US 12,252,145 B2
Sensor data generation for controlling an autonomous vehicle
Andrés Botero Halblaub, Kirchseeon (DE); Hermann Georg Mayer, Prien am Chiemsee (DE); and Jan Christoph Wehrstedt, Munich (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Filed by Siemens Aktiengesellschaft, Munich (DE)
Filed on Jun. 8, 2022, as Appl. No. 17/835,033.
Claims priority of application No. 21181851 (EP), filed on Jun. 25, 2021.
Prior Publication US 2022/0410915 A1, Dec. 29, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 50/06 (2006.01); H04W 4/48 (2018.01); B60W 50/00 (2006.01)
CPC B60W 50/06 (2013.01) [B60W 60/001 (2020.02); H04W 4/48 (2018.02); B60W 2050/0052 (2013.01); B60W 2556/45 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A computer-implemented method for generating sensor data for controlling an autonomous vehicle in a production environment in which at least one further autonomous vehicle is situated, with the following method steps:
a) reading in an environment model of the production environment, wherein the environment model has a global coordinate system and the environment model comprises first sensor positions of static sensors in the production environment and environment information in the global coordinate system and sensor parameters of the static sensors,
b) generating a time stamp,
c) reading in second sensor positions and sensor parameters of sensors, which are coupled to the autonomous vehicle and the at least one further autonomous vehicle, and providing the second sensor positions in coordinates of the global coordinate system,
d) generating sensor data for the static sensors and the sensors of the autonomous vehicle and the at least one further autonomous vehicle as a function of the respective sensor parameters and the respective first or second sensor positions and taking into account the environment information in coordinates of the global coordinate system, wherein the generated time stamp is assigned to the generated sensor data,
e) selecting the autonomous vehicle,
f) transforming the generated sensor data into a local coordinate system of the selected autonomous vehicle, and
g) transmitting the transformed sensor data to a controller of the selected autonomous vehicle for controlling the selected autonomous vehicle in the production environment as a function of the transformed sensor data,
wherein the sensor data is transformed into the local coordinate system of the selected autonomous vehicle by taking into account a transmission latency for transmitting the sensor data to the selected autonomous vehicle,
wherein the generated sensor data is filtered as a function of the position of the selected autonomous vehicle in the global coordinate system and only the filtered sensor data is transformed into the local coordinate system of the selected autonomous vehicle and transferred to the selected autonomous vehicle, and
wherein the sensor data is transformed into the local coordinate system of the selected autonomous vehicle as a function of previously generated further sensor data, to which a preceding time stamp is assigned, and is used to extrapolate new sensor data for a current time stamp on the basis of the previously generated sensor data.