DE102013220526A1 - Fail-safe sensor architecture for driver assistance systems - Google Patents

Abstract

The invention relates to a processing system (1) for environment sensor data in a vehicle, in particular automobile or motorcycle, having at least one environment sensor (3.1, 3.2, ..., 3.n), at least one first sensor data processing unit (5.1) and a second sensor data processing unit (5.2 ), wherein the at least one environment sensor (3.1, 3.2, ..., 3.n) with corresponding, preferably identically designed data transmission interfaces (3.1.1, 3.1.2, 3.2.1, 3.2.2, ...; 3. n.1, 3.n.2) for the redundant transmission of sensor raw data with each of the sensor data processing units (5.1, 5.2) via a respectively associated data line (9.1.1, 9.1.2, 9.2.1, 9.2.2, ...; 9.n.1, 9.n.2).

Description

The invention generally relates to the determination of environmental model data for describing a current vehicle environment. In particular, the invention relates to a sensor architecture for the determination of such environmental model data with increased reliability.

Highly automated autonomous driving functions are understood as functions of a driver assistance system (FAS) in which the driver partially transfers the driving task to the vehicle and no longer has to devote himself entirely to the driving task. For FAS functions a wide variety of environmental sensors are used for data acquisition. To improve the information acquisition and information processing and thus the reliability of such FAS sensor fusion is increasingly used, d. H. Sensor data multiple sensors of the same or different genus used as a database of the FAS function.

DE 10 2008 061 301 A1 shows in a brake assist system as an example of a FAS, the validation of a radar signal by a control unit by means of a camera signal, by means of which it is confirmed that the radar signal is actually reflected by another vehicle. DE 10 2007 058 192 A1 shows an example of the fusion of different environmental sensors, such. B. radar sensors, camera sensors, Lidarsensoren and data of a telematics system, wherein by means of a central control unit, the respective non-redundant information of a single sensor are checked by analytically compared with information from another sensor. DE 10 2007 048 809 A1 describes a method in which the signals of various environmental sensors are used to generate an environmental model. In addition to the signals of the environmental sensors, data received via (Vehicle-to-Infrastructure) V2X communication is included in the environmental model. By combining the different sensors with each other or the sensors with the V2X communication system problems and weaknesses of individual sensors to be compensated by strengthening other sensors.

FAS functions require fail-safe and reliable sensor architectures for recording the driving environment in order to be able to provide a reliable environment model for the vehicle, in particular for the aforementioned highly automated and autonomous driving functions.

It is an object of the present invention to propose an improved, in particular more reliable, sensor architecture for a system for environment modeling of the driving environment of a vehicle, preferably an automobile or a motorcycle.

This object is achieved with the features of the independent claims. Advantageous features and details of the invention will become apparent from the respective dependent claims, the description and the drawings.

A processing system according to the invention for environment sensor data in a vehicle, in particular in an automobile or in a motorcycle, comprises at least one environment sensor, at least one first sensor data processing unit and a second sensor data processing unit, wherein the at least one environment sensor, with corresponding, preferably identically designed data transmission interfaces for the redundant transmission of sensor raw data is connected to the first and the second sensor data processing unit via a respectively associated data line.

Due to the redundant data connection to redundant sensor data processing units, it can advantageously be achieved that damage to a sensor data processing unit or a connecting line no longer simultaneously means the failure of the sensor. The redundant transmission of sensor raw data to each or to each of the first and the second of the sensor data processing units is carried out in particular via a respectively associated data or connection line as a data transmission path.

The invention is based on the idea of providing at least two identical data transmission interfaces and data transmission paths for transmitting raw sensor data to improve the accuracy and reliability of an environment modeling system on each environment sensor and, in particular, identical sensor raw data, ie. H. substantially unprocessed environmental sensor data, at least two, d. H. also redundant existing sensor data processing units (Sensor Domain Controller, SDC) to transfer. The redundant data connection to redundant SDCs ensures that damage to an SDC or a connection cable no longer leads to failure of the environmental sensor at the same time. The principle can be expanded accordingly to three SDCs and more, wherein the at least one environmental sensor then has correspondingly three or correspondingly a plurality of data transmission interfaces and is connected to all SDCs by means of three or correspondingly more associated data connections.

By processing sensor data first in the SDCs, the environmental sensor data from various sensors can be better be merged. Thus, the sensor raw data of several sensors are processed at a common processing point, so that a data fusion between the numerous sensors is easier. In addition, it has been shown that the unfiltered sensor raw data contains all data that are important for a possible fusion and that are required in processing algorithms. The almost complete transfer of sensor data processing from the sensors to another device, such as the SDCs, can greatly simplify the design of the sensors. The sensors can thus be carried out more cost-effectively than conventional sensors, since no data processing, such as raw data evaluation, interpretation and filtering and also no parts of the FAS function, takes place in the sensor more. That is, in the respective driving environment sensors, e.g. As radar sensors, lidar sensors, stereo camera systems and the like, even a minimal data processing for the transmission of the sensor raw data is carried out.

The at least one environment sensor may be a sensor of the genus radar, lidar, laser scanner, ultrasound, monocamera, stereo camera, wheel speed sensor, acceleration sensor, yaw rate sensor or steering angle sensor or the like. In this case, several environment sensors can be a composite of individual environment sensors of the same and / or different genus.

Each of the first and second sensor data processing units is configured to process the received raw sensor data of the at least one environment sensor to determine an environment model of the current driving environment of the vehicle. Due to the fact that the processing of the sensor data for the determination of an environment model takes place only in the sensor data processing units, the sensor data of various sensors can be better fused. In particular, data fusion between the numerous sensors is simpler since it makes the sensor raw data of several sensors available at a single processing point. In addition, on the basis of the sensor raw data, a significantly improved fusion of several sensors can be achieved since in the non-preprocessed and unfiltered sensor raw data, all required data for a fusion are still contained in the algorithms.

The sensors thus only output unprocessed sensor data (raw sensor data), ie. h., there is no or only minimal preprocessing in the sensor. Unaffected by this, even minimal data processing, for example an arrangement in a predetermined data format, can be carried out in the respective environmental sensors. Thus, the sensors can be made simpler and thus cheaper to run than conventional sensors that must be set up for data processing, such as raw data evaluation, interpretation and filtering.

In a preferred embodiment, the at least two, d. H. the first and the second sensor data processing unit each set up, the sensor raw data of the at least one environment sensor either by the same algorithms or algorithms with identical function but different microprogramming, d. H. A compilation was done with different compilers or the programming was done by different programmers to process the environment model.

Preferably, the processing results of the sensor raw data processing as an environment model data record are supplied to each of the sensor data processing units in each case to the other sensor data processing units via a corresponding result data line. Then, each of the sensor data processing units may further comprise comparing means arranged to compare the own processing result, preferably the own environment model data set, with those of the other sensor data processing units and output a respective comparison result.

Preferably, the respective comparison results are fed to a decision unit, which is preferably designed as independent hardware. The decision unit is set up to select which of the processing results, preferably which of the surrounding model data records, of the sensor data processing units for a preferably automated and autonomous function is made available to a driver assistance system of the vehicle.

For this purpose, the decision unit can be set up to select the sensor data processing unit with the best data quality. The selection can be based on quality criteria which are tapped in the sensor data processing units when determining the respective processing result, preferably the environment model data record; for example, the covariance matrices of a Kalman-filtered target tracker (tracker) could be used.

Preferably, the decision unit is further configured to generate a state and quality measure for the selected environment model and output to the driver assistance system. The quality measure may contain information about the match or deviations of the processing results, preferably of the environment model data sets, of the sensor data processing units.

If there is an error in one of the sensor data processing units, this can be detected in the decision unit. The decision unit can therefore be further configured to pass on corresponding information to subsequent instances. Accordingly, for example, an emergency operation can be initiated and guaranteed.

The data transmission for the sensor raw data preferably takes place from the environment sensors to the sensor data processing units by means of a data bus system. For example, a data bus connection of a Controller Area Network Bus, Local Interconnect Bus, FlexRay Bus, Fieldbus, Ethernet Bus, APIX Bus or the like can be used.

In an advantageous embodiment, a data connection of an environmental sensor to one of the sensor data processing units is implemented as a two-wire bus system, particularly preferably as an Automotive Pixel Link, APIX, bus system. The APIX bus was developed for the automotive sector for video transmission and so far only used for this purpose. The APIX bus is a high-speed bus system capable of transferring large amounts of data at high speed. The transmission rate for the transmission of video and peripheral data for displays and camera applications in the APIX 2 version is already 3 Gbit / s. Such a data rate is sufficient to transmit the unfiltered sensor raw data of the respective environmental sensor to the respective sensor data processing unit via the APIX bus.

Particularly preferably, the connecting lines for the sensor raw data transmission are also set up for the sensor power supply of the environment sensors. Particularly preferably, the connecting lines for a redundant sensor power supply are used at each environment sensor, so that an environment sensor in case of failure of a connecting line, for. B. due to the defect of a cable or a plug contact, without any impairment can continue to operate.

For example, the o. G. APIX bus can be used to power the sensors (Power-over-APIX, PoA). The signal coupling on the transmission line takes place capacitively with the APIX bus so that current of maximum 2 A can be transmitted via the transmission line for the supply of an environment sensor. With a supply voltage of 12 V, this corresponds to a power of 24 W, which is completely sufficient for most sensors.

Due to the power supply carried in the redundant transmission lines, the power supply of the environmental sensors is maintained in the event of a line fault or a fault in one of the sensor data processing units. In the environment sensor can by appropriate implementation of the power supply, for. B. multiple internal and separate power supply, and the low in the environment sensor required computing power, since no more function processing in the environment sensor takes place, a much lower failure rate of the environment sensor, but also the overall system (in the fault tree and cabling errors in other control devices considered) can be achieved ,

Further advantages, features and details of the invention will become apparent from the following description in which, with reference to the drawings, embodiments of the invention are described in detail. The features mentioned in the claims and in the description may each be essential to the invention individually or in any desired combination. Likewise, the features mentioned above and further explained here can be used individually or in combination in any combination. Functionally similar or identical components or components are partially provided with the same reference numerals. The terms "left", "right", "top" and "bottom" used in the description of the embodiments refer to the drawings in an orientation with normally readable figure designation or normal readable reference numerals. The embodiments shown and described are not to be understood as exhaustive, but have exemplary character for explaining the invention. The detailed description is for the information of the person skilled in the art, therefore, in the description of known circuits, structures and methods are not shown or explained in detail in order not to complicate the understanding of the present description. In the figures show:

1 a schematic block diagram of an embodiment of an environment sensor architecture;

2 a schematic block diagram for a selection of one of the redundant environment models;

3 a schematic representation of a signal / power supply switch for an environment sensor data connection; and

4 a schematic block diagram of an embodiment of an environment sensor with data transmission and power supply via redundant data lines.

1 shows a schematic block diagram of an embodiment of an environment sensor Architecture. A processing system 1 environmental sensor data in a vehicle, such as an automobile or motorcycle, is a composite of n environmental sensors 3.1 . 3.2 , ..., 3.n fitted.

To determine a current environment model of the vehicle environment as a database for highly automated autonomous functions of a driver assistance system, a first sensor domain controller (SDC) 5.1 as a sensor data processing unit and a second SDC 5.2 provided as a sensor data processing unit.

In the environment sensors 3.1 . 3.2 , ..., 3.n it can each be a sensor of the genus radar, lidar, laser scanner, ultrasound, monocamera, stereo camera, wheel speed sensor, acceleration sensor, rotation rate sensor, steering angle sensor or others, which are not mentioned here as an example. The sensor network can basically consist of sensors of the same and / or different genus; There may also be several sensors of the same genus.

Each of the environmental sensors 3.1 . 3.2 , ..., 3.n is with two identical and therefore redundant data interfaces for the redundant transmission of sensor raw data to both the first SDC 5.1 and the second SDC 5.2 connected via associated data lines. For example, the environment sensor has 3.1 a first transceiver unit 3.1.1 and a second transceiver unit 3.1.2 as redundant data interfaces. The first transceiver unit 3.1.1 is by means of a data line 9.1.1 with a corresponding transceiver unit 5.1.1 as data interface of the first SDC 5.1 connected. Next is the second transceiver unit 3.1.2 by means of a data line 9.1.2 with a corresponding transceiver unit 5.2.1 as data interface of the second SDC 5.1 connected.

In the same way, the other environment sensors 3.2 to 3.n each with the first SDC 5.1 and the second SDC 5.2 connected. So has the second environment sensor 3.2 a first transceiver unit 3.2.1 and a second transceiver unit 3.2.2 as data interfaces. The first transceiver unit 3.2.1 of the second environment sensor 3.2 is by means of a data line 9.2.1 with a corresponding transceiver unit 5.1.2 as data interface of the first SDC 5.1 connected and the second transceiver unit 3.2.2 is by means of a data line 9.2.2 with a corresponding transceiver unit 5.2.2 as data interface of the second SDC 5.2 connected.

Each of the redundantly executed data connections and SDCs ensures that damage or failure of an SDC 5.1 respectively. 5.2 or one of the data lines 9.1.1 . 9.1.2 . 9.2.1 . 9.2.2 , ..., 9.n.1 . 9.n.2 no longer for the simultaneous failure of the respective sensor 3.1 . 3.2 , ..., 3.n leads.

Both the first and the second SDC 5.1 . 5.2 are for processing the received Sensorrohdaten the environment sensors 3.1 . 3.2 , ..., 3.n programmed for the determination of a current environment model of the driving environment of the vehicle.

By processing sensor data first in the SDCs, the data from different sensors can be better fused. Data fusion between the many sensors is easier because it provides the sensor raw data from multiple sensors to a single processing point, the SDC. Based on the sensor raw data, a significantly improved fusion can be achieved in one SDC of multiple sensors coupled in this way. The unfiltered sensor raw data contains all the important data required for fusion and in the algorithms. Furthermore, the sensors can be designed simpler and therefore more cost-effective than conventional sensors, since no data processing, such as raw data evaluation, interpretation and filtering and also no parts of the FAS function, takes place in the sensor. That is, in the respective driving environment sensors, e.g. As radar sensors, lidar sensors, stereo camera systems and the like, even minimal data processing is carried out. Instead, the sensors output only unprocessed sensor data (sensor raw data), i. h., there is no or only minimal preprocessing in the sensor.

The first and the second SDC 5.1 and 5.2 are each set up by the environmental sensors 3.1 . 3.2 , ..., 3.n transmitted raw sensor data to process a current environment model of the vehicle environment. To do this, the SDCs 5.1 . 5.2 be configured as data processing devices in the manner of a microcomputer or signal processor, which are configured with either identical algorithms or algorithms with identical function for generating environmental model data, ie programmed. Algorithms with identical function can be generated for example by means of different microprogramming, ie using different compilers or creation by different programmers.

The processing results of sensor raw data processing in the SDCs 5.1 . 5.2 be as respective environment model records 13.1 . 13.2 each to the other SDC 5.1 . 5.2 made available. That is, the first SDC 5.1 Represents the second SDC 5.2 its environment model record 13.1 available, and the second SDC 5.2 represents the first SDC 5.1 its environment model record 13.2 to disposal.

Every SDC 5.1 . 5.2 has a respective comparison device 11.1 respectively. 11.2 each comparing its own environment model data obtained from the sensor raw data with those of the other SDC, and respectively as comparison result data 15.1 respectively. 15.2 outputs. For example, in the first SDC 5.1 a first comparison unit 11.1 implements the first environment model record 13.1 as a result of the processing and fusion of raw sensor data in the first SDC 5.1 as well as the second environment model data set 13.2 by the second SDC 5.2 submitted. Accordingly, a second comparison unit 11.2 in the second SDC 5.2 implemented.

2 shows how the respective comparison result data 15.1 and 15.2 a decision unit implemented as independent hardware 17 be supplied. The decider unit 17 is set up to select which of the environment model records 13.1 . 13.2 the automated and autonomous functional unit of a driver assistance system (FAS) 25 of the vehicle.

The decider unit 17 is set up to provide the environment model record 13.1 . 13.2 of the SDC 5.1 . 5.2 with the best data quality. This is the decision unit 17 configured to determine the selection by means of quality criteria, such as in the merger of sensor raw data in the SDCs 5.1 . 5.2 when generating the environment model records 13.1 . 13.2 be tapped. For example, covariance matrices of KALMAN filter-executed target trackers (trackers) could be used as a quality criterion. The selection of the environment model data set that is better in accordance with the quality criterion used can be used as a switching function 21 be implemented, depending on the result of the decision on a selection signal 19 is controlled so that the selected environment model data record 13.1 or 13.2 via a data line to the function of the FAS 25 to be passed through.

The decider unit 17 is further set up, status and quality data 18 for the selected environment model data 13.1 or 13.2 and also to the FAS 25 issue. Such state and quality data 18 For example, information about the compliance and / or deviations of the SDCs 5.1 . 5.2 determined environment models.

For example, is there an error in one of the SDCs? 5.1 . 5.2 , this can be in the decider unit 17 be recognized, then the corresponding information to subsequent instances such as the FAS 25 passes. Alternatively or additionally, for example, an emergency operation can be initiated and guaranteed.

The data lines 9.1.1 . 9.1.2 . 9.2.1 . 9.2.2 , ..., 9.n.1 . 9.n.2 for the sensor raw data are each designed as a two-wire bus system. In the exemplary embodiment, the bus is the Automotive Pixel Link, APIX, Bus eigesetzt. The APIX bus was previously used in automobiles only for video transmission. It is proposed here that the APIX bus is used to transmit raw sensor data from the sensor front end of the environment sensors 3.1 . 3.2 , ..., 3.n use.

The data lines 9.1.1 . 9.1.2 . 9.2.1 . 9.2.2 , ..., 9.n.1 . 9.n.2 are in addition to the redundant sensor power supply of the environment sensors 3.1 . 3.2 , ..., 3.n set up.

3 shows the example of the preferred APIX bus here, the power supply of the first environment sensor 3.1 through the first SDC 5.1 , The data line 9.1.1 for bidirectional data transmission is twisted pair two-wire line, z. A Category 5 STP cable (cat 5), and connects an APIX transceiver 5.1.1 of the SDC 5.1 with the APIX transceiver 3.1.1 of the environmental sensor 3.1 , The STP cabling offers high electromagnetic compatibility and resistance to electromagnetic interference.

The DC components on the data line 9.1.1 are separated by correspondingly sized low-pass circuits of coil L1 and capacitor C3 or coil L2 and capacitor C3 of data on the APIX bus. The -3 dB cut-off frequency of respective low-pass filters is set to be below the lowest occurring data frequency components of the APIX bus. The data stream on the APIX bus is in turn separated by respective high-pass filters from coil L1 and capacitor C1 or coil L2 and capacitor C2, whose -3 dB cutoff frequency is also selected so that the lowest frequency portions of the data transmission can still be easily transmitted. As execution here especially LC low-pass or common mode chokes come into question. Through the power supply via the data line 9.1.1 is no additional wiring to power the sensor 3.1 , z. B. 12 V to a fuse distributor and / or an electrical system battery, necessary.

The presentation of the 3 shows as an example the power supply of the environment sensor 3.1 , Accordingly, all data lines 9.1.1 . 9.1.2 . 9.2.1 . 9.2.2 , ..., 9.n.1 . 9.n.2 so that each of the APIX buses is used for power. This will be any of the environmental sensors 3.1 . 3.2 , ..., 3.n both on the part of the first SDC 5.1 as well as the second SDC 5.2 redundantly powered. This ensures that the environmental sensors 3.1 . 3.2 , ..., 3.n in case of failure of a data line 9.1.1 . 9.1.2 . 9.2.1 . 9.2.2 , ..., 9.n.1 . 9.n.2 , z. B. due to the defect of a cable or a plug contact, without any impairment can continue to operate. In each of the environment sensors 3.1 . 3.2 , ..., 3.n the power supply is internally double and separated to ensure the desired redundancy. As the individual environment sensors 3.1 . 3.2 , ..., 3.n require only a low processing power, since no sensor data processing takes place in a single environment sensor more, the individual environment sensor can be easily and inexpensively executed. The simplified structure of the environment sensors leads to a lower failure rate of the individual environment sensor, but also of the overall system.

4 shows a schematic block diagram for an embodiment of the environmental sensor 3.1 of the 1 with data transmission and power supply via redundant data lines. The structure explained below is corresponding to the other environment sensors 3.2 , ..., 3.n transferable.

The environment sensor 3.1 owns two APIX bus transceivers 3.1.1 and 3.1.2 via which the sensor node redundantly in each case by means of one of the cat 5 STP data lines 9.1.1 and 9.1.2 to the two SDCs 5.1 and 5.2 connected.

Each of the two APIX bus transceivers 3.1.1 and 3.1.2 initially consists of a separator 30.1 respectively. 30.2 with appropriately sized filters, as related to the 3 explains what the over the data lines 9.1.1 and 9.1.2 occurring power supply is disconnected. From both APIX transceivers 30.1 and 30.2 becomes the thus transmitted electric power of a DC power supply unit 34 supplied, which in turn supplies all other components of the sensor node with electrical energy.

After the separator 30.1 , and 30.2 follows in each case the actual transmitting and receiving device 32.1 and 32.2 each of which received data to a sequencer 36 to get redirected. Control signals are sent to the analog sensor part 40 via a digital-to-analog converter 38 directed.

Through the analog part 40 recorded analog sensor raw data are via an associated analog-to-digital converter 42 digitized and in a digital data processing unit 44 for transmission to the SDCs 5.1 and 5.2 edited. There is no sensor data processing in the traditional sense. The sensor raw data are brought only in the usual way in a suitable for transmission and processing and agreed format.

Those for transmission to the SDCs 5.1 and 5.2 provided sensor raw data are then each of the two transceiver units 3.1.1 and 3.1.2 and from there via the redundant data lines 9.1.1 and 9.1.2 to the SDCs 5.1 and 5.2 transfer.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008061301 A1 [0003]
• DE 102007058192 A1 [0003]
• DE 102007048809 A1 [0003]

Claims (10)

Processing system ( 1 ) for surroundings sensor data in a vehicle, in particular in an automobile or in a motorcycle, with at least one environment sensor ( 3.1 . 3.2 , ..., 3.n ), at least one first sensor data processing unit ( 5.1 ) and a second sensor data processing unit ( 5.2 ), wherein the at least one environment sensor ( 3.1 . 3.2 , ..., 3.n ) with corresponding, preferably identically designed, data transmission interfaces ( 3.1.1 . 3.1.2 ; 3.2.1 . 3.2.2 ; ...; 3.n.1 . 3.n.2 ) for the redundant transmission of sensor raw data with the first and the second sensor data processing unit ( 5.1 . 5.2 ) via a respectively associated data line ( 9.1.1 . 9.1.2 ; 9.2.1 . 9.2.2 ; ...; 9.n.1 . 9.n.2 ) connected is. System ( 1 ) according to claim 1, wherein the at least one environmental sensor ( 3.1 . 3.2 , ..., 3.n ) is a sensor of the genus radar, lidar, laser scanner, ultrasound, monocamera, stereo camera, wheel speed sensor, accelerometer, yaw rate sensor or steering angle sensor. System ( 1 ) according to claim 2, wherein the at least one environmental sensor ( 3.1 . 3.2 , ..., 3.n ) is a composite of sensors of the same and / or different genus. System ( 1 ) according to one of the preceding claims, wherein each of the sensor data processing units ( 5.1 . 5.2 ) for processing the received sensor raw data of the at least one environmental sensor ( 3.1 . 3.2 , ..., 3.n ) is set up to detect a current driving environment of the vehicle. System ( 1 ) according to one of the preceding claims, wherein each of the sensor data processing units ( 5.1 . 5.2 ) is set up in each case, the sensor raw data of the at least one environment sensor ( 3.1 . 3.2 , ..., 3.n ) either by the same algorithms or by algorithms with identical function but different microprogramming to a respective environment model data set ( 13.1 . 13.2 ) for the current vehicle environment. System ( 1 ) according to claim 5, wherein in one of the sensor data processing units ( 5.1 . 5.2 ) determined environment model data set ( 13.1 . 13.2 ) each of the other sensor data processing units ( 5.1 . 5.2 ) via a corresponding result data line ( 13.1 . 13.2 ) is supplied; and wherein each sensor data processing unit ( 5.1 . 5.2 ) a comparison unit ( 11.1 . 11.2 ) for comparing the own environment model data record ( 13.1 . 13.2 ) with the respective other environment model data sets ( 13.1 . 13.2 ) of the other sensor data processing units ( 5.1 . 5.2 ) and for outputting respective comparison result data ( 15.1 . 15.2 ) is set up. A system according to claim 6, wherein the respective comparison result data ( 15.1 . 15.2 ), preferably as an independent hardware executed, decision unit ( 17 ), which is adapted to select which of the environment model data sets ( 13.1 . 13.2 ) for a, preferably automated and autonomous, driver assistance function of a driver assistance system ( 25 ) of the vehicle. System according to claim 7, wherein the decision unit ( 17 ), a condition and quality measure ( 18 ) and to the driver assistance system ( 25 ), the condition and quality measure ( 18 ) prefers information about the conformity and / or deviations of the environment model data sets ( 13.1 . 13.2 ) contains. System according to one of the preceding claims, wherein the data lines ( 9.1.1 . 9.1.2 ; 9.2.1 . 9.2.2 ; ...; 9.n.1 . 9.n.2 ) are implemented for the sensor raw data by means of a data bus connection of a Controller Area Network Bus, Local Interconnect Bus, FlexRay bus, fieldbus or Ethernet bus, preferably as a two-wire bus system, particularly preferably as Automotive Pixel Link, APIX, bus system. System according to one of the preceding claims, wherein the data lines ( 9.1.1 . 9.1.2 ; 9.2.1 . 9.2.2 ; ...; 9.n.1 . 9.n.2 ) in addition to the transmission of the sensor raw data to the sensor power supply of the at least one environment sensor ( 3.1 . 3.2 , ..., 3.n ) are set up.

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