Method for optimizing the environment sensing for a driving assistance system by means of an additional reference sensor system

1 . A method for environment sensing for a driving assistance system having sensor data fusion, the method comprising the following steps:

a) during a drive of a vehicle in an environment, using a single sensor of the vehicle for environment sensing as a reference sensor, and receiving sensor data output solely from the reference sensor;

b) creating a first environment model based on the sensor data output solely from the reference sensor, the first environment model comprising recognized static and dynamic objects in the environment;

c) during the drive and simultaneously with the receiving of the sensor data in step a), receiving sensor data from a plurality of different types of sensors of the vehicle excluding the reference sensor, the plurality of different types of sensors including at least a video camera and at least one radar sensor, and fusing the sensor data from the plurality of different types of sensors to generate fused multi-sensor data;

d) creating a second environment model based on the fused multi-sensor data, the second environment model comprising recognized static and dynamic objects;

e) comparing the objects of the first environment model with the objects of the second environment model, including comparing object existence, object position, and object classification for corresponding objects, wherein, based on a result of the comparison, the driving assistance system is updated by:

(i) data included in the sensor data fusion being corrected;

(ii) a performance of at least one functional layer of the driving assistance system being optimized, the at least one functional layer being: a sensor-system layer, an environment-sensing layer, a situation-analysis layer, a function layer, and/or a control layer; and/or

(iii) an influence of sensor data from one of the plurality of different types of sensors on the fused multi-sensor data being optimized; and

f) performing a vehicle drive control by the driving assistance system using the driving assistance system as updated.

2 . The method according to claim 1 , wherein the method further comprises the following step:

evaluating the sensor data from the sensor data fusion for accuracy.

3 . The method according to claim 1 , further comprising the following step:

evaluating sensor data from individual sensors or sensor groups as part of the sensor data fusion for accuracy.

4 . The method according to claim 1 , further comprising the following step:

evaluating an influence of sensor data from individual sensors or sensor groups as part of the sensor data fusion on their proportion of the sensor data fusion.

5 . The method according to claim 2 , further comprising:

evaluating sensor data from individual sensors or sensor groups as part of the sensor data fusion for accuracy; and

evaluating an influence of sensor data from individual sensors or sensor groups as part of the sensor data fusion on their proportion of the sensor data fusion;

wherein at least one of the evaluations is carried out with respect to a specific driving situation.

6 . The method according to claim 2 , wherein the update improves environment recognition.

7 . The method according to claim 1 , wherein the reference sensor is a lidar sensor.

8 . The method according to claim 1 , wherein the update includes the optimization of the influence of the sensor data from one of the plurality of different types of sensors on the fused multi-sensor data.

9 . The method according to claim 8 , wherein the optimization of the influence of sensor data from the one of the plurality of different types of sensors on the fused multi-sensor data includes adjusting a contribution of sensor data from the one sensor to the fused multi-sensor data, thereby modifying the influence or compensating for an error.

10 . The method according to claim 1 , wherein the update includes the correction of the data included in the sensor data fusion.

11 . The method according to claim 1 , wherein the update includes the optimization of the performance of the at least one functional layer of the driving assistance system, the at least one functional layer being: the sensor-system layer, the environment-sensing layer, the situation-analysis layer, the function layer, and/or the control layer.

12 . A control system configured for environment sensing for a driving assistance system having sensor data fusion, the control device comprising at least one computer configured with executable instructions to:

a) during a drive of a vehicle in an environment, use a single sensor of the vehicle for environment sensing as a reference sensor, and receiving sensor data output solely from the reference sensor;

b) create a first environment model based on the sensor data output solely from the reference sensor, the first environment model comprising recognized static and dynamic objects in the environment;

c) during the drive and simultaneously with the reception of the sensor data in step a), receive sensor data from a plurality of different types of sensors of the vehicle excluding the reference sensor, the plurality of different types of sensors including at least a video camera and at least one radar sensor, and fusing the sensor data from the plurality of different types of sensors to generate fused multi-sensor data;

d) create a second environment model based on the fused multi-sensor data, the second environment model comprising recognized static and dynamic objects;

e) compare the objects of the first environment model with the objects of the second environment model, including comparing object existence, object position, and object classification for corresponding objects, wherein, based on a result of the comparison, the driving assistance system is updated by:

(i) data included in the sensor data fusion being corrected;

(ii) a performance of at least one functional layer of the driving assistance system being optimized, the at least one functional layer being: a sensor-system layer, an environment-sensing layer, a situation-analysis layer, a function layer, and/or a control layer; and/or

(iii) an influence of sensor data from one of the plurality of different types of sensors on the fused multi-sensor data being optimized; and

f) perform a vehicle drive control by the driving assistance system using the driving assistance system as updated.

13 . At least one non-transitory machine-readable storage medium on which is stored a computer program for environment sensing for a driving assistance system having sensor data fusion, the computer program, when executed by at least one computer or control device, causing the computer or control device to perform the following steps:

a) during a drive of a vehicle in an environment, using a single sensor of the vehicle for environment sensing as a reference sensor, and receiving sensor data output solely from the reference sensor;

b) creating a first environment model based on the sensor data output solely from the reference sensor, the first environment model comprising recognized static and dynamic objects in the environment;

c) during the drive and simultaneously with the receiving of the sensor data in step a), receiving sensor data from a plurality of different types of sensors of the vehicle excluding the reference sensor, the plurality of different types of sensors including at least a video camera and at least one radar sensor, and fusing the sensor data from the plurality of different types of sensors to generate fused multi-sensor data;

d) creating a second environment model based on the fused multi-sensor data, the second environment model comprising recognized static and dynamic objects;

e) comparing the objects of the first environment model with the objects of the second environment model, including comparing object existence, object position, and object classification for corresponding objects, wherein, based on a result of the comparison, the driving assistance system is updated by:

(i) data included in the sensor data fusion being corrected;

(ii) a performance of at least one functional layer of the driving assistance system being optimized, the at least one functional layer being: a sensor-system layer, an environment-sensing layer, a situation-analysis layer, a function layer, and/or a control layer; and/or

(iii) an influence of sensor data from one of the plurality of different types of sensors on the fused multi-sensor data being optimized; and

f) performing a vehicle drive control by the driving assistance system using the driving assistance system as updated.