Provision of an efficient environmental map for a vehicle

• US 9,792,819 B2
• Filed: 10/29/2015
• Issued: 10/17/2017
• Est. Priority Date: 04/30/2013
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Neff, Albrecht, Walessa, Marc, Hoerwick, Markus, Kormann, Oliver
• Primary Examiner(s): Ziaeianmehdizadeh, Navid
• Application Number:
  US14/926,272
• Publication Number:
  US 20160049078A1
• Time in Patent Office: 719 Days
• Field of Search: None
• CPC Class Codes: B60W 2050/065 by reducing the computational load on the digital processor of the control computer
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

A method provides an environmental map for a vehicle, wherein the environmental map represents a section of the environment and includes cells which are each assigned to a subsection of the environment of the vehicle. Each cell is assigned occupancy information which is based on the probability of the presence of an object in the subsection assigned to the cell in question. The vehicle has a group of at least two driver assistance systems which are each configured to adopt an active and an inactive state and which, in the active state require occupancy information concerning sections of the environment which at least do not overlap completely. The method determines the driver assistance system(s) which is(are) in the active state; determines the section of the environment that the environmental map is intended to represent, on the basis of the section(s) about which the driver assistance system(s) in the active state require(s) occupancy information. In particular, the section of the environment that the environmental map is intended to represent includes the section(s) about which the driver assistance system or the driver assistance systems in the active state require(s) occupancy information when in the active state.

Claims

1. A method for providing a map, the method comprising:

configuring an environmental map for a vehicle equipped with a group of at least two driver assistance systems, each driver assistance system being configured to adopt an active and an inactive state, wherein

the environmental map represents a section of an environment and includes cells which are each assigned to a subsection of the environment of the vehicle,

each cell is assigned occupancy information based on a probability of a presence of an object or part thereof in the subsection assigned to the respective cell, and

in the active state, a first of the two driver assistance systems requires occupancy information concerning a first section of the environment and a second of the two driver assistance systems requires occupancy information concerning a second section of the environment, wherein the first and second sections at least do not overlap completely;

determining a respective driver assistance system or systems which are in the active state;

determining the section of the environment which the environmental map is to be configured to represent based on the first and second sections about which the driver assistance systems require occupancy information in the active state;

configuring the environmental map for the determined section of the environment to comprise only the first and second sections about which the driver assistance systems require occupancy information in the active state, whereby the section of the environment is not limited to permanently predefined geometric shapes, so that sections of the environment not considered by the driver assistance systems do not consume any storage and processing resources, and

the at least two driver assistance systems are selected from the group consisting of a front collision warning system, a rear collision warning system, an active parking assistance system, a lane keeping assistance system, and a side view assistance system.

2. The method according to claim 1, wherein

for each section about which the driver assistance system requires occupancy information in the active state, subsections which lie in the respective section are predefined,

the method further comprising the acts of:

determining the subsections of the environment which the environmental map is configured to represent; and

in areas in which sections about which the driver assistance systems in the active state require occupancy information overlap, selecting the predefined subsections which are smallest in size.

3. The method according to claim 1, further comprising the act of:

determining the occupancy information which is assigned to a cell of the environmental map based on measurements of first and second sensors.

4. The method according to claim 1, further comprising the acts of:

receiving a direction of movement of the vehicle, wherein the determining of the section of the environment which the environmental map is configured to represent is additionally dependent on the received direction of movement of the vehicle; and

determining a geometric shape of each subsection as a function of the received direction of movement.

5. The method according to claim 4, further comprising the act of:

receiving a steering angle of the vehicle, wherein the determining of the section of the environment which the environmental map is configured to represent is additionally dependent on the received steering angle of the vehicle; and

determining the geometric shape of each subsection as a function of the received steering angle.

6. The method according to claim 5, further comprising the acts of:

receiving a speed of the vehicle, wherein the determining of the section of the environment which the environmental map is configured to represent is additionally dependent on the received speed of the vehicle; and

determining the geometric shape of each subsection as a function of the received speed.

7. The method according to claim 6, further comprising the acts of:

detecting objects in the environment of the vehicle, wherein the determination of the section of the environment which the environmental map is configured to represent is additionally dependent on the detected objects in the environment of the vehicle; and

determining the geometric shape of each subsection as a function of the detected objects in the environment of the vehicle.

8. The method according to claim 1, further comprising the act of:

receiving a steering angle of the vehicle, wherein the determining of the section of the environment which the environmental map is configured to represent is additionally dependent on the received steering angle of the vehicle; and

determining the geometric shape of each subsection as a function of the received steering angle.

9. The method according to claim 1, further comprising the acts of:

receiving a speed of the vehicle, wherein the determining of the section of the environment which the environmental map is configured to represent is additionally dependent on the received speed of the vehicle; and

determining the geometric shape of each subsection as a function of the received speed.

10. The method according to claim 1, further comprising the acts of:

detecting objects in the environment of the vehicle, wherein the determination of the section of the environment which the environmental map is configured to represent is additionally dependent on the detected objects in the environment of the vehicle; and

determining the geometric shape of each subsection as a function of the detected objects in the environment of the vehicle.

11. The method according to claim 1, wherein

the environmental map comprises at least two planes, each plane represents a section of the environment and comprises cells which each represent a subsection of the respective section of the environment of the vehicle,

each cell is assigned occupancy information based on a probability of a presence of an object or part thereof in a subsection assigned to the respective cell, and

the method further comprising the act of:

determining the occupancy information for each cell, wherein the occupancy information for cells of a respective plane is based on measurements by one of at least two sensor systems.

12. A device for providing an environmental map of a vehicle, wherein

the environmental map represents a section of an environment and includes cells which are each assigned to a subsection of the environment of the vehicle,

each cell is assigned occupancy information based on a probability of a presence of an object in the subsection assigned to the respective cell, the device comprising:

at least two driver assistance systems, each driver assistance system being configured to adopt an active and an inactive state and which, in the active state, a first of the two driver assistance systems requires occupancy information concerning a first section of the environment and a second of the two driver assistance systems requires occupancy information concerning a second section of the environment, wherein the first and second sections at least do not overlap completely,

an electronic processing unit configured to interface with a sensor system, wherein the electronic processing unit executes a program to;

determine a respective driver assistance system or systems which are in the active state; and

determine the section of the environment which the environmental map is to be configured to represent based on the first and second sections about which the driver assistance systems require occupancy information in the active state,

configure the environmental map for the determined section of the environment to comprise only the first and second sections about which the driver assistance systems require occupancy information in the active state, whereby the section of the environment is not limited to permanently predefined geometric shapes,

so that sections of the environment not considered by the driver assistance systems do not consume any storage and processing resources, and

the at least two driver assistance systems are selected from the group consisting of a front collision warning system, a rear collision warning system, an active parking assistance system, a lane keeping assistance system, and a side view assistance system.

13. A non-transitory computer readable medium having stored thereon program code sections which, when executed, carry out a method for providing an environmental map for a vehicle, wherein

the environmental map represents a section of an environment and includes cells which are each assigned to a subsection of the environment of the vehicle,

each cell is assigned occupancy information based on a probability of a presence of an object or part thereof in the subsection assigned to the respective cell, and

the vehicle is equipped with a group of at least two driver assistance systems, each driver assistance system being configured to adopt an active and an inactive state and which, in the active state, a first of the two driver assistance systems requires occupancy information concerning a first section of the environment and a second of the two driver assistance systems requires occupancy information concerning a second section of the environment, wherein the first and second sections at least do not overlap completely,

the method executed by the program code sections comprising the acts of:

determining a respective driver assistance system or systems which are in the active state; and

determining the section of the environment which the environmental map is to be configured to represent based on the first and second sections about which the driver assistance systems require occupancy information in the active state,

configuring the environmental map for the determined section of the environment to comprise only the first and second sections about which the driver assistance systems require occupancy information in the active state, whereby the section of the environment is not limited to permanently predefined geometric shapes,

so that sections of the environment not considered by the driver assistance systems do not consume any storage and processing resources, and

the at least two driver assistance systems are selected from the group consisting of a front collision warning system, a rear collision warning system, an active parking assistance system, a lane keeping assistance system, and a side view assistance system.