Derivation and Application of an Observer Structure to Detect Inconsistencies Within a Static Environmental Model

Smart vehicles like autonomously driving cars have the advantage to make a ride more safe and comfortable because intelligent vehicles respond better and faster than human beings to critical situations [1]. Having accurate knowledge of its environment is essential for a car that drives autonomously. Based on this, a maneuver adapted to the situation can be planned and carried out. The perception takes place via a variety of sensors such as cameras, radars and LIDAR’s [2, 3]. However, the disadvantage of an intelligent vehicle is the complex infrastructure consisting of sensors, ECUs, communication equipment, etc. that is needed to perceive the environment correctly. As the complexity increases, the susceptibility to errors of such a system increases the same way. Errors refer to the failure of individual units, the incorrect processing of information, but also the manipulative interference of unauthorized persons.

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