A method for checking the functionality of a position detection - or surroundings sensing device of a vehicle or for controlling a digital map

摘要

A method for monitoring the operability of a on or in a vehicle (10) arranged surroundings sensing device (20, 26) for the determination of layers of articles (12, 14, 16, 18) in an environment of the vehicle (10),with the surroundings sensing device (20, 26)an image (20) for the detection of distance-measuring images at least a portion of the surroundings of the vehicle (10) anda device (26) for the recognition and / or tracking of objects in the form of the image-capturing apparatus (20) detected objects (12, 14, 16, 18), on the basis of of the image-capturing apparatus (20) detected distance-measuring imagescomprises,the method– by means of the image-capturing apparatus (20) at least one distance image is detected and by means of the object recognition - and / or - tracking means (26) with the use of the distance image at least one object is detected and data of at least with respect to the distance and the position of this object are determined,– by means of a position detection arrangement can be used (22) a current position of the vehicle (10) is determined,– as a function of the detected position of the vehicle (10) in a digital map (24) of a section of the environment of the position of the vehicle (10) is determined, and– the data determined from the distance-measuring images in relation to the distance and the position of the at least one detected object with corresponding data from the detail of the digital map (24) are compared,whereinin the case of inability to find a one in the detail of the digital map (24) recorded object (14, 16, 18) corresponding object in the respective distance image is a the position of the object (14, 16, 18) a comprehensive angle sector of a field of view of the image detecting device (20) is determined,in successive distance-measuring images it is checked whether in this angular sector of objects to be determined, andin the case that no objects in the angular sector be determined, although according to the digital map (24) at least one a in the detail of the digital map (24) recorded object (14, 16, 18) corresponding further object should be ascertained, an error signal is formed, the malfunctioning of the image detecting device (20) indicates.