Computer-implemented method, processing device and vehicle control device

A processing device for a vehicle, the processing device configured for behavior planning of a vehicle, the processing device configured to perform:

• a first processing including:
• (i) a first environmental detection of a first environment region of the vehicle, which includes at least one environmental object, using a first environmental sensor generating first environmental sensor data, (ii) a first environmental perception from the first environmental sensor data, the first environmental perception including a first object detection, and (iii) a safety assessment of the first environmental perception by applying a set of safety rules;
• a second processing including:
• (i) a second environmental detection of a second environment region of the vehicle, which at least partially includes the first environment region, using a second environmental sensor generating second environmental sensor data, (ii) a second environmental perception from the second environmental sensor data, the second environmental perception including a second object detection, and (iii) a safety assessment of the second environmental perception by applying the set of safety rules;
• outputting at least one proposed operating parameter of the vehicle depending on the safety assessments of the first and second environmental perceptions, the at least one proposed operating parameter being an operating parameter for an emergency vehicle maneuver;
• performing a risk assessment of the at least one proposed operating parameter taking into account a probability of a false positive object detection corresponding to the first object detection and a probability of a false positive object detection corresponding to the second object detection;
• action planning including planning an operating parameter to be used based on the at least one proposed operating parameter;
• wherein an intervention measure is included between at least one of the safety assessments of the first and second environmental perceptions and the action planning, the intervention measure, depending on a state detection and the risk assessment, specifically influencing the at least one proposed operating parameter that has been output.

A vehicle control device for a vehicle, which vehicle control device is configured to set an operating parameter of the vehicle to be applied as planned using a computer-implemented method, the computer-implemented method comprising:

• a first processing including:
• (i) a first environmental detection of a first environment region of the vehicle, which includes at least one environmental object, using a first environmental sensor generating first environmental sensor data, (ii) a first environmental perception from the first environmental sensor data, the first environmental perception including a first object detection and (iii) a safety assessment of the first environmental perception by applying a set of safety rules;
• a second processing including:
• (i) a second environmental detection of a second environment region of the vehicle, which at least partially includes the first environment region, using a second environmental sensor generating second environmental sensor data, (ii) a second environmental perception from the second environmental sensor data, the second environmental perception including a second object detection and (iii) a safety assessment of the second environmental perception by applying the set of safety rules;
• outputting at least one proposed operating parameter of the vehicle depending on the safety assessments of the first and second environmental perceptions, the at least one proposed operating parameter being an operating parameter for an emergency vehicle maneuver;
• performing a risk assessment of the at least one proposed operating parameter taking into account a probability of a false positive object detection corresponding to the first object detection and a probability of a false positive object detection corresponding to the second object detection;
• action planning including planning the operating parameter to be used based on the at least one proposed operating parameter;
• wherein an intervention measure is included between at least one of the safety assessments of the first and second environmental perceptions and the action planning, the intervention measure, depending on a state detection and the risk assessment, specifically influencing the at least one proposed operating parameter that has been output.