Method for creating a map and method and device for operating a vehicle

Abstract

The invention relates to a method (400) for creating (430) a map (230) based on a base map (220) and in relation to at least one lighted ambient feature (211), and a method (300) and a device for operating (340) a vehicle in relation to a feature classification of lighted ambient features.

Description

Technical Field

[0001] In particular, the present invention relates to a method for creating a map and a method for operating a vehicle in dependence on the map. Summary of the Invention

[0002] The method for creating a map according to the present invention comprises a step of receiving surroundings data values ​​representing a drivable surroundings, wherein the drivable surroundings include at least one stationary, luminous surroundings feature, wherein the surroundings data values ​​include the position of the at least one stationary, luminous surroundings feature. Furthermore, the method comprises a step of providing a base map, wherein the base map represents at least one area including the drivable surroundings of the vehicle, and a step of creating a map, in particular based on the base map, in relation to the at least one stationary, luminous surroundings feature.

[0003] At least one stationary, luminous surrounding feature is to be understood as a stationary object which is designed to emit light itself and / or reflect light from other sources.

[0004] A base map is understood to mean, for example, map data representing a map, wherein the base map particularly includes at least one traffic network, wherein individual features of the traffic network (intersections, road courses, road widths, traffic signs, etc.) are stored, for example, in GNSS coordinates. The method for operating a vehicle according to the present invention includes: a step of sensing surroundings data values ​​representing the vehicle's surroundings, wherein the surroundings include illuminated surroundings features; and a step of comparing the surroundings data values ​​with a map created according to the method for creating a map according to the present invention. Furthermore, the method includes a step of determining a feature classification of the illuminated surroundings features based on the comparison; and a step of operating the vehicle in dependence on the feature classification.

[0005] A vehicle is to be understood as meaning a manually operated vehicle (configured to SAE Level 0) or an automated vehicle (configured to one of SAE Levels 1 to 5) (see SAE Standard J3016).

[0006] Illuminating surrounding features are to be understood, for example, as objects that are designed to emit light and / or reflect light from other sources, in particular from lighting fixtures of a vehicle. A lighting fixture is to be understood as at least one light-emitting source of a vehicle (headlights, flashers, taillights, etc.). Other sources can also be understood, for example, as headlights of other road users, etc.

[0007] In one embodiment, the feature classification of illuminated surrounding features is understood to include, for example, a classification as "important to the vehicle" or "not important to the vehicle." The importance here relates, for example, to the safety of the vehicle or other road users. For example, an illuminated surrounding feature that was identified as a traffic light based on a previously performed comparison is classified as not important. An illuminated surrounding feature that was not identified based on a previously performed comparison (because no corresponding object is located in the map) is classified as important because such an illuminated surrounding feature could potentially be the headlights of another vehicle or a reflection of another road user (such as a bicycle reflector). In another embodiment, the feature classification additionally or alternatively includes, for example, detailed information on the illuminated surrounding features (such as the configuration of traffic signs (reflective signs or self-luminous traffic lights)), the direction of movement of another road user relative to the vehicle (taillights or headlights), etc.).

[0008] The method of the present invention advantageously solves the following problem: optimizing vehicle operation with respect to luminous surrounding features. This problem is solved by comparing luminous surrounding features sensed by the vehicle with a map and, based on this, determining a characteristic classification of the luminous surrounding features. This results, for example, in improved automatic low-beam headlight functionality. Furthermore, the map can also be used for localization in low-light conditions. Precise localization allows the data stored in the map to be projected into the vehicle's sensor volume (e.g., camera image). This allows, for example, verification and improvement of the output of existing surrounding sensor systems used to detect other road users. This results, for example, in increased sensitivity in areas where road users are expected based on the road course, and / or in the suppression of false detections or incorrect characteristic classifications in areas where reflective devices or stationary light sources are mapped, and / or, particularly when the map is complete, in the avoidance of false classifications of unimportant road users.

[0009] Preferably, the feature classification includes whether the luminous surrounding feature is a traffic participant or another object.

[0010] Preferably, the operation includes adapting at least one lighting device of the vehicle, which is to be understood as adaptive light control (automatic low-beam dimming, etc.), for example.

[0011] Preferably, said operation comprises positioning of the vehicle.

[0012] Maps containing illuminated surrounding features (static light sources, reflectors, etc.) can also be used (optionally with the use of additional map content) to localize the vehicle within the map. Localization is a crucial function, particularly for automated vehicles, as it allows the vehicle to gain visibility into stationary infrastructure. Reflectors and static light sources are an important supplement to other features (lane markings, etc.), particularly for camera-based localization systems, as they significantly improve nighttime functionality.

[0013] Preferably, maps are at least partially requested and / or received from an external server. This is to be understood in particular as meaning that the vehicle includes a base map that is supplemented with a map layer having illuminated surrounding features. This also advantageously results in corresponding map updates in the vehicle.

[0014] The device according to the present invention, in particular the control unit, is configured to carry out all steps of the method according to the present invention for operating a vehicle.

[0015] In one possible embodiment, the device includes a computing unit (processor, memory, hard disk) and suitable software for implementing the method of the present invention. To this end, the device includes an interface configured to sense ambient data values ​​from a vehicle's (ambient) sensor system. Sensing ambient data values ​​should be understood, for example, to mean that the ambient data values ​​are sensed by the sensor system and received by the sensor system via the interface. Furthermore, the device includes, for example, an interface connected to a navigation system so that (map) data values ​​representing a map can be exchanged between the device and the navigation system. In one embodiment, the map is included in the device, for example, by being stored on a hard disk. In one possible embodiment, the device also includes, for example, a transmitting and / or receiving unit configured to transmit and / or receive data values, particularly from an external server. In another embodiment, the device includes, for example, an interface by which data values ​​can be requested and / or received from a transmitting and / or receiving unit of the vehicle that is external to the device. Furthermore, the device includes an interface for providing or transmitting signals for operating the vehicle, for example, to / from a control unit of the vehicle.

[0016] Furthermore, the invention relates to a computer program comprising instructions which, when executed by a computer, arrange for the computer to carry out the method of the invention. In one embodiment, the computer program corresponds to software contained by the device.

[0017] Furthermore, the invention relates to a machine-readable storage medium on which a computer program is stored.

[0018] Advantageous developments of the invention are described in the preferred embodiments and listed in the description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] An exemplary embodiment of the present invention is illustrated in the drawings and explained in more detail in the following description.

[0020] Figure 1 An embodiment of the method of the present invention for creating a map; and

[0021] Figure 2 Flow chart of an exemplary embodiment of the method according to the present invention for operating a vehicle. DETAILED DESCRIPTION

[0022] Figure 1 A method 400 for creating 430 a map 230 is schematically shown, wherein the method 400 is implemented, for example, by a server 200 (or a cloud, ie a combination of servers).

[0023] Here, surroundings data values ​​representing a drivable environment are received, wherein the drivable environment includes at least one luminous surroundings feature 211, wherein the surroundings data values ​​include the position of at least one luminous surroundings feature 211. The surroundings data are generated, for example, by the vehicle by sensing the vehicle's surroundings with the aid of its surroundings sensor system and subsequently transmitted in the form of surroundings data values ​​for receipt 410 by server 200. These surroundings data values ​​include a record of at least one luminous surroundings feature 211, and in particular also the position of at least one luminous object 211. The record is performed, for example, in the form of a classification (luminous and / or reflective) and / or object description (traffic sign, road light, etc.), wherein the classification and / or object description is performed with the aid of an evaluation unit (processor, memory, hard disk with suitable software). This evaluation unit is, for example, included in the surroundings sensor system or is appropriately connected thereto. The position is determined, for example, with the aid of a navigation system and / or other position determination device, and the position is appropriately associated with at least one luminous surroundings feature 211.

[0024] An environment sensor device is to be understood as meaning at least one video sensor and / or at least one further sensor which is designed to sense the surroundings of the vehicle, in particular in the form of surroundings data values.

[0025] Furthermore, for example, a base map 220 is provided, wherein the base map 220 represents at least one area including the drivable surroundings of the vehicle 210. In this context, providing 420 the base map 220 is to be understood as, for example, downloading the base map 220 from a memory of the server 200 or requesting and / or receiving the base map 220 from another server in the form of data values.

[0026] Next, a map 230 is created, in particular based on base map 220, with reference to at least one illuminated surrounding feature 211. Creating 430 a map 230 should be understood to mean, for example, that at least one illuminated surrounding feature 211 is associated with its position and is incorporated into base map 220 using the entry (classification and / or object description).

[0027] Map 230 is to be understood, for example, as an independent (digital) map or as a supplement or a map layer of a more extensive (digital) map comprising multiple map layers, wherein one map layer, for example, shows a map from a bird's-eye view (the course and position of roads, buildings, landmarks, etc.). This corresponds, for example, to a map of a navigation system. Another map layer, for example, comprises a radar map, wherein the surrounding features reflected by the radar map are stored with a radar signature. Another map layer, for example, comprises a lidar map, wherein the surrounding features reflected by the lidar map are stored with a lidar signature.

[0028] Figure 2 One embodiment of a method 300 for operating 340 a vehicle is shown.

[0029] In step 301 , method 300 begins.

[0030] In step 310, ambient data values ​​representing the vehicle's surroundings are sensed, wherein the surroundings include luminous ambient features. The ambient data values ​​are sensed using an ambient sensor system of the vehicle, wherein an ambient sensor system is understood to include at least one video sensor and / or at least one radar sensor and / or at least one lidar sensor and / or at least one other sensor configured to sense the vehicle's surroundings in the form of ambient data values. In one possible embodiment, the ambient sensor system includes, for example, a computing unit (processor, memory, hard disk) with suitable software and / or is connected to such a computing unit.

[0031] In step 320, a comparison of the ambient data values with a map is carried out, wherein the map is created, for example, by means of the method 400 of the application for creating a map 230. In one embodiment, for this purpose, the map is requested and / or received at least partially from an external server, wherein the external server corresponds, for example, to the server 200, which is configured for creating a map 230 and / or for providing the map in a call- able manner. The comparison of the ambient data values with the map is to be understood, for example, as a check by means of the map as to whether, according to the position of the vehicle and / or according to the position of the lighted ambient feature (relative to the vehicle), a lighted ambient feature is to be expected (because a lighted ambient feature has already been entered at this position) or no lighted ambient feature (because no lighted ambient feature has been entered at this position). In another embodiment, the comparison comprises, for example, additionally a comparison of the color and / or the configuration (shape, color change, arrangement [height and / or distance relative to the lane], etc.).

[0032] In step 330, a feature classification of the lighted ambient feature is determined on the basis of the comparison.

[0033] In step 340, the vehicle is operated in relation to the feature classification. In one possible embodiment, this is to be understood, for example, as a warning of the occupants of the vehicle when the lighted ambient feature is classified as important. In another embodiment, for example, if the vehicle is configured as an automated vehicle, this is to be understood as an adaptation of a predefined route and / or as a lateral control and / or longitudinal control of the vehicle in relation to the feature classification. For example, when a lighted ambient feature is sensed which is not entered into the map, the speed of the vehicle is reduced.

[0034] In step 350, the method 300 is ended.

Claims

1. A method (300) for operating (340) a vehicle, the method comprising: - sensing (310) a second ambient data value, the second ambient data value representing the ambient environment of the vehicle, wherein the ambient environment includes a second luminous ambient feature; - performing (320) a comparison of the second ambient data value with a map, the map being created in accordance with the following method: - receiving (410) a first ambient data value, the first ambient data value representing a drivable ambient environment, wherein the drivable ambient environment includes at least one luminous first ambient feature (211), wherein the first ambient data value includes a position of the at least one luminous first ambient feature (211); - providing (420) a base map (220), wherein the base map (220) represents at least one area, the at least one area including the drivable ambient environment of the vehicle (210); and - creating (420) a map in relation to the at least one luminous first ambient feature (211) based on the base map (220). 430) the map (230); - determining (330) a feature classification of the luminous second surroundings feature based on the comparison, wherein the feature classification is understood as a classification as "important for the vehicle" or "unimportant for the vehicle", wherein a luminous second surroundings feature that is identified based on the comparison is classified as unimportant, wherein a luminous second surroundings feature that is not identified based on the comparison because no corresponding object is located in the map is classified as important, wherein the output of an existing surroundings sensor device for sensing other road users is verified and improved by the feature classification determined based on the comparison, wherein false detections or false feature classifications are suppressed in areas in which reflective devices or stationary light sources are drawn in the map; and - operating (340) the vehicle in relation to the feature classification, wherein the occupants of the vehicle are warned and / or the speed of the vehicle is reduced when the luminous second surroundings feature is classified as important.

2. The method (300) according to claim 1, characterized in that The feature classification includes whether the illuminated second surroundings feature is a road user or another object.

3. The method (300) according to claim 1, characterized in that The operation (340) includes adapting at least one lighting device of the vehicle.

4. The method (300) according to claim 1, characterized in that The operation (340) includes positioning of the vehicle.

5. The method (300) according to claim 1, characterized in that The map is at least partially requested and / or received from an external server.

6. A device for operating a vehicle, the device being configured to carry out all steps of the method (300) according to any one of claims 1 to 5.

7. The device according to claim 6, characterized in that The device is a controller.

8. A computer program product comprising instructions which, when executed by a computer, arrange for the computer to carry out the method (300) according to any one of claims 1 to 5.

9. A machine-readable storage medium on which the computer program product according to claim 8 is stored.

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