the laser scanner 20 to the reference point of the object i shifted by a fixed distance or offset R ₀ , then transformed by addition of a fixed predetermined vector f in the vehicle coordinate system and finally rotated by the origin of the vehicle coordinate system by an angle φ using a corresponding rotation matrix D (φ). This position vector in the vehicle coordinate system is then transformed into the world coordinate system by a corresponding position vector P for the position of the reference point of the vehicle determined in step S16 10 is added. It is then shifted by a translation vector t.

For all pairs of objects and objects, the sum of the square deviations between the positions of the objects i thus obtained and the positions p _{i of} the corresponding objects is then formed:

This function is minimized by varying the fixed distance R ₀ , the angle φ and the translation vector t, using as start value an angle which corresponds to the provisional orientation determined in step S18.

The determined angle φ at which the function F assumes its minimum gives the current orientation of the Y-axis and thus a reference direction of the digital map 24 to the Y _F axis and thus the sensor. It is stored for use in the following cycle in step S18.

In step S32, a check of the functionality of the position detection device takes place 22 , Exceeds the amount of the translation vector t a predetermined error limit, which depends on the expected accuracy of the position detection device 22 can be specified, then an error of the position detecting device 22 detected and issued a corresponding error signal that reflects the vector t and its coordinates in addition to the type of error. The vector t can subsequently be used to correct the detected position of the vehicle 10 be used.

In step S34, a second check of the functionality of the environment detection device, more precisely of the image capture device, takes place 20 ,

Exceeds the fixed distance R ₀ a predetermined distance threshold is also an error of the image capture device 22 detected and issued a corresponding error signal, which reflects the determined value R _{0 in} addition to the type of error. This value can subsequently be used to correct the acquired position data or distance picture elements.

Furthermore, from the positions of the vehicle 10 in several previous, for example the last five, cycles data on the movement of the vehicle 10 determined. It is first determined by a linear regression with respect to the positions and examination of the dispersion, whether the vehicle 10 has essentially moved in a straight line. Only in this case is the angle determined by the regression-determined straight line with the Y-axis of the world coordinate system included. This angle gives when the vehicle is 10 moved along its longitudinal axis L, the orientation of the vehicle 10 against the Y-axis again.

The determined angle is compared with the angle φ, the orientation of the Y _F axis and thus of the laser scanner 20 relative to the Y-axis. For this purpose, it is checked whether the amount of the difference ψ of the angle a depending on the expected measurement accuracy of the image capture device 20 , the digital card 24 and the position detecting device 22 exceeds the selected threshold. If so, an error signal representing the difference is formed. The error signal indicates that the sensor or laser scanner 20 relative to the vehicle longitudinal axis L by the differential angle ψ is rotated or misaligned.

Instead of the error signal, only another signal can be formed, on the basis of which the difference is stored, in order to correct the alignment of the vehicle longitudinal axis L with the laser scanner in a following cycle 20 to be used.

The The process then proceeds to step S10 in a new cycle.

In this way, a continuous control of the functionality of the position detection device 22 , the digital card 24 , and the environment detection device, in particular the image capture device 20 respectively.

at another embodiment the steps S30 to S34 are changed. The device corresponds to this other embodiment except for the change amended accordingly Function control device of the device of the first embodiment.

First, for the second test, the functionality of the environment detection device or the image detection device 20 for each pair of selected objects and the corresponding pairs of objects associated with the objects recorded in the digital map, relative position vectors between the objects of the pairs are determined.

To determine the orientation of the reference direction of the image capture device 20 or the distance images relative to the reference direction of the digital map 24 For all pairs of objects and corresponding pairs of objects in the digital map, the angles between the relative position vectors in the vehicle coordinate system and those in the world coordinate system are determined. If the deviations of these angles from an average value of the angles are smaller than a predetermined angle, then it is assumed that all angles are substantially equal. If this is not the case, an error in the digital map is accepted and a corresponding error signal is output, which reproduces the positions of the objects which have too great a deviation. These objects are no longer used for the following functional checks.

Otherwise, the determined average angle becomes an angle between the reference directions of the image capturing device 20 or the distance images, ie the Y _F axis, and the digital map 24 , ie the Y-axis, used. The position coordinates of the objects are converted to the coordinate system of the digital map using the mean angle and the vectors f and P 24 , ie the world coordinate system, transformed.

Then, for each of the selected objects and the objects associated with the objects, a difference vector is formed between the position of the respective object and that of the associated object and the radial unit vector of the laser scanner 20 , or a pivot axis of the laser radiation beam 30 projected to the position of the object, whereby difference distance values are formed. It is then checked whether all difference distance values lie within an interval of predetermined width around the mean value of the difference distance values. The width of the interval will depend on the accuracy of the digital map 24 and the expected measurement accuracy of the image capture device 22 specified. If all difference distance values are in this interval, these are considered equal. If this is not the case, a mistake will be made in the digital map 24 assumed and issued a corresponding error signal representing the positions of the objects which have too large a deviation. These objects are used for the functional check of the position determination device 22 not used anymore.

It is then checked whether the amount of the mean difference distance value exceeds a predetermined limit, which depends on the expected measurement accuracy of the image capture device 20 is selected. If this is the case, a shift in the radial direction is detected and a corresponding error signal is output, which additionally includes the value and the direction of the displacement in the radial direction. In this case, the positions of the objects are corrected with the determined mean radial displacement.

Another check is the verification of the alignment of the laser scanner 20 performed with respect to the vehicle longitudinal axis in the previous embodiment, wherein the angle φ is replaced by the mean angle.

Finally, then the check of the functionality of the position detecting device 22 , For this purpose, difference vectors between the positions of the objects transformed into the world coordinate system and optionally corrected and the positions of the corresponding, associated objects in the section of the digital map are determined for all remaining, selected objects. It is then checked for all difference vectors whether they match. For this purpose, it is checked for each vector component whether the components lie within an interval around an average of the corresponding components. The width of the interval is dependent on the expected accuracy of the environment detection device and the position detection device 22 selected. If all components are not within the appropriate intervals, the digital card will fail 24 assumed and issued a corresponding error signal representing the positions of the objects which have too large a deviation.

Otherwise, it is assumed that the difference vectors are substantially equal. It is then checked whether the mean value for one of the components exceeds a shift limit, depending on the expected accuracy of the environment detection means and the position detecting means 22 is selected. If this is the case, a shift is caused by a malfunction of the position detecting device 22 detected and issued a corresponding error signal, which also indicates the mean difference or displacement vector.

At the following position determinations with the position detection device 22 or position determinations with the environment detection device, the average values determined in each case can be used for the correction. This is also possible if no error signal is output, but only corresponding values are stored.

The in connection with errors of the digital map 24 mentioned objects are no longer used in subsequent cycles of the process.

10

vehicle

12

vehicle

14

stake

16

stake

18

stake

20

Image capture device

22

Position-determining device

24

digital map

26

Data processing device

28

View- or detection area

30

Laser radiation beam

32

Object points or ranges

34

concealed Area

Claims (30)

Method for controlling a digital map ( 24 ) and / or to check the operability of or on a vehicle ( 10 ) arranged position determining device ( 22 ) for determining a position of the vehicle ( 10 ) and / or also on or in the vehicle ( 10 ) arranged environment detection device ( 20 . 26 ) for determining positions of objects ( 12 . 14 . 16 . 18 ) in an environment of the vehicle ( 10 ) comprising an image capture device ( 20 ) for acquiring distance images of at least a portion of the surroundings of the vehicle ( 10 ) and a facility ( 26 ) for the detection and / or tracking of objects detected by the image capture device ( 20 ) ( 12 . 14 . 16 . 18 ), on the basis of the image capture device ( 20 ) comprises captured distance images, in which - by means of the image capture device ( 20 ) at least one distance image is detected and by means of the object recognition and / or tracking device ( 26 ) using the distance image data at least with respect to the position of at least one object ( 12 . 14 . 16 . 18 ) corresponding object, - by means of the position-determining device ( 22 ) a current position of the vehicle ( 10 ), depending on the detected position of the vehicle ( 10 ) in a digital map ( 24 ) a section of the surroundings of the position of the vehicle ( 10 ), data relating to the object with data from the section of the digital map ( 24 ), and - upon detection of a deviation between the data according to at least one predetermined error criterion, an error signal is generated. Method according to Claim 1, characterized in that a position-determining device ( 22 ) comprising a receiver of a satellite-based position sensing system. A method according to claim 1 or 2, characterized in that the comparison only for stationary objects ( 14 . 16 . 18 ) corresponding objects is performed. Method according to one of the preceding claims, characterized in that in the comparison only those in the digital map ( 24 ) listed items ( 14 . 16 . 18 ), which fulfill a given selection criterion. Method according to one of the preceding claims, characterized in that at least one area ( 34 ) in the section of the digital map ( 24 ), which is not visible in the distance images due to occlusion, and that data from this area is not taken into account in the comparison. Method according to one of the preceding claims, characterized in that before the comparison, an association between at least one object and one used for the comparison, in the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) is carried out. Method according to one of the preceding claims, characterized in that a layer of at least one in the digital map ( 24 ) ( 14 . 16 . 18 ) is compared with the determined position of the object. Method according to one of the preceding claims, characterized in that the layers of at least two in the section of the digital map ( 24 ) listed items ( 16 . 18 ) or items from the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) or items corresponding object areas or object areas are determined so that a rotation angle is determined by the means of the digital map ( 24 ) are rotated with respect to the corresponding position determined layers, and that this angle of rotation is used to determine the orientation of a reference direction in the digital map relative to a reference direction in a distance image. Method according to one of the preceding claims, characterized in that, if no one is found in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) corresponding object, a corresponding error signal is output. Method according to one of the preceding claims, characterized in that, if no one is found in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ), the location of the object ( 14 . 16 . 18 ) comprehensive angle sector of a viewing area of the image capture device ( 20 ) it is determined that in successive distance images it is checked whether objects are detected in this angle sector, and that in the case that no objects are detected in the angle sector, although according to the digital map ( 24 ) at least one in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) corresponding object should be determined, an error signal is formed, which is a malfunction of the image capture device ( 20 ). A method according to claim 10, characterized in that with the error signal that a malfunction of the image capture device ( 20 ), data is output which reflects the position and / or size of the angle sector. Method according to one of the preceding claims, characterized in that, upon determination of a deviation, which is too strong according to a predetermined criterion, between one by means of the digital map ( 24 ) determined location of a in the section of the digital map ( 24 ) recorded the subject ( 14 . 16 . 18 ) and the location of the object ( 14 . 16 . 18 ) an error signal is formed which causes a malfunction of the position-determining device ( 22 ). Method according to claim 12, characterized in that the layers of at least two in the digital map ( 24 ) recorded items from the excerpt of the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) of corresponding objects, and that it is checked whether by means of the digital map ( 24 ) determined relative to the corresponding with the environment detection device ( 20 . 26 ) determined positions are shifted by the same shift in each case. A method according to claim 13, characterized in that upon detection of a given exceeding the threshold value, the same shift between the positions determined by means of the digital map and the corresponding position with the environment detection device ( 20 . 26 ) an error signal is formed which reflects the size and direction of the displacement. Method according to one of the preceding claims, characterized in that upon detection of a deviation according to a predetermined criterion between the position and / or orientation of a in the section of the digital map ( 24 ), 14 . 16 . 18 ) and by means of the digital map ( 24 ) determined location and / or orientation of the object ( 14 . 16 . 18 ) an error signal is formed, which is a malfunction of the environment detection device ( 20 . 26 ). Method according to one of the preceding claims, characterized in that the layers of at least two in the digital map ( 24 ) recorded items from the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) corresponding objects are checked, that it is checked whether by means of the digital map ( 24 ) determined positions of the objects according to a predetermined criterion with respect to the positions of the corresponding objects in the radial direction of a distance image sensing sensor of the image capture device ( 20 ) are shifted, and that upon detection of a shift, an error signal is formed, which is a malfunction of the image capture device ( 20 ). A method according to claim 16, characterized in that when exceeding a predetermined threshold value for the displacement in the radial direction together with an error signal, the corresponding error of the image capture device ( 20 ), data is output which reflects the size and preferably direction of the shift. Method according to one of the preceding claims, characterized in that the layers in the digital map ( 24 ) or by means of the environment detection device ( 20 . 26 ) are rotated in response to a rotation angle and / or shifted in response to a displacement vector against each other and / or moved in response to a constant distance value in the radial direction, so that the average deviations between the layers are minimal. Method according to one of the preceding claims, characterized in that, if no one is found in the section of the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) or if, in accordance with a predetermined criterion, the deviation between the position of the object in the digital map ( 24 ) listed subject ( 14 . 16 . 18 ) and by means of the digital map ( 24 ) of the item ( 14 . 16 . 18 ) an error signal is formed, which is an error in the digital map ( 24 ). A method according to claim 19, characterized in that the layers of at least two in the digital map ( 24 ) recorded items from the excerpt of the digital map ( 24 ) and the layers of these objects ( 14 . 16 . 18 ) of corresponding objects are determined, that it is checked whether by means of the digital map ( 24 ) distances of the objects to each other according to a predetermined criterion differ from one another by the corresponding distances of the objects determined from the distance image, and in that a deviation signal is formed which detects an error in the digital map ( 24 ). A method according to claim 19 or 20, characterized in that a detected deviation for the correction of the digital map ( 24 ) in one of the devices or other storage device in the vehicle ( 10 ) is stored. Method according to one of claims 19 to 21, characterized in that data relating to the position of the object ( 14 . 16 . 18 ) to a publisher of the digital map ( 24 ). Method for controlling the functioning of a vehicle or a vehicle ( 10 ) arranged environment detection device ( 20 . 26 ) for determining positions of objects ( 12 . 14 . 16 . 18 ) in an environment of the vehicle ( 10 ) comprising an image capture device ( 20 ) for acquiring distance images at least part of the environment of the vehicle ( 10 ) and a facility ( 26 ) for the detection and / or tracking of objects detected by the image capture device ( 20 ) ( 12 . 14 . 16 . 18 ), on the basis of the image capture device ( 20 ), in particular method according to one of claims 1 to 6, in which - data on a movement of the vehicle ( 10 ) between two consecutive times, on the basis of at least one by means of the image capture device ( 20 ) acquired distance image data about a movement of stationary objects ( 14 . 16 . 18 ) and / or a reference direction in the digital map ( 24 ) relative to a sensor of the image capture device ( 20 ) are determined at least one of the times or between the times, the movement of the vehicle given by the data ( 10 ) and the movement of the fixed objects determined on the basis of the distance image ( 14 . 16 . 18 ) or by the movement of the vehicle ( 10 ) and the reference direction are compared, and - a signal representing the result of the comparison is formed. Method according to Claim 23, characterized in that the data relating to the movement of the vehicle ( 10 ) by means of a position detection device ( 22 ) be determined. Method according to claim 23 or 24, characterized in that the data concerning the direction of movement of the vehicle ( 10 ) by means of the object tracking device ( 26 ) be determined. Method according to one of claims 23 to 25, characterized in that the reference direction in the digital map ( 24 ) by two objects ( 14 . 16 . 18 ) and / or subject areas. Device for mounting on or in a vehicle ( 10 ) with a position determining device ( 22 ) for determining a position of the vehicle ( 10 ), an environment detection device ( 20 . 26 ) for determining positions of objects ( 12 . 14 . 16 . 18 ) in an environment of the vehicle ( 10 ) comprising an image capture device ( 20 ) for acquiring distance images of at least a portion of the surroundings of the vehicle ( 10 ) and means for detecting and / or tracking objects detected by the image capture device ( 20 ) ( 12 . 14 . 16 . 18 ), on the basis of the image capture device ( 20 ) detected distance images, a digital map ( 24 ) and a function control device, by means of which, depending on the determined position of the vehicle ( 10 ) in the digital map ( 24 ) a section of the surroundings of the position of the vehicle ( 10 ) is determinable, data relating to an object determined by the device for determining positions of other objects with data from the section of the digital map ( 24 ) are comparable, and by means of which an error signal can be generated upon detection of a deviation according to at least one predetermined error criterion. Device for mounting on or in a vehicle ( 10 ), in particular also according to claim 27, with a position determining device ( 22 ) for determining a position of the vehicle ( 10 ), an environment detection device ( 20 . 26 ) for determining positions of objects ( 12 . 14 . 16 . 18 ) in an environment of the vehicle ( 10 ) comprising an image capture device ( 20 ) for acquiring distance images of at least a portion of the surroundings of the vehicle ( 10 ) and means for detecting and / or tracking objects detected by the image acquisition device ( 20 ) ( 12 . 14 . 16 . 18 ), on the basis of the image capture device ( 20 ) detected distance images, a digital map ( 24 ) and a function control device, by means of which on the basis of at least one by means of the image capture device ( 20 ) acquired distance image data about a movement of stationary objects ( 14 . 16 . 18 ) and / or a reference direction in the digital map ( 24 ) relative to a sensor of the image capture device ( 20 ) at least one of the times or between the times and the movement with a movement of the vehicle ( 10 ) or by the movement of the vehicle ( 10 ) given direction with the reference direction between two successive points in time comparable and a result of the comparison reproducing signal is formed. Apparatus according to claim 27 or 28, characterized in that the image capture device ( 20 ) has a laser scanner. Device according to one of claims 27 to 29, characterized in that the position center device ( 22 ) has a receiver of a satellite-based position detection system.