# US 12,002,353 B2 · Method and system for providing environmental data

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- Number: US 12,002,353 B2
- Document ID: US12002353B2
- Status: Granted
- Kind: B2
- Application number: 17/416,718
- Filed: 2019-12-02
- Published: 2022-02-10
- Granted: 2024-06-04
- Earliest claimed: 2018-12-21
- Assignees: Volkswagen Aktiengesellschaft
- Applicants: Volkswagen Aktiengesellschaft
- Inventors: Stefan Rietdorf; Nora Nortmann
- Web page: https://patentgrep.com/patent/US12002353B2

## CPC

- G08G 1/0133: {for classifying traffic situation}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences}
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G08G 1/0141: {for traffic information dissemination}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60R 2300/301: combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
- B60R 2300/302: combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
- B60W 2554/4049: Relationship among other objects, e.g. converging dynamic objects
- G08G 1/165: {for passive traffic, e.g. including static obstacles, trees}
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR

## Abstract

The invention relates to a method for providing environmental data wherein first environmental data are captured at a first time, objects being detected on the basis of the captured first environmental data, and object parameters being determined for each of the objects, wherein the object parameters are associated with the objects. In addition, a traffic situation is determined on the basis of the captured first environmental data, and filter criteria are determined according to the determined traffic situation. The filter criteria comprise prioritizations and predictions for the objects and the object parameters associated therewith. At a second time, second, updated environmental data are captured and transmission data are generated on the basis of the second, updated environmental data and the filter criteria. The transmission data are output.

## Claims

### Claim 1

A method for providing environmental data of a vehicle, comprising:
capturing first environmental data at a first time using at least one sensor;
detecting objects in the environment of the vehicle by analyzing the captured first environmental data;
detecting object parameters for each of the objects, wherein the object parameters are associated with the objects, wherein the object parameters for a respective object include at least one of a position, a distance, a speed, an acceleration, or a change in acceleration of the respective object relative to the vehicle or other reference;
determining a traffic situation by analyzing the captured first environmental data;
determining filter criteria based on the determined traffic situation, wherein the filter criteria comprise at least predictions for respective object parameters associated with respective objects, wherein the prediction for a respective object parameter specifies whether the respective object parameter is static or dynamic;
at a second time, capturing second environmental data using the at least one sensor;
filtering the second environmental data using the determined filter criteria to reduce a bandwidth requirement for transmission, wherein the filtering comprises identifying, based on the second environmental data:
a first subset of object parameters that match the respective predictions for the respective object parameters; and
a second subset of object parameters that deviate from the respective predictions for the respective object parameters;
generating transmission data associated with the second subset of object parameters but not the first subset of object parameters on the basis of the second environmental data;
transmitting the transmission data to a processor; and
controlling, by the processor, an autonomous driving operation of the vehicle based at least on the transmission data transmitted by the pre-processor.

### Claim 2 (depends on 1)

The method of claim 1, wherein
the capture of the first and second environmental data, the determining of the object parameters for the objects and the generating of the transmission data are performed by a capture unit including the at least one sensor and a pre-processor; and
the determining of the traffic situation and the filter criteria is carried out by a processor, wherein
the first object parameters for the first time are transmitted from the capture unit to the processor;
the filter criteria are transmitted from the processor to the capture unit; and
the transmission data for the second time are transmitted from the capture unit to the processor.

### Claim 3 (depends on 2)

The method of claim 2, wherein the volume of data of the transmission data relative to the volume of data of the first object parameters is reduced according to the filter criteria.

### Claim 4 (depends on 3)

The method of claim 3, further comprising:
determining a first environment model on the basis of the captured first environmental data; and
generating a second, updated environment model on the basis of the first environment model and the transmission data.

### Claim 5 (depends on 2)

The method of claim 2, further comprising:
determining a first environment model on the basis of the captured first environmental data; and
generating a second, updated environment model on the basis of the first environment model and the transmission data.

### Claim 6 (depends on 1)

The method of claim 1, further comprising:
determining a first environment model on the basis of the captured first environmental data; and
generating a second, updated environment model on the basis of the first environment model and the transmission data.

### Claim 7 (depends on 1)

The method of claim 1, wherein the predictions for specific object parameters comprise information about which changed values of the object parameters are anticipated for the updated environmental data.

### Claim 8 (depends on 1)

The method of claim 1, wherein the predictions for the object parameters are determined on the basis of a planned driving maneuver.

### Claim 9 (depends on 1)

The method of claim 1, wherein the determining of the traffic situation comprises one or more of a classification of types of driving maneuvers, configurations of vehicles relative to one another, and traffic regulations.

### Claim 10 (depends on 1)

The method of claim 1, wherein
threshold values are associated with specific object parameters on the basis of prioritizations associated with respective object parameters; and
determining a second subset of object parameters that deviate from the respective predictions for the respective object parameters comprises determining object parameters which deviate from their respective predictions by less than the respective threshold values from the respective predictions.

### Claim 11 (depends on 1)

The method of claim 1, wherein
the capture of the first and second environmental data, the determining of the object parameters for the objects and the generating of the transmission data are performed by a capture unit including the at least one sensor and a pre-processor; and
the determining of the traffic situation and the filter criteria is carried out by a processor, wherein
the first object parameters for the first time are transmitted from the sensor to the processor;
the filter criteria are transmitted from the processor to the sensor; and
the transmission data for the second time are transmitted from the sensor to the processor.

### Claim 12 (depends on 1)

The method of claim 1, further comprising:
determining a first environment model on the basis of the captured first environmental data; and
generating a second, updated environment model on the basis of the first environment model and the transmission data.

### Claim 13 (depends on 1)

The method of claim 1, comprising determining a position of the vehicle using a receiver, configured for a global satellite navigation system, wherein the traffic situation is determined using the position of the vehicle.

### Claim 14

A system for providing environmental data in a vehicle, comprising:
a sensor for capturing first environmental data at a first time;
a pre-processor which is configured to detect objects in the environment of the vehicle by analyzing the captured first environmental data and to determine object parameters for each of the objects, wherein the object parameters are associated with the objects, and wherein object parameters for a respective object include at least one of a position, a distance, a speed, an acceleration, or a change in acceleration of the respective object relative to the vehicle or other reference; and
a processor which is configured to determine a traffic situation on the basis of the captured first environmental data and to determine filter criteria according to the determined traffic situation;
wherein the filter criteria comprise at least predictions for respective object parameters associated with respective objects, wherein the prediction for a respective object parameter specifies whether the respective object parameter is static or dynamic;
wherein the sensor is configured to capture second environmental data at a second time and to filter the second environmental data using the determined filter criteria to reduce a bandwidth requirement for transmission, wherein the filtering comprises identifying, based on the second environmental data:
a first subset of object parameters that match the respective predictions for the respective object parameters; and
a second subset of object parameters that deviate from the respective predictions for the respective object parameters;
wherein the pre-processor is configured to generate transmission data associated with the second subset of object parameters but not the first subset of object parameters on the basis of the second environmental data and the filter criteria, and transmit the transmission data to the processor; and
wherein the processor is configured to control an autonomous driving operation of the vehicle based at least on the transmission data transmitted by the pre-processor.

### Claim 15 (depends on 14)

The system of claim 14, wherein the sensor comprises a lidar, radar or ultrasonic detector, and/or a camera.

### Claim 16 (depends on 14)

The system of claim 14, wherein the pre-processor is comprised by the sensor; wherein
the sensor is configured to transmit the first object parameters for the first time and to transmit the transmission data for the second time to the processor; and
the processor is configured to transmit the filter criteria to the sensor.

### Claim 17 (depends on 14)

The system of claim 14, wherein the sensor is controlled on the basis of the prioritizations such that the updated environmental data are captured on the basis of a subset of different sensors of the sensor.

### Claim 18 (depends on 14)

A vehicle having the system of claim 14.