# US 12,179,791 B2 · Method and device for operating an automated vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,791 B2 - Document ID: US12179791B2 - Status: Granted - Kind: B2 - Application number: 17/435,996 - Filed: 2020-02-10 - Published: 2022-05-19 - Granted: 2024-12-31 - Earliest claimed: 2019-03-05 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Norman Fournier; Stephanie Arramon; Svetlana Rau; Tjark Vandommele; Ulf Wilhelm - Web page: https://patentgrep.com/patent/US12179791B2 ## CPC - B60W 50/023: Avoiding failures by using redundant parts - B60W 60/001: {Planning or execution of driving tasks} - B60W 40/04: Traffic conditions - G05D 1/0077: {using redundant signals or controls} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W 2050/0028: {Mathematical models, e.g. for simulation} - B60W 2556/35: Data fusion - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method for operating an automated vehicle. The method includes: detecting surroundings of the vehicle; providing surroundings data of the detected surroundings; supplying the surroundings data to a situation detection unit including a defined number greater than one of situation detection elements; computationally modeling the surroundings of the vehicle with the aid of the situation detection elements; activating driver assistance systems using output data of the models of the situation detection elements; deciding, with the aid of a decision-making unit, which output data of the models of the situation detection elements are used for activating an actuator unit of the vehicle; and activating the actuator unit of the vehicle using the decided-upon output data. ## Claims ### Claim 1 A method for operating an automated vehicle, comprising the following steps: detecting surroundings of the vehicle; providing surroundings data of the detected surroundings; supplying the surroundings data to a situation detection unit including a defined plurality of situation detection elements that are collectively present together at one time; computationally modeling the surroundings of the vehicle using the situation detection elements, wherein each of the situation detection elements determines a respective model corresponding to one of a plurality of aspects of the surroundings such that each of the plurality of aspects is independent of each other and such that a sum of the models of the situation detection elements covers an entire field of action of the surroundings; activating driver assistance systems using output data of the models of the situation detection elements; deciding, using a decision-making unit, which of the output data of the models of the situation detection elements are used for activating an actuator unit of the vehicle; and activating the actuator unit of the vehicle using the decided-upon output data. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the models of the situation detection elements are synchronously ascertained independently of one another, the models of the situation detection elements overlapping at least partially. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein the driver assistance systems are activated independently of one another and synchronously. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein different data are provided from a sensor of the surroundings sensor unit for different ones of the situation detection elements. ### Claim 5 (depends on 1) The method as recited in claim 1, further comprising: ascertaining, using a self-assessment unit of each situation detection element, the models of the situation detection element are. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein data for all of the driver assistance systems are provided using the models of the situation detection elements. ### Claim 7 (depends on 6) The method as recited in claim 6, wherein each driver assistance system decides which data of which situation detection element it processes. ### Claim 8 (depends on 7) The method as recited in claim 7, wherein the decision-making unit of a function unit decides which data of which driver assistance system it processes. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein each situation detection element assesses behavioral data of the vehicle using the same metric in each case, the metrics of the situation detection elements encompassing at least one of the following: collision likelihood, resource conservation, environmental sustainability, legality. ### Claim 10 A device configured to operate an automated vehicle, comprising: a surroundings sensor unit configured to detect surroundings of the vehicle and to provide surroundings data of the detected surroundings; situation detection unit including a defined plurality of situation detection elements to which the surroundings data may be supplied; computational modeling of the surroundings of the vehicle being carried out using the situation detection elements, wherein the situation detection elements are collectively present together at one time, and, wherein each of the situation detection elements determines a respective model corresponding to one of a plurality of aspects of the surroundings such that each of the plurality of aspects is independent of each other and such that a sum of the models of the situation detection elements covers an entire field of action of the surroundings; driver assistance systems which are activatable using output data of the models of the situation detection elements; a decision-making unit using which it may be decided which output data of the models of the situation detection elements are used for activating an actuator unit of the vehicle; and an actuator unit of the vehicle which is activatable using the decided-upon output data. ### Claim 11 (depends on 10) The device as recited in claim 10, wherein the device is an electronic control unit of the vehicle. ### Claim 12 A non-transitory computer-readable data carrier on which is stored program code for operating an automated vehicle, the program code, when executed by an electronic device, causing the electronic device to perform the following steps: detecting surroundings of the vehicle; providing surroundings data of the detected surroundings; supplying the surroundings data to a situation detection unit including a defined plurality of situation detection elements that are collectively present together at one time; computationally modeling the surroundings of the vehicle using the situation detection elements, wherein each of the situation detection elements determines a respective model corresponding to one of a plurality of aspects of the surroundings such that each of the plurality of aspects is independent of each other and such that a sum of the models of the situation detection elements covers an entire field of action of the surroundings; activating driver assistance systems using output data of the models of the situation detection elements; deciding, using a decision-making unit, which of the output data of the models of the situation detection elements are used for activating an actuator unit of the vehicle; and activating the actuator unit of the vehicle using the decided-upon output data.