Method and device in a motor vehicle for improved data fusion in an environment detection

US11348342B2 · kind B2 · utility

Assignees

• VOLKSWAGEN AKTIENGESELLSCHAFT · DE
• AUDI AG · DE

Inventors

• Simon Steinmeyer · Braunschweig, DE
• Daniel Mossau · Wolfsburg, DE
• Marek Musial · Berlin, DE
• Oliver Birbach · Braunschweig, DE
• Patrick Glässer · Paunzhausen, DE
• Tim Kubertschak · Ingolstadt, DE

Key dates

• Filing date: Jul 13, 2016
• Grant date: May 31, 2022
• Expiry date: Jan 28, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S2015/932
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

The invention relates to a method for improved data fusion during environment detection in a motor vehicle (50), comprising the following steps: detecting (101) an environment (40) of the motor vehicle (50) using at least one sensor (2); recognising (102) objects (81) in measurement data (20) detected by the at least one sensor (2); fusioning (115) of the recognised objects (81) and the object positions thereof in an environment map (80), wherein a probability of existence is/will be assigned to objects (81) recorded in the environment map (80), and wherein the probability of existence of a recorded object (81) is reduced, when a free region (86, 86.1) is measured during the detection of the position of the recorded object, wherein a respective orientation attribute (60) is assigned to the objects (81) recorded in the environment map (80) and recorded in the environment map (80), and for a region in the sensor region (83.1, 83.2, 83.3) of the at least one sensor (2), in which a free region (86, 86.1) is measured, the probability of existence of an object (81) recorded in the region of the environment map (80) corresponding to the region is reduced in accordance with the assigned or…