Method for generating a digital environment map using a system, as well as system

Abstract

Method for generating a digital environment map (2) for an area (3) for a motor vehicle (4) by means of a system (1) in which environmental information of the area (3) is generated by means of the motor vehicle (4) and the environmental information is transmitted to an electronic computing device (5) external to the motor vehicle, wherein the digital environment map (2) is generated by means of the electronic computing device (5) external to the motor vehicle depending on the transmitted environmental information, characterized in that at least one change of operating state (7) of the motor vehicle (4) is detected by means of a detection device (6) of the motor vehicle (4) and the environmental information is generated as vehicle event information (8) depending on the change of operating state (7),wherein a change in operating state (7) is defined as the actuation of a motor vehicle window (11) of the motor vehicle (4) and / or a change in a suspension system of the motor vehicle (4) and / or a charging process of the motor vehicle (4) and / or a change in the detection of a rain / light sensor of the motor vehicle (4) and / or a switching-off event of a wiper device of the motor vehicle (4).

Description

[0001] The invention relates to a method for generating a digital environmental map for an area for a motor vehicle using a system in which environmental information for the area is generated by the motor vehicle and transmitted to an electronic computing device external to the motor vehicle, wherein the digital environmental map is generated by the electronic computing device external to the motor vehicle depending on the transmitted environmental information. The invention further relates to a system.

[0002] Automated functions in motor vehicles are already known from the state of the art. For example, a so-called "automated valet parking" system can be provided, allowing the vehicle to be left in a designated handover area and then to drive itself, at least partially, autonomously into a suitable parking space. This automated valet parking system requires a digital map of the surroundings for planning and executing such a journey. Currently, these digital maps are primarily generated using laser surveys of the environment. This process is very complex and time-consuming.

[0003] DE 10 2017 202 065 A1 relates to a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area by a central server device, wherein the central server device repeatedly receives the current driving status and driving intention of each motor vehicle and determines a current coordination result for each motor vehicle, indicating whether, based on its current driving status, the motor vehicle's driving intention is prohibited according to the predetermined traffic rules due to the driving status and / or driving intention of at least one other motor vehicle, and depending on the coordination result, determines a currently permitted course of action for each motor vehicle and repeatedly transmits the determined course of action to the motor vehicles.The currently permitted behavior in the infrastructure area for the respective motor vehicle is signaled as a coordination message for the independent adjustment of a driving intention.

[0004] EP 3 696 787 A1 relates to a device for providing vehicle event information from at least one vehicle, comprising means for detecting a change in the vehicle's operating state, for determining a geographical position of the vehicle at the time of the detected change in operating state, and means for sending, in response to the detected change in operating state, vehicle event information concerning the change in operating state and / or geographical position.

[0005] US Patent 2018 / 149 483 A1 discloses a method for operating a vehicle to create a digital map of a parking lot, wherein the vehicle driving in the parking lot determines data about its route within the parking lot and transmits the determined data via a communication network to a map server, so that the map server can create a digital map of the parking lot based on the data.

[0006] The object of the present invention is to create a method and a system by which a digital environment map of an area can be reliably generated for a motor vehicle.

[0007] This problem is solved by a method and a system according to the independent claims. Advantageous embodiments are specified in the dependent claims.

[0008] One aspect of the invention relates to a method for generating a digital environment map for an area for a motor vehicle by means of a system in which environment information of the area is generated by means of the motor vehicle and the environment information is transmitted to an electronic computing device external to the motor vehicle, wherein the digital environment map is generated by means of the electronic computing device external to the motor vehicle depending on the transmitted environment information.

[0009] It is intended that at least one change in the vehicle's operating state will be detected by means of a vehicle detection device and that the environmental information will be generated as vehicle event information depending on the change in operating state.

[0010] This allows for the reliable generation of a digital environment map for the vehicle. Specifically, a method is proposed that generates a digital map from data reported by at least one vehicle while traversing an area, such as a parking space. For this purpose, the data reported by the vehicle is integrated into the vehicle's external electronic computing device, which can also be referred to as the backend. To generate the corresponding digital environment map, so-called driving events, which correspond to vehicle event information, are reported by the vehicle and integrated into the external electronic computing device. A driving event is understood to be, in particular, an event detected in the vehicle, such as lowering and subsequently raising a window.

[0011] According to an advantageous implementation, the environment map for a parking area is generated as a map of that area. Particularly in a parking area, such as a parking garage, valet parking can be provided. There, especially due to reduced reception of navigation data, for example from a Global Positioning System, it is essential that the vehicle can reliably navigate such environments. For this, the digital environment map with corresponding self-localization is crucial. Therefore, it is particularly advantageous that the digital environment map is generated specifically for the parking area.

[0012] Furthermore, it is advantageous if, in addition, odometry data from the vehicle is acquired using a separate vehicle-mounted sensor and transmitted to an external electronic computing unit. This unit then uses the data to generate a digital environment map based on the transmitted odometry data. The vehicle odometry data can include, in particular, the distance traveled and the corresponding steering angle. It can also be implemented to capture the surrounding environment, including objects, using the vehicle's sensors, such as a camera, radar, ultrasonic, or lidar sensor. This can further enhance the detail of the digital environment map.Furthermore, corresponding verifications of the already generated environment map can be carried out based on this information.

[0013] In a further advantageous embodiment, a multitude of vehicle event information from numerous other motor vehicles is transmitted to the vehicle-external electronic computing device. This electronic computing device then compares the numerous vehicle event data points and generates a digital environment map based on these comparisons. This multitude of vehicle event information consists primarily of so-called fleet data or swarm data. Specifically, a method can be presented in which the corresponding fleet data—that is, data reported by numerous motor vehicles while traversing the area—generates one or more digital maps. In particular, a heuristic method can be used for this purpose.This means that, for example, if several vehicles at a specific point or location report the event "lowering and subsequent raising of the window," it can be assumed with relative certainty that a barrier or ticketing system exists at that point. In this case, such information can be entered into the digital environment map to be generated. A similar procedure can be followed for other corresponding events.

[0014] It is also advantageous if the digital environment map is generated using a heuristic method via the vehicle's external electronic computing device. This makes it possible to reliably detect corresponding clusters of events, whereby corresponding events or geometric structures can then be identified at these locations and subsequently entered into the digital environment map.

[0015] Furthermore, it has proven advantageous to additionally verify the generated vehicle event information using the vehicle's external electronic computing device. In particular, this allows the use of driving events to generate the digital map. The events then serve, for example, as anchor points or additional confirmation alongside other objects reported by the vehicles, thereby making the mapping process faster and more reliable. Moreover, certain driving events, such as cornering, can be used to control the process for integrating the vehicle data on the vehicle's external electronic computing device. For instance, known error models, such as vehicle odometry drift in curves, can be used to identify areas where the reliability of the reported vehicle data is reduced.Such data are treated specially by the integration process, for example by being assigned a higher uncertainty.

[0016] Furthermore, it has proven advantageous to detect changes in operating state such as the activation of a vehicle window, a change in the vehicle's driving dynamics, a change in the vehicle's suspension system, at least a predefined speed profile, a parking maneuver, a charging process, a change in the vehicle's rain / light sensor reading, or the deactivation of a vehicle's wiper system. This allows for the use of various changes in operating state to generate vehicle event information. In particular, it can be provided that these changes in operating state do not necessarily result in one or more geometric map elements, but can also be expressed as rules or relationships of information directed to a specific location or region on the map.For example, the map can record typical vehicle behavior at a specific location, such as sudden braking before a pedestrian crossing with poor visibility, indicating a potential hazard. In particular, vehicle event information can be recorded, such as lowering and then raising the driver's window, for example, at a parking lot entrance barrier, which can then be saved as a so-called barrier event. Other events include braking and accelerating again before a crosswalk in the parking lot or braking and accelerating again before the entrance to the parking lot. Furthermore, events such as braking and turning into a curve in the parking lot, entering or exiting ramps and spiral ramps, driving over expansion joints or speed bumps, and a specific, distinctive vehicle speed profile can also be recorded.Furthermore, parking maneuvers, such as gear changes from forward to reverse, the use of turn signals, charging processes (e.g., of electric vehicles), events triggered by the rain / light sensor when moving from a parking roof to the interior of a parking garage or vice versa, or when entering a parking garage, can also be used. Additionally, the deactivation of a potentially active windshield wiper can be utilized. An event can therefore be a single action, such as stopping or activating the turn signal, as well as a specific sequence of several such actions.

[0017] Furthermore, it has proven advantageous if a large number of operating state changes are detected by the vehicle and, depending on the number of detected operating state changes, a specific vehicle event information is selected internally from a large number of potential vehicle event information and transmitted to the external electronic computing device. Alternatively, it can be provided that, for example, only the operating state change is transmitted to the external electronic computing device and the evaluation of the operating state change can be carried out externally on the external electronic computing device. Thus, it can be provided that specific vehicle event information is only recognized based on several operating state changes having occurred.This allows specific events to be detected, which in turn leads to an improved generation of the digital environment map.

[0018] The presented method is, in particular, a computer-implemented method. A further aspect of the invention relates to a computer program product with program code means which, when executing the program code means, cause an electronic computing device to carry out a method according to the preceding aspect. Furthermore, the invention also relates at this point to a computer-readable storage medium containing a computer program product.

[0019] A further aspect of the invention relates to a system for generating a digital environment map for a motor vehicle, comprising at least one electronic computing device external to the motor vehicle, wherein the system is configured to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the system. The electronic computing device includes, in particular, processors, circuits, and other electronic components to enable the corresponding method to be carried out.

[0020] Advantageous embodiments of the method are to be regarded as advantageous embodiments of the computer program product and the system. The system possesses tangible features that enable the execution of the method and its advantageous embodiments.

[0021] The invention also includes further developments of the system according to the invention, which have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the system according to the invention are not described again here.

[0022] The invention also includes combinations of the features of the described embodiments.

[0023] An embodiment of the invention is described below. The following illustrates: The single figure shows a schematic top view of an embodiment of a system.

[0024] The embodiments described below represent a preferred embodiment of the invention. In this embodiment, the described components each constitute individual features of the invention, which can be considered independently of one another and further develop the invention independently. Each component can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by other features of the invention already described.

[0025] In the figure, functionally identical elements are each provided with the same reference symbols.

[0026] The figure shows a schematic top view of an embodiment of system 1. System 1 is designed to generate a digital environment map 2 for an area 3 for a motor vehicle 4 and includes at least one vehicle-external electronic computing device 5. The electronic computing device 5 includes, in particular, for example, circuits, processors, and other electronic components to perform a method for generating the digital environment map 2.

[0027] In the method for generating the digital environment map 2 for the area 3 for the motor vehicle 4 using the system 1, environmental information of the area 3 is generated by means of the motor vehicle 4 and the environmental information is transmitted to the motor vehicle-external electronic computing device 5, whereby the digital environment map 2 is generated by means of the motor vehicle-external electronic computing device 5 depending on the transmitted environmental information.

[0028] It is intended that, by means of a detection device 6 of the motor vehicle 4, at least one change in operating state 7 of the motor vehicle 4 is detected and the environmental information is generated as a vehicle event information 8 depending on the change in operating state 7. In particular, the vehicle event information 8 is then transmitted to the vehicle-external electronic computing device 5.

[0029] The following embodiment shows in particular that, for example, area 3 can be a parking area. In this example, the motor vehicle 4 is located in front of a barrier system 9, in front of which a ticket machine 10 is located. The change of operating state 7 is described in this example by a vehicle window 11, which is lowered, for example to obtain a ticket from a ticket machine 10, and can then be raised again.

[0030] In particular, it can be provided that a large number of vehicle event information 8 from a large number of other motor vehicles are transmitted to the vehicle-external electronic computing device 5, and that the large number of vehicle event information 8 are compared with each other by means of the electronic computing device 5, and that the digital environment map 2 is generated depending on the comparison. Thus, for example, the described method consists of using the vehicle event information 8, or a large number of vehicle event information 8, which can also be referred to as fleet data or swarm data, to generate the digital environment map 2.For this purpose, the information reported by the motor vehicles is integrated on the vehicle-external electronic computing device 5, which can also be referred to as the backend. In particular, it is now planned that the digital environment map 5 will be generated based on the vehicle event information 8.

[0031] Furthermore, it may be provided that odometry data 13 of the vehicle 4 are additionally acquired by means of a further acquisition device 12 of the vehicle 4 and that the odometry data 13 are additionally transmitted to the vehicle-external electronic computing device 5 and that the digital environment map 2 is additionally generated by means of the vehicle-external electronic computing device 5 depending on the transmitted odometry data 13. Furthermore, the vehicle 4 may also have further vehicle sensors 14, which may be designed, for example, as a camera sensor, lidar sensor, radar sensor or ultrasonic sensor, and that the digital environment map 2 is then generated again on the basis of the information obtained from these sensors, which can also be transmitted to the vehicle-external electronic computing device 5.In particular, it can therefore be provided that, in addition to the vehicle event information 8, the vehicle odometry data, which in particular provides the route traveled by the motor vehicles, and environmental objects are also reported to the driving events by the vehicle sensors 14 and integrated on the vehicle-external electronic computing device 5.

[0032] Furthermore, it may be provided that, in particular, the following may be recorded as an operating state change 7: the activation of the vehicle window 11 and / or a change in the driving dynamics of the vehicle 4 and / or a change in the suspension system of the vehicle 4 and / or at least a predefined speed profile of the vehicle 4 and / or a parking maneuver of the vehicle 4 and / or a charging process of the vehicle 4 and / or a change in the detection of a rain / light sensor of the vehicle 4 and / or a switching-off event of a wiper system of the vehicle 4. In particular, the vehicle event information 8, which can also be referred to as a driving event, thus describes an event detected in the vehicle 4, such as the lowering and subsequent raising of the vehicle window 11, or at a parking ramp / entrance barrier, which can then in turn be used as a so-called barrier event.Furthermore, braking and accelerating again before a zebra crossing in area 3, braking and accelerating again before an intersection in area 3, braking and steering in a curve in area 3, as well as entering or exiting spiral ramps and ramps in area 3 can also be considered operating state changes 7. Driving over expansion joints or so-called speed bumps, especially on the suspension system of the vehicle 4, certain distinctive vehicle speed profiles, parking maneuvers (e.g., based on gear changes from forward to reverse), the use of turn signals, and the charging processes of electric vehicles can also be considered corresponding operating state changes 7.An event from the rain / light sensor when moving from the parking roof to the interior of area 3 or vice versa, or when entering area 3, or a switch-off event of a potentially active windshield wiper, can also be considered a corresponding vehicle event information 8 or an operating state change 7. This so-called driving event can therefore be a single action, such as stopping or activating the turn signal, as well as a specific sequence of several such actions. In particular, it can also be provided that a large number of operating state changes 7 are detected by the vehicle 4 and, depending on the number of detected operating state changes 7, a specific vehicle event information 8 is selected internally from a large number of potential vehicle event information 8 and the specific vehicle event information 8 is transmitted to the external electronic computing device 5..

[0033] In particular, the presented method is therefore a heuristic method. Thus, the digital environment map 2 is generated based on this heuristic method using the vehicle-external electronic computing device 5. Specifically, the corresponding vehicle event information 8 from the numerous vehicles is used and heuristically integrated on the vehicle-external electronic computing device 5. This means, for example, that if several vehicles at a point report the event "lowering and subsequent raising of the vehicle window 11", it can be assumed with reasonable certainty that a barrier or ticketing system, as shown here, may exist at that point. In this case, such information can be entered into the digital environment map 2 to be generated. Other events can be handled analogously.The driving events do not necessarily have to lead to one or more geometric map elements, but can also lead to a specific location or region in the digital environment map 2 in the form of rules or relationships of information. For example, it can be entered into the digital environment map 2 that motor vehicles typically behave in a certain way at a particular location, for example, sudden braking behavior before a pedestrian crossing with poor visibility as a potential hazard.

[0034] The use of vehicle event information 8 for generating the digital environment map 2 can also be used in conjunction with other methods for generating the digital environment map 2. The events then serve as anchor points or additional confirmation alongside other objects reported by the motor vehicles, and can thus make the mapping process faster and more reliable.

[0035] Furthermore, certain driving events, such as cornering, can be used to control the process for integrating the vehicle data on the vehicle-external electronic computing device 5. For example, known error models, such as drift in the vehicle odometry when cornering, can be used to identify areas 3 where the reliability of the reported vehicle data is reduced. Such data is then treated accordingly by the integration process, for example, by assigning a correspondingly higher uncertainty.

[0036] Furthermore, the vehicle event information 8 can be used to locate the vehicle 4 once the digital environment map 2 of the vehicle's surroundings exists. The occurrence of a corresponding event can provide information about the point in the digital environment map 2 where the vehicle 4 could or must be located. For example, the occurrence of the barrier event can be used to reduce several possible position hypotheses to one or far fewer. The same procedure can be applied to other event types. In this way, a coarse-grained, functional localization system can be implemented, and these driving events can also improve existing localization methods, such as feature- or landmark-based localization or radio localization.The improvement can consist of providing additional confirmation of a position hypothesis, excluding or prioritizing parallel position hypotheses, or enabling the initialization of the localization system. Reference symbol list 1 system 2 digital environment map 3 area 4 Motor vehicle 5 electronic computing device 6. Recording device 7. Operating state changes 8 Vehicle Incident Information 9 Barrier equipment 10 ticket machines 11 Motor vehicle windshield 12 additional recording devices 13 Odometry data 14 Vehicle Sensors QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 102017202065 A1

[0003] EP 3696787 A1

[0004] US 2018149483 A1

[0005]

Claims

[1] Method for generating a digital environment map (2) for an area (3) for a motor vehicle (4) using a system (1) in which environment information of the area (3) is generated by means of the motor vehicle (4) and the environment information is transmitted to an electronic computing device (5) external to the motor vehicle, wherein the digital environment map (2) is generated by means of the electronic computing device (5) external to the motor vehicle depending on the transmitted environment information, characterized by , that by means of a detection device (6) of the motor vehicle (4) at least one change of operating state (7) of the motor vehicle (4) is detected and the environmental information is generated as a vehicle event information (8) depending on the change of operating state (7). [2] Method according to claim 1, characterized by , that the digital environment map (2) for a parking area is generated as the area (3). [3] Method according to claim 1 or 2, characterized by , that additionally, odometry data (13) of the motor vehicle (4) are recorded with a further recording device (12) of the motor vehicle (4) and the odometry data (13) are additionally transmitted to the motor vehicle-external electronic computing device (5) and the digital environment map (2) is additionally generated by means of the motor vehicle-external electronic computing device (5) depending on the transmitted odometry data (13). [4] Method according to any one of the preceding claims, characterized by , that a large number of vehicle event information (8) is transmitted from a large number of other motor vehicles to the vehicle-external electronic computing device (5) and the large number of vehicle event information (8) is compared with each other by means of the electronic computing device (5) and the digital environment map (2) is generated depending on the comparison. [5] Method according to any one of the preceding claims, characterized by , that the digital environment map (2) is generated on the basis of a heuristic procedure using the vehicle-external electronic computing device (5). [6] Method according to any one of the preceding claims, characterized by , that in addition, a verification of the generated vehicle event information (8) is carried out by means of the vehicle-external electronic computing device (5). [7] Method according to any one of the preceding claims, characterized by, that as an operating state change (7) a control of a motor vehicle window (11) of the motor vehicle (4) and / or a change in a driving dynamics of the motor vehicle (4) and / or a change in a suspension system of the motor vehicle (4) and / or at least a predetermined speed profile of the motor vehicle (4) and / or a parking maneuver of the motor vehicle (4) and / or a charging process of the motor vehicle (4) and / or a change in a detection of a rain-light sensor of the motor vehicle (4) and / or a switching-off event of a wiper device of the motor vehicle (4) are detected. [8] Method according to any one of the preceding claims, characterized by, that a large number of operating state changes (7) are detected by the motor vehicle (4) and depending on the large number of detected operating state changes (7) a specific vehicle event information (8) is selected internally from a large number of potential vehicle event information (8) and the specific vehicle event information (8) is transmitted to the external electronic computing device (5). [9] Computer program product comprising program code means which cause an electronic computing device (5) to perform a method according to any one of claims 1 to 8 when the electronic computing device executes the program code means. [10] System (1) for generating a digital environment map (2) for an area (3) for a motor vehicle (4), comprising at least one motor vehicle-external electronic computing device (5), wherein the system (1) is configured to perform a method according to any one of claims 1 to 8.

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