US 12,228,639 B2
Method, apparatus and computer program for enabling a sensor system for detecting objects in an environment of a vehicle
Martin Ruchti, Langenargen (DE); Thomas Nägele, Friedrichshafen (DE); Stefan Rinkenauer, Markdorf (DE); Jens Klimke, Friedrichshafen (DE); Tobias Moers, Friedrichshafen (DE); Dominik Raudszus, Friedrichshafen (DE); Hendrik Weber, Friedrichshafen (DE); Maike Scholtes, Friedrichshafen (DE); and Lutz Eckstein, Aachen (DE)
Assigned to ZF Friedrichshafen AG, Friedrichshafen (DE)
Appl. No. 17/775,048
Filed by ZF Friedrichshafen AG, Friedrichshafen (DE)
PCT Filed Nov. 6, 2020, PCT No. PCT/EP2020/081301
§ 371(c)(1), (2) Date May 6, 2022,
PCT Pub. No. WO2021/089787, PCT Pub. Date May 14, 2021.
Claims priority of application No. 10 2019 217 257.1 (DE), filed on Nov. 8, 2019.
Prior Publication US 2022/0390596 A1, Dec. 8, 2022
Int. Cl. G01S 13/931 (2020.01); G01S 13/86 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/865 (2013.01); G01S 13/867 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for approving, relative to at least one safety standard, a sensor system for use in a vehicle for detecting objects in the vehicle's environment, the method comprising:
providing a combined probability distribution for deviations between output data from a sensor system and reference data at at least one of a programming level for detecting objects by the sensor system, a sensor level in the sensor system, or a fusion level in the sensor system;
sampling deviation combinations and calculating occurrence probabilities for the sampled deviation combinations by means of the combined probability distribution;
subjecting the reference data to the sampled deviation combinations, processing these reference data with a fusion unit in the sensor system, and obtaining fusion results;
removing those occurrence probabilities from the combined probability distribution from which the fusion results are obtained that satisfy a predefined condition, and obtaining a residual probability distribution;
taking an integral of the residual probability distribution and obtaining an absolute error probability; and
determining that the absolute error probability is acceptable in order, at least in part, to approve the sensor system for use in the vehicle.
 
10. An apparatus for approving a sensor system for detecting objects in a vehicle's environment, comprising at least one processor configured to execute the steps of the method according to claim 1.
 
11. A sensor system for detecting objects in a vehicle's environment, comprising a plurality of sensors using at least one specific sensor technology, and the apparatus according to claim 10.
 
12. A vehicle comprising:
the sensor system according to claim 11;
at least one control unit;
actuators, wherein the sensor system, the control unit, and the actuators are connected for signal transmission, such that the vehicle is configured to drive at least partially autonomously; and
an interface for at least one reference system;
wherein the absolute error probability is obtained while driving the vehicle, and the error probability is supplied as feedback to a driving strategy for the vehicle.