US 11,654,927 B2
Method for monitoring a vehicle system for detecting an environment of a vehicle
Andreas Heyl, Weil der Stadt (DE); and Thomas Gussner, Ludwigsburg (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Mar. 9, 2021, as Appl. No. 17/196,250.
Claims priority of application No. 102020203829.5 (DE), filed on Mar. 25, 2020.
Prior Publication US 2021/0300394 A1, Sep. 30, 2021
Int. Cl. B60W 50/00 (2006.01); B60W 50/04 (2006.01); B60W 50/02 (2012.01)
CPC B60W 50/045 (2013.01) [B60W 50/0205 (2013.01); B60W 2050/0215 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for monitoring a vehicle system configured to detect an environment of a vehicle, wherein the vehicle system has (i) a sensor system with at least two sensor units configured to capture the environment of the vehicle and (ii) an evaluation unit configured to detect a plurality of objects in the environment of the vehicle by merging sensor data of the at least two sensor units, the method comprising:
determining, based on the sensor data, a probability of existence and a probability of detection for each respective object of the plurality of objects for each of the at least two sensor units, wherein the probability of existence indicates a probability of the respective object representing a real object in the environment of the vehicle, and the probability of detection indicates a probability with which the respective object can be captured by the at least two sensor units;
determining whether the vehicle system is in a robust state based on the probability of existence and the probability of detection for each of the plurality of objects, the robust state being one in which the vehicle system can correctly detect objects in the environment; and
setting the vehicle system into a safety mode in response to determining that the vehicle system is not in the robust state.