Method for the multistage fusion of measurement data

A controller system of a vehicle, the controller system comprising a first controller and a second controller or a central control unit that is programmed with a first module and a second module, the controller system being configured to perform a vehicle control method, the controller system being configured to:

• receive, by the first controller or by the first module of the central control unit of the vehicle, measurement data ascertained by a first group of on-board sensors that are on board the vehicle, the first group of on-board sensors having a higher functional safety classification than a second group of on-board sensors that are on board the vehicle;
• fuse the measurement data ascertained by the first group of on-board sensors to form a first environmental model;
• receive, by the second controller or by the second module of the central control unit, measurement data ascertained by the second group of on-board sensors of the vehicle;
• generate a second environmental model using the first environmental model in combination with the measurement data of the second group of on-board sensors;
• execute first vehicle control operations using the first environmental model independent of the second environmental model, wherein the first vehicle control operations are classified by the vehicle with the higher functional safety classification than second vehicle control operations;
• and
• execute second vehicle control operations using the second environmental model, wherein the first and second vehicle control operations control at least one actuator of the vehicle.

A non-transitory machine-readable storage medium on which is stored instructions that are executable by a controller system of a vehicle, the controller system including a first controller and a second controller or a central control unit that is programmed with a first module and a second module, the instructions, when executed by the controller system, causing the controller system to perform the following steps:

• receiving, by the first controller or by the first module of the central control unit of the vehicle, measurement data ascertained by a first group of on-board sensors that are on board the vehicle, the first group of on-board sensors having a higher functional safety classification than a second group of on-board sensors that are on board the vehicle;
• fusing the measurement data ascertained by the first group of on-board sensors to form a first environmental model;
• receiving, by the second controller or by the second module of the central control unit, measurement data ascertained by the second group of on-board sensors of the vehicle;
• generating a second environmental model using the first environmental model in combination with the measurement data of the second group of on-board sensors;
• executing first vehicle control operations using the first environmental model independent of the second environmental model, wherein the first vehicle control operations are classified by the vehicle with the higher functional safety classification than second vehicle control operations;
• and
• executing second vehicle control operations using the second environmental model, wherein the first and second vehicle control operations control at least one actuator of the vehicle.