Device and method for identifying and / or representing a signaling unit

Abstract

The present application relates to a device for identifying a signaling unit at a lane traveled by a vehicle. The device is configured to determine an arrangement of one or more signal signs of the signaling unit based on environmental data of one or more environmental sensors of the vehicle. The device is further configured to associate the one or more signal signs with one or more corresponding grid cells of a signal sign grid by means of an association logic.

Description

Technical Field

[0001] The present invention relates to devices and corresponding methods for identifying and / or representing or describing transmitting units. Background Technology

[0002] A vehicle may have one or more driving functions that assist the driver in guiding the vehicle, particularly in providing longitudinal and / or lateral guidance. An exemplary driving function for assisting longitudinal guidance is adaptive cruise control (ACC), which can be used to guide the vehicle longitudinally at a determined target speed and / or at a determined target distance from a vehicle traveling ahead. Here, the driving function can also be used in conjunction with signaling units (especially traffic lights) at traffic nodes (e.g., intersections) to induce automatic longitudinal guidance, such as automatic deceleration, at the signaling unit.

[0003] The signaling unit can have different signal generators (especially traffic lights), each with one or more signal signs, wherein different signal generators are associated with different directions of travel, for example at traffic nodes. Within the scope of driving functions, only one or more signal generators need to be considered that are associated with a driving direction or driving maneuver planned by the vehicle driver. Summary of the Invention

[0004] This application relates to the technical purpose of identifying and / or describing a transmitting unit in an effective, accurate and reliable manner, particularly in order to improve the quality of a driving function used for automatic longitudinal guidance of a vehicle at a node.

[0005] It should be noted that additional features of a claim subordinate to an independent claim, either in the absence of features of the independent patent claim or only in combination with a portion of the features of the independent claim, can form a separate invention independent of all combinations of features of the independent claim, which can be the subject of the independent claim, divisional application, or subsequent application. This applies in the same manner to the technical teachings described in the specification, which can form an invention independent of the features of the independent claim.

[0006] According to one aspect, an apparatus for identifying and / or representing a transmitting unit is described. In particular, the apparatus may refer to describing the transmitting unit within and / or by means of a data structure, the data structure enabling efficient and accurate use of data concerning the transmitting unit of a vehicle, such as data concerning transmitting tickets within the scope of vehicle functions, particularly within the scope of driving functions.

[0007] The signaling unit includes one or more (individual) signal signs. Here, the signal signs can typically be activated or deactivated individually. A preferred example of a signal sign is a traffic light (which can be activated or deactivated individually). One or more signal signs may be part of the signal generator (e.g., a traffic light) of the signaling unit. The signal generator (and consequently, one or more signal signs of the signal generator) may be associated with a specific function. Functions may include controlling traffic in a specific lane and / or a specific direction of travel (at traffic nodes). For example, traffic may be stopped (e.g., if the signal generator has red signal signs) or traffic flow may be permitted (e.g., if the signal generator has green signal signs or if all signal signs of the signal generator are inactive).

[0008] Therefore, the signaling unit may include one or more signal generators, each having one or more signal signs. Here, the signal generator may be associated with a function, particularly with functions for left turns, right turns, and / or straight-ahead travel. In a preferred example, the signaling unit includes, in particular, a light signaling system (having one or more traffic lights). Thus, the signal sign may be a light-emitting element of the light signaling system, particularly a light-emitting element of a traffic light within the light signaling system.

[0009] The transmitting unit can be positioned in or on a vehicle lane, such as at the entrance to a traffic node (e.g., at the entrance to a crossroads or roundabout).

[0010] The device is configured to determine the arrangement of one or more signal markers for a transmitting unit, particularly based on environmental data from one or more environmental sensors (e.g., cameras) of the vehicle. For example, a vehicle may move toward the transmitting unit in a driving lane. Sensor data (i.e., environmental data) about the transmitting unit can then be detected using one or more environmental sensors. The environmental data can be evaluated (e.g., using object recognition algorithms). Within the scope of the environmental data evaluation, one or more signal markers can be identified as individual objects. Furthermore, it can be determined how one or more signal markers are positioned relative to each other in space, particularly on a two-dimensional projection plane. Therefore, the arrangement of one or more signal markers for the transmitting unit can be determined (using object recognition algorithms), wherein this arrangement…

[0011] • Indicates the individual signal flags of the transmitting unit (e.g., as “bounding boxes” surrounding the respective signal flags);

[0012] • Indicates (e.g., in a two-dimensional projection plane) how each signal marker is positioned relative to each other. Here, for example, the offset of each signal marker along the horizontal axis and / or along the vertical axis can be described.

[0013] The device is also configured to associate one or more signal flags of a defined arrangement with one or more corresponding grid cells of a signal flag grid using association logic. Here, the signal flag grid may include a number of M columns (possibly predefined), particularly M ≥ 5, and / or a number of N rows (possibly predefined), particularly N ≥ 5. Specifically, the signal flag grid may have M × N grid cells for the corresponding number of different signal flags. Here, the values ​​of N and / or M can be predefined. Alternatively, the values ​​of N and / or M can be flexibly matched to the respective transmitting units to be described. The specific values ​​of N and / or M used can then be specified in the data structure (in a predetermined data field).

[0014] The device can be configured to associate each of one or more signal signs in a defined arrangement with exactly one grid cell of the signal sign grid in a one-to-one manner.

[0015] Therefore, the different arrangements of signal flags determined for the transmitting unit can be represented by a grid, in which each individual grid cell represents at most exactly one signal flag of the transmitting unit. Thus, the transmitting unit can be described using a data structure that can be processed in an efficient, reliable, and robust manner, for example, to improve the quality of vehicle functionality.

[0016] Each signal flag can be associated with each grid cell based on predefined association logic with one or more association rules. Therefore, the evaluation quality of the data structure representing the transmitting unit can be further improved.

[0017] Within the scope of the association, the device can be configured to associate one or more signal markers with a set of columns of a signal marker grid along a horizontal direction (or axis). One or more of the following association rules can be used here. Specifically, the device can be configured to associate one or more signal markers with a set of columns of a signal marker grid along a horizontal direction, such that for all signal markers in the determined arrangement of one or more signal markers: signal markers with an offset less than or equal to an offset threshold along the horizontal direction are associated with the same column; and / or signal markers with an offset greater than the offset threshold along the horizontal direction are associated with different columns.

[0018] Each signal marker may have a specific diameter and / or a specific edge length. For example, the offset threshold may be 10% or less of the diameter and / or edge length of each signal marker.

[0019] Therefore, it is possible to associate different columns, such that signal signs arranged substantially on a common vertical line are associated with the same column, and / or signal signs not arranged on a common vertical line are associated with different columns. Here, the fact that two signal signs are arranged in different columns may indicate that the offset between the two signal signs is greater than an offset threshold. However, the precise value of the offset is usually not derived from column association.

[0020] Alternatively or additionally, the device may be configured to associate one or more signal signs with a set of columns of a signal sign grid along a horizontal direction, such that the leftmost signal sign arranged horizontally is associated with the first column of the signal sign grid. Alternatively, the device may be configured to associate one or more signal signs with a set of columns of a signal sign grid along a horizontal direction, such that the rightmost signal sign arranged horizontally is associated with the last column of the signal sign grid.

[0021] Alternatively or additionally, the device may be configured to: associate one or more signal signs with a set of columns of a signal sign grid along a horizontal direction, such that the signal signs are associated with different, respectively directly adjacent columns of the signal sign grid in a horizontal order, wherein the signal signs are offset from each other in that order.

[0022] Therefore, one or more of the association rules described above can be used to associate one or more signal flags of a transmitting unit with one or more grid cells in one or more different columns. Correspondingly, one or more of the following (corresponding) association rules can be used to associate one or more signal flags of a transmitting unit with one or more grid cells in one or more different rows.

[0023] Therefore, the device can be configured to associate one or more signal markers with a set of rows of a signal marker grid along a vertical direction (or axis). For this purpose, the device can be configured to associate one or more signal markers with a set of rows of a signal marker grid along a vertical direction, such that for all signal markers in the determined arrangement of one or more signal markers: signal markers with an offset less than or equal to an offset threshold relative to each other along the vertical direction are associated with the same row; and / or signal markers with an offset greater than the offset threshold relative to each other along the vertical direction are associated with different rows. For example, the offset threshold could be 10% or less of the diameter and / or edge length of the individual signal markers.

[0024] Therefore, it is possible to associate different rows, such that signal signs arranged substantially on a common horizontal line are associated with the same row, and / or signal signs not arranged on a common horizontal line are associated with different rows. Here, the fact that two signal signs are arranged in different rows may indicate that the offset between the two signal signs is greater than an offset threshold. However, the precise value of the offset is usually not derived from row association.

[0025] Alternatively or additionally, the device may be configured to associate one or more signal signs with a set of rows of a signal sign grid along a vertical direction, such that the signal sign arranged at the top vertically is associated with the first row of the signal sign grid; or the signal sign arranged at the bottom vertically is associated with the last row of the signal sign grid.

[0026] Alternatively or additionally, the device may be configured to: associate one or more signal signs with a set of rows of a signal sign grid along a vertical direction, such that the signal signs are associated with different directly adjacent rows of the signal sign grid in a vertical order, wherein the signal signs are offset from each other in that order.

[0027] The device can be configured to determine sign information for a given arrangement of one or more signal signs, particularly based on environmental data. The sign information can be determined, for example, using image analysis algorithms based on environmental data. Here, the sign information may indicate:

[0028] • The signaling status of the flag, such as active or inactive, and possibly the color of the flag; and / or

[0029] • The membership of signal flags to signal generators; and / or

[0030] • Functions of traffic signs (e.g., controlling traffic in a specific lane; controlling left turns, right turns, or straight-ahead traffic).

[0031] Sign information can be stored in the signal sign grid along with the signal sign's grid cells (e.g., as an attribute of the grid cells). Correspondingly, sign information can be determined for all signal signs in the transmitting unit and provided in conjunction with the signal sign grid. This further improves the accuracy of the transmitting unit's description (and thus further enhances the quality of vehicle functionality).

[0032] This device can be configured to send a signal sign grid for the transmitting units to external units of the vehicle, specifically for training a digital map of different transmitting units in the lane network. Therefore, the signal sign grid determined by this device can be used as the basis for describing the transmitting units in the digital map of the lane network. Thus, a particularly accurate digital map can be trained.

[0033] As explained above, the device can be configured to: provide and / or operate vehicle functions, particularly driving functions for at least partially automated guidance of the vehicle, based on a defined grid of signal markers for the transmitting unit. The structured description of each signal marker (and its associated marker information) within the matrix grid enables particularly reliable and robust operation of the vehicle functions.

[0034] The device can be configured to compare a determined signal sign grid for a signaling unit with a reference grid for the signaling unit from a digital map of the network of lanes traveled by vehicles. The reference grid can be determined and / or provided by vehicle external units as described herein. The reference grid preferably has the same structure as the signal sign grid, allowing for a particularly efficient and isolated comparison of corresponding grid cells of the two grids. Vehicle functions can then be provided and / or operated in a particularly reliable and robust manner based on the comparison.

[0035] According to another aspect, a data structure for representing a transmitting unit in a lane network is described, wherein the transmitting unit has one or more signal flags. The data structure includes a grid with multiple grid cells (specifically M×N grid cells) for the corresponding multiple signal flags of the transmitting unit. Here, the grid cells can be designed (as described herein) to represent the corresponding signal flags of the transmitting unit in a one-to-one relational manner.

[0036] As described above, the grid-based data structure enables efficient and accurate description of transmitting units. Furthermore, the data contained within the data structure can be processed in a precise and robust manner (e.g., for training digital maps and / or providing vehicle functionality). Here, data comparisons between different grids can be performed efficiently and reliably, targeting individual grid cells.

[0037] The data structure can have individual data elements for each grid cell. For example, the following can be filled into the data elements of a grid cell:

[0038] • Whether to associate signal flags with grid cells; and / or

[0039] • Information about the signal flags associated with the grid cells.

[0040] Data structures can be designed (as described in the scope of the association rules above) such that

[0041] • The signal flags associated with grid cells in a common column of the grid have an offset in the horizontal direction that is less than or equal to an offset threshold. The exact value of the offset is not usually derived from this fact.

[0042] • The signal flags associated with grid cells in different columns of the grid have an offset in the horizontal direction greater than the offset threshold. The exact value of the offset is not usually derived from this fact.

[0043] Alternatively or supplementarily, the data structure can be designed (as described in the scope of the association rules above) such that

[0044] • The signal flag associated with the grid cell in the same row of the grid has an offset in the vertical direction that is less than or equal to the offset threshold. The exact value of the offset is not usually derived from this fact.

[0045] • The signal flags associated with grid cells in different rows of the grid have an offset in the vertical direction greater than the offset threshold. The exact value of the offset is not usually derived from this fact.

[0046] Data structures, especially row and / or column associations, can thus effectively provide (relatively coarse) information about the spatial arrangement (especially in a two-dimensional plane) of one or more signal flags of a transmitting unit.

[0047] As described above, the data structure can be designed to provide flag information for signal flags associated with grid cells. This flag information can be provided within the data elements of the corresponding grid cell. The flag information for signal flags can indicate: the signaling status of the signal flag; and / or the membership of the signal flag to the signal generator; and / or the function of the signal flag.

[0048] According to another aspect, a vehicle external unit (and a corresponding method) is described. The vehicle external unit is configured to: (e.g., receive via a communication connection) determine data from multiple vehicles regarding transmitting units in a lane network. Here, the transmitting unit may have one or more signal flags. Here, the data may be provided in the data structure described herein.

[0049] The vehicle external unit is also configured to: determine a reference grid with multiple grid cells based on data from multiple vehicles, through which one or more signal flags of the transmitting unit are represented. Here, the reference grid may have the same data structure as the data provided by each vehicle (i.e., the same data structure as the signal flag grid provided by each vehicle).

[0050] By using the data structures described in this paper to uniformly describe the transmitting units, a digital map recording the transmitting units can be trained in a particularly efficient, accurate, and robust manner.

[0051] According to another aspect, a (road) motor vehicle (particularly a private vehicle or truck or bus or motorcycle) is described, which includes the equipment described herein.

[0052] According to another aspect, a method for identifying and / or representing transmitting units arranged in or on a driving lane traveled by a vehicle is described. The method includes: determining the arrangement of one or more signal markers (spatial and / or two-dimensional) of the transmitting units based on environmental data from one or more environmental sensors of the vehicle. The method further includes associating the one or more signal markers with one or more corresponding grid cells of a signal marker grid using association logic. Here, the grid cells may have a uniform edge length.

[0053] According to another aspect, a software (SW) program is described. The software program can be configured to execute on a processor (e.g., on a control device of a vehicle) and thereby perform the methods described herein.

[0054] According to another aspect, a storage medium is described. The storage medium may include a software program configured to execute on a processor and thereby perform the methods described herein.

[0055] It should be noted that the methods, apparatus, and systems described herein can be used alone or in combination with other methods, apparatus, and systems described herein. Furthermore, any aspect of the methods, apparatus, and systems described herein can be combined with each other in various ways. In particular, the features of the claims can be combined with each other in diverse ways. Moreover, features listed in parentheses should be understood as optional features. Attached Figure Description

[0056] The invention is described in more detail below with reference to embodiments. Wherein:

[0057] Figure 1 Exemplary components of the vehicle are shown;

[0058] Figure 2a An exemplary optical signal system is shown;

[0059] Figure 2b Example traffic signs are shown;

[0060] Figure 3 An example traffic situation is shown;

[0061] Figure 4a An example signal marker grid is shown;

[0062] Figure 4b An exemplary (planar) arrangement of signal signs is shown;

[0063] Figure 4c An exemplary signal marker grid with marking information is shown;

[0064] Figure 4dAn exemplary reference grid for a transmitting unit is shown; and

[0065] Figure 5 A flowchart illustrating an exemplary method for identifying and / or describing a transmitting unit is shown. Detailed Implementation

[0066] As described at the beginning, this article relates to the reliable and accurate identification and / or description of transmitting units, in particular in order to improve the driving functions of a vehicle, especially the reliability, availability and / or comfort of driver assistance systems.

[0067] Figure 1 Exemplary components of vehicle 100 are shown. Vehicle 100 includes one or more environmental sensors 103 (e.g., one or more imaging cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc.), which are configured to detect environmental data regarding the environment of vehicle 100 (particularly regarding the environment in front of vehicle 100 in the direction of travel). Additionally, vehicle 100 may include one or more actuators 102 configured to induce longitudinal and / or lateral guidance of vehicle 100. Exemplary actuators 102 are braking systems, drive motors, steering mechanisms, etc.

[0068] The control unit 101 (also referred to herein as a device) can be configured to provide driving functions, particularly driver assistance functions, based on sensor data from one or more environmental sensors 103 (i.e., environmental data). For example, obstacles in the driving trajectory of the vehicle 100 can be identified based on sensor data. The control unit 101 can then manipulate one or more actuators 102 (e.g., a braking system) to automatically decelerate the vehicle 100 and thereby prevent the vehicle 100 from colliding with obstacles.

[0069] Specifically, within the scope of the automatic longitudinal guidance of vehicle 100, in addition to the vehicle ahead, one or more signaling units (e.g., light signaling systems and / or traffic signs) on the lane or street in which vehicle 100 travels can be considered. Here, in particular, the state of the light or traffic light system can be considered so that vehicle 100 automatically decelerates at a red light relative to its (planned) direction of travel until the stop line of the traffic light and / or automatically proceeds to the stop line of the traffic light when the light is green.

[0070] Optical signaling systems can be designed differently in different countries and can also be complex to varying degrees regarding the correlation between driving direction and optical signal. Therefore, different driving directions can be converged and regulated by a first set of signals or a group of signals, and another direction can be regulated by a different group of signals. Furthermore, repeating signals within a group of signals can be spatially located at different points at the intersection. Therefore, it becomes difficult for control unit 101 to identify, based on sensor data, which signals(i.e., signal generators) of the optical signaling system at the intersection are relevant to the planned driving direction of vehicle 100, and which are not (especially if vehicle 100 is still relatively far from the optical signaling system). Therefore, this document describes a method and a data structure that implements the precise identification and / or description of transmitting units having one or more different signal generators.

[0071] Figure 2a An exemplary traffic signal system is shown. Figure 2a The optical signaling system 200 shown has four different signal generators 201, arranged at different locations along the path leading to the intersection. The left signal generator 201 has a left-pointing arrow 202, indicating that it is suitable for left turns. The two middle signal generators 201 have upward arrows 202 (or no arrows 202), indicating that they are suitable for going straight. The individual signal signs 205, specifically optical symbols, of these two signal generators 201 form signal groups. Furthermore, the right signal generator 201 has a right-pointing arrow 202, indicating that it is suitable for right turns.

[0072] Figure 2a The optical signal system 200 shown is merely one example of many different possible design schemes for the optical signal system 200. The optical signal system 200 can have a relatively large number of different characteristic manifestations. Exemplary features include:

[0073] • The number of signal generators 201 and / or signal flags 205;

[0074] • The position of one or more signal generators 201 and / or one or more signal flags 205; and / or

[0075] • The signal generator 201 and / or signal sign 205 are associated with possible directions of travel through the intersection.

[0076] Figure 2bA stop sign, displayed as traffic sign 210, is used to regulate right-of-way at traffic nodes, particularly intersections. The control unit 101 of vehicle 100 can identify traffic signs 210 related to the right-of-way of vehicle 100 on the street or lane in which vehicle 100 travels, based on sensor data from one or more environmental sensors 103 (i.e., environmental data) and / or on digital map information (i.e., map data).

[0077] Figure 3 An exemplary illustration shows a vehicle 100 moving in a driving lane toward a transmitting unit (particularly toward the light signaling system 200 and / or toward the traffic sign 210). One or more environmental sensors 103 of the vehicle 100 can be configured to detect sensor data (particularly image data) about the transmitting unit. The sensor data can then be analyzed (e.g., by means of image analysis algorithms) to determine the manifestation of one or more characteristics of the transmitting unit. In particular, it can be determined based on the sensor data whether the transmitting unit is the light signaling system 200 or the traffic sign 210. Furthermore, it can be determined which signal generator 201 of the light signaling system 200 is associated with the (planned) direction of travel of the vehicle 100. In addition, the (transmitting) state of the associated signal generator 201 can be determined (e.g., the color of the signal sign 205 of the associated signal generator 201, such as red, yellow, or green).

[0078] The quality and / or reliability of the characteristics used to determine the performance of a transmitting unit based on environmental data are generally related to the distance 311 between the vehicle 100 and the transmitting unit. Furthermore, current weather conditions typically also have a significant impact on the quality and / or reliability of the determined performance of the characteristics. Moreover, the quality and / or reliability may differ for different characteristics.

[0079] Vehicle 100 may have a storage unit 104 storing a digital map (i.e., map data) of the street network through which vehicle 100 travels. The map data can indicate the representation of one or more characteristics of one or more transmitting units in the street or lane network as attributes. Specifically, the map data of the optical signaling system 200 can indicate the association of one or more signal generators 201 or signal groups with different possible directions of travel or driving maneuvers. In other words, the map data can indicate which signal generator 201 is responsible for initiating which direction of travel or which driving maneuver. If necessary, the map data can be received from an external unit 300 at vehicle 100 via a wireless communication connection 301 (e.g., WLAN or LTE communication connection) using the vehicle 100's communication unit 105.

[0080] The control unit 101 of vehicle 100 can be configured to determine, for example, the direction towards a transmitting unit located ahead of the vehicle 100, based on the current position of vehicle 100 and a planned driving route and / or environmental data from one or more environmental sensors 103. Furthermore, the control unit 101 can determine the behavior of one or more characteristics of the transmitting unit located ahead based on (stored and / or received) map data. Specifically, it can be determined based on map data which signal generator 201 or which signal group of the optical signaling system 200 is associated with the current or planned driving direction of vehicle 100. Additionally, the current transmission state of the associated signal generator 201 can be determined based on environmental data. Based on this, autonomous driving functions (e.g., automatic longitudinal guidance of vehicle 100) can then be executed reliably and comfortably. In particular, by taking map data into account, the behavior of one or more relevant characteristics of the transmitting unit can be determined at a relatively large distance 311 from vehicle 100 to the transmitting unit, thereby increasing the reliability, availability, and comfort of the autonomous driving function.

[0081] As described at the beginning, the transmitting unit at the node can have relatively high complexity in terms of the following aspects:

[0082] • The number of different signal generators 201 and / or signal flags 205; and / or

[0083] • Spatial arrangement of different signal generators 201 and / or signal flags 205; and / or

[0084] • The functions of the different signal generators 201 and / or signal flags 205; and / or

[0085] • The transmission status of different signal generators 201 and / or signal flags 205.

[0086] The relatively high variety of variants results in relatively low reliability and / or robustness in the category-based identification and / or representation of the transmitting unit, particularly in the assessment of the (transmitting) state of the transmitting unit. For example, in the presence of relatively high variety of variants, it is often impossible to reliably identify which signal generator 201 is associated with the driving maneuvers planned by the vehicle 100.

[0087] Figure 4a An exemplary signal marker grid 400 is shown, having a plurality of grid cells 405, each grid cell representing a corresponding plurality of different signal markers 205 of a transmitting unit to be represented. The signal marker grid 400 has a specific number M (e.g., M=8) of grid cells 405 along a horizontal direction 401 and a specific number N (e.g., N=8) of grid cells 405 along a vertical direction 402. The grid cells 405 can be viewed as entries in an M×N matrix.

[0088] The control unit 101 of the vehicle 100 can be configured to determine the arrangement of the signal signs 205 based on environmental data from one or more environmental sensors 103 of the vehicle 100. Figure 4b Showing the use of Figure 2a The exemplary arrangement 410 of the signal flags 205 of the transmitting unit shown (determined based on environmental data). Based on the environmental data, it is possible to...

[0089] • Identify a single signal marker 205 (e.g., as a circular object);

[0090] • Identify the transmission status 415 of each signal flag 205 (e.g., active or inactive; and the signal color of the possibly active signal flag 205); and / or

[0091] • Determine the relative positions of each signal marker 205 to each other (especially when projected onto a two-dimensional plane); and / or

[0092] • Information about the function of each signal sign 205 and / or signal generator 201 (e.g., right turn, straight, left turn) can be determined when necessary; this information can be determined, for example, based on the identified arrow 202.

[0093] Here, the determined arrangement 410 of the signal markers 205 can indicate the value of the (horizontal and / or vertical) offset between the different signal markers 205.

[0094] The control unit 101 can be configured to associate each signal mark 205 in the arrangement 410 of the identified signal marks 205 with exactly one grid cell 405 of the signal mark grid 400. One or more association rules can be used for this purpose. Here, the midpoint of each signal mark 205 can be considered. An exemplary association rule is:

[0095] • Different signal markers 205 are associated with different grid cells 405 within the same column of the signal marker grid 400, the midpoints of which are arranged along a vertical line 412 (e.g., with an offset less than an offset threshold) within the identified arrangement 410.

[0096] • Different signal markers 205 are associated with different grid cells 405 within the same row of the signal marker grid 400, the midpoints of which are arranged along a horizontal line 411 (e.g., with an offset less than an offset threshold) within the identified arrangement 410.

[0097] • Different signal markers 205 are associated with different columns of the signal marker grid 400, and the midpoints of these signal markers are arranged offset from each other in the horizontal direction 401 (e.g., with an offset greater than an offset threshold).

[0098] • Different signal markers 205 are associated with different rows of signal marker grid 400, and the midpoints of these signal markers are arranged offset from each other in the vertical direction 402 (e.g., with an offset greater than an offset threshold).

[0099] • All signal signs 205 in the arrangement 410 of signal signs 205 are associated with exactly one vertical line 412 from the set of vertical lines 412, wherein the vertical lines 412 in the set of vertical lines 412 are arranged side by side in a specific order; the vertical lines 412 in the set of vertical lines 412 are associated with each other in a one-to-one manner with each column of the signal sign grid 400 according to a specific order; this can start from the leftmost column of the signal sign grid 400; and / or

[0100] • All signal signs 205 in the arrangement 410 of signal signs 205 are associated with exactly one horizontal line 411 from the set of horizontal lines 411, wherein the horizontal lines 411 in the set of horizontal lines 411 are arranged side by side with each other in a specific order; the horizontal lines 411 in the set of horizontal lines 411 are associated with each of the rows of signal sign grid 400 arranged side by side in a specific order; here, it can start from the top row of signal sign grid 400.

[0101] Figure 4c An exemplary (filled) signal marker grid 400 is shown, through which the signal marker grid is described and / or represented. Figure 2a The transmitting unit in the signal flag grid 400. Here, the grid cells 405 of the signal flag grid 400 can respectively indicate:

[0102] • Whether signal flag 205 has been associated with grid cell 405; that is, whether the transmitting unit has presence information 421 regarding whether it has signal flag 205 at its relative position corresponding to grid cell 405; and / or

[0103] • Status information 425 regarding the transmission status 415 of the signal flag 205 associated with the grid cell 405 (e.g., active or inactive; and the signal color of the active signal flag 205 if necessary); and / or

[0104] • Functional information regarding the function identified by the corresponding signal sign 205 (e.g., left turn, straight, right turn).

[0105] The transmitting unit can be through Figure 4c The signal marker grid 400 shown is described in a reliable and robust manner.

[0106] A digital map of a lane network can indicate nodes between different lanes and the direction and / or arrangement of different lanes. For example, such a digital map can be used within the navigation system of vehicle 100. The digital map can also be designed to indicate transmitting units at different nodes of the lane network. Specifically, the digital map at a node for transmitting units can include transmitting unit data, which, for example, indicates:

[0107] • The location of the transmitting unit (e.g., in the form of GNSS (Global Navigation Satellite System) coordinates), especially the location of the reference point;

[0108] • The number and relative positioning of each signal generator 201 and / or signal flag 205; and / or

[0109] • The functions of each signal generator 201 and / or signal sign 205 (e.g., left turn, straight, right turn).

[0110] The aforementioned information about the transmitting unit can be provided, at least in part, within the transmitting unit data in the grid format described herein. The transmitting unit data for the transmitting unit may in particular include a reference grid 450 (i.e., a signal flag grid 400), for example... Figure 4d China's target Figure 2a The transmitting unit is shown in the diagram. The reference grid 450 can be configured according to... Figure 4a The signal marker grid 400 is constructed as described. The grid cells 405 of the reference grid 450 can respectively indicate:

[0111] • Whether the transmitting unit has a signal flag 205 at the relative position of the corresponding grid cell 405;

[0112] • The membership attribute 451 of signal flag 205 to specific signal group 201; and / or

[0113] • Function 455 of signal sign 205 or signal group 201 of signal sign 205 (e.g., left turn, straight, right turn).

[0114] The control unit 101 of the vehicle 100 can be configured to transmit a signal flag grid 400 for a specific transmitting unit, determined based on environmental data from one or more environmental sensors 103 of the vehicle 100, to an external unit 300 of the vehicle via a communication connection 301.

[0115] The vehicle external unit 300 can be configured to acquire corresponding multiple signal sign grids 400 from multiple different vehicles 100 for a specific transmitting unit. Based on this, a reference grid 450 can then be robustly determined for a specific transmitting unit (e.g., by averaging and / or by comparing multiple signal sign grids 400) and provided (as transmitting unit data) within a digital map. The reference grids 450 for different transmitting units in the lane network are trained accordingly and provided within the digital map for the lane network.

[0116] The control unit 101 of vehicle 100 can be configured (e.g., within the scope of driver assistance functions) to detect a forward-facing transmitting unit based on environmental data from one or more environmental sensors 103 and / or a digital map. Furthermore, a signal sign grid 400 for the forward-facing transmitting unit can be determined based on the environmental data. The determined signal sign grid 400 can be compared with a reference grid 450 for the forward-facing transmitting unit in the digital map. Specifically, the respective corresponding grid cells 405 of the two grids can be compared with each other in an efficient and reliable manner, for example, to determine the function indicated in the digital map for a particular signal sign 205 or for a particular signal generator 201. Vehicle 100, especially the driver assistance functions, can then operate in a particularly reliable and robust manner based on the comparison between the determined signal sign grid 400 and the reference grid 450 from the digital map.

[0117] Therefore, a module for detecting and associating identified light emitters (i.e., signal markers 205) in a two-dimensional grid is described. Here, active and inactive light emitters can be identified. The association and location of light emitters in the two-dimensional grid are always based on a unified logic (with one or more association rules). The representation of each light emitter in the two-dimensional grid preferably includes detected light emitter characteristics, such as state (on / off) and / or color (off, green, yellow, red, blue). Thus, a standardized representation of traffic light types is achieved, which is invariant to different types of optical signaling systems existing worldwide.

[0118] Figure 5 A flowchart illustrates a method 500 for identifying and / or representing a transmitting unit (computer-implemented if necessary), wherein the transmitting unit is typically arranged at or on a driving lane in which the vehicle 100 travels. The transmitting unit may, in particular, include a light system (having one or more traffic lights). The transmitting unit includes one or more signal signs 205, particularly light-emitting elements. Method 500 may be executed by a control unit 101 of the vehicle 100.

[0119] Method 500 includes determining, in particular, a (spatial or two-dimensional) arrangement 410 of one or more signal markers 205 of the transmitting unit 501 based on environmental data from one or more environmental sensors 103 of the vehicle 100. Specifically, how the different signal markers 205 are arranged relative to each other can be determined. For example, the arrangement 410 can be determined using image processing algorithms based on camera images. The arrangement 410 can show the actual (horizontal and / or vertical) offset of the different signal markers 205.

[0120] Method 500 further includes associating one or more signal signs 205 with one or more corresponding grid cells 405 of the signal sign grid 400 using association logic 502. Preferably, the signal signs 205 are associated with the grid cells 405 in a one-to-one manner, such that one grid cell 405 represents at most exactly one signal sign 205. The association logic may include one or more association rules described herein. The determined signal sign grid 400 can be used to provide vehicle functionality and / or train digital maps.

[0121] The measures described herein can be used to determine, represent, and compare information about transmitting units in a reliable and robust manner, in particular to improve the quality of vehicle functionality.

[0122] This invention is not limited to the embodiments shown. In particular, it should be noted that the specification and drawings are intended only to illustrate the principles of the proposed methods, apparatus, and systems.

Claims

1. An apparatus for identifying and / or describing a transmitting unit, the transmitting unit being arranged at or on a driving lane traveled by a vehicle (100), wherein the apparatus is configured to: - Based on environmental data from one or more environmental sensors (103) of the vehicle (100), determine the arrangement (410) of multiple signal flags (205) of the transmitting unit; and - Using association logic, one or more active signal flags and one or more inactive signal flags in the signal flags (205) are associated with the corresponding grid cells (405) of the signal flag grid (400) in a one-to-one manner. The device is configured to associate each signal sign with a corresponding grid cell according to its position in the arrangement, so as to at least partially fill the grid cells (405) of the signal sign grid (400).

2. The device according to claim 1, wherein the signal marker grid (400) comprises: - M columns, where M≥5; and - N rows, where N≥5.

3. The device according to claim 1, wherein the device is configured to associate the signal marker (205) with a set of columns of the signal marker grid (400) along a horizontal direction (401).

4. The device according to claim 3, wherein the device is configured to: associate the signal marker (205) with a set of columns of the signal marker grid (400) along the horizontal direction (401), such that for all signal markers (205) in the determined arrangement, the following applies: - Signal flags (205) that have an offset less than or equal to an offset threshold relative to each other along the horizontal direction (401) are associated with the same column; and - Signal flags (205) that have an offset greater than the offset threshold relative to each other along the horizontal direction (401) are associated with different columns.

5. The device according to claim 3 or 4, wherein the device is configured to: associate the signal flag (205) with a set of columns of the signal flag grid (400) along the horizontal direction (401), such that: - The signal marker (205) arranged along the horizontal direction (401) on the far left is associated with the first column of the signal marker grid (400); or - The signal sign (205) arranged along the horizontal direction (401) on the far right is associated with the last column of the signal sign grid (400).

6. The device according to claim 3 or 4, wherein the device is configured to: associate the signal marker (205) with a set of columns of the signal marker grid (400) along the horizontal direction (401) such that the signal marker (205) is associated with different directly adjacent columns of the signal marker grid (400) in the following order, wherein the signal markers (205) are offset from each other along the horizontal direction (401) in the order stated.

7. The device according to claim 1, wherein the device is configured to associate the signal marker (205) with a set of rows of the signal marker grid (400) along a vertical direction (402).

8. The device according to claim 7, wherein the device is configured to: associate the signal markers (205) with a set of rows of the signal marker grid (400) along the vertical direction (402), such that for all signal markers (205) in the determined arrangement, the following applies: - Signal flags (205) that have an offset less than or equal to an offset threshold relative to each other along the vertical direction (402) are associated with the same row; and - Signal flags (205) that have an offset greater than the offset threshold between each other along the vertical direction (402) are associated with different rows.

9. The device according to claim 7 or 8, wherein the device is configured to: associate the signal marker (205) with a set of rows of the signal marker grid (400) along the vertical direction (402), such that: - The signal sign (205) arranged at the top along the vertical direction (402) is associated with the first row of the signal sign grid (400); or - The signal sign (205) arranged at the bottom along the vertical direction (402) is associated with the last row of the signal sign grid (400).

10. The device according to claim 7 or 8, wherein the device is configured to: associate the signal marker (205) with a set of rows of the signal marker grid (400) along the vertical direction (402), such that the signal marker (205) is associated with different directly adjacent rows of the signal marker grid (400) in the following order, wherein the signal markers (205) are offset from each other along the vertical direction (402) in the order stated.

11. The device according to any one of claims 1 to 4, wherein the device is configured to associate each signal sign (205) in the determined arrangement with a grid cell (405) of the signal sign grid (400) in a one-to-one manner.

12. The device according to any one of claims 1 to 4, wherein the device is configured to: for signal flags (205) in the determined arrangement. - Based on the environmental data, determine the marking information, wherein the marking information indicates: - The signaling status (415) of the signal flag (205); and / or - The membership of the signal flag (205) to the signal generator (201); and / or - The function of the signal flag (205); and - The flag information is stored together with the grid cells (405) of the signal flag (205) in the signal flag grid (400).

13. The device according to any one of claims 1 to 4, wherein - The transmitting unit includes one or more signal generators (201), each of which has one or more signal flags (205); and / or - The signal generator (201) is associated with the function; and / or - The transmitting unit includes an optical signal system (200); and / or - The signal mark (205) is the light source of the optical signal system (200).

14. The device according to any one of claims 1 to 4, wherein the device is configured to: transmit the signal marker grid (400) for the transmitting unit to the vehicle external unit (300).

15. The device according to any one of claims 1 to 4, wherein the device is configured to: provide vehicle functions of the vehicle (100) based on a determined signal flag grid (400) for the transmitting unit.

16. The device of claim 15, wherein the device is configured to: - Compare the determined signal marker grid (400) for the transmitting unit with a reference grid (450) for the transmitting unit from a digital map associated with the driving lane network traveled by the vehicle (100); and - Provide the vehicle functions based on the comparison.

17. The device of claim 13, wherein the signal generator (201) is associated with left turn, right turn and / or straight-ahead functions.

18. The device according to claim 13, wherein the signal sign (205) is a light-emitting element of a traffic light.

19. The device according to any one of claims 1 to 4, wherein the device is configured to: transmit the signal marker grid (400) for the transmitting unit to the vehicle external unit (300) for training a digital map associated with different transmitting units in the lane network.

20. The device according to any one of claims 1 to 4, wherein the device is configured to: provide vehicle functions for at least partially automated driving of the vehicle (100) based on a determined signal marker grid (400) for the transmitting unit.

21. A method for representing a transmitting unit of a lane network using a data structure, the transmitting unit having multiple signal flags (205), wherein - The data structure includes a grid having multiple grid cells (405) of one or more active signal flags and one or more inactive signal flags among a plurality of corresponding signal flags (205) for a transmitting unit, wherein the plurality of signal flags (205) are arranged in an arrangement (410); and - The plurality of grid cells (405) are designed to: represent the corresponding signal flags (205) of the transmitting unit in a one-to-one association, wherein each signal flag is associated with a corresponding grid cell according to its position in the arrangement, so as to at least partially fill the grid cells (405) of the grid.

22. The method of claim 21, wherein the data structure is designed such that... - The signal flag (205) associated with the grid cell (405) of the common column of the grid has an offset less than or equal to the offset threshold along the horizontal direction (401); and - The signal flag (205) associated with a grid cell (405) in a different column of the grid has an offset greater than the offset threshold along the horizontal direction (401); and / or - The signal flag (205) associated with the grid cell (405) of the common row of the grid has an offset less than or equal to the offset threshold along the vertical direction (402); and - The signal flag (205) associated with the grid cell (405) in a different row of the grid has an offset greater than the offset threshold along the vertical direction (402).

23. The method according to claim 21 or 22, wherein - The data structure is designed to: provide flag information for signal flags (205) associated with grid cells (405); and - The flag information indicated by the signal flag (205) indicates: - The signaling status (415) of the signal flag (205); and / or - The membership of the signal flag (205) to the signal generator (201); and / or - The function of the signal flag (205).

24. A unit (300) external to a vehicle, said unit being configured to: - Data regarding transmitting units in a lane network are determined from multiple vehicles (100), wherein the transmitting units have multiple signal signs (205), wherein the data is represented by the method according to any one of claims 21 to 23; and - Based on the data of the plurality of vehicles (100), a reference grid (450) with a plurality of grid cells (405) is determined, wherein the plurality of grid cells represent a plurality of signal flags (205) of the transmitting unit.

25. A method (500) for identifying and / or representing a transmitting unit, the transmitting unit being arranged at or on a driving lane traveled by a vehicle (100), wherein the method (500) comprises: - Based on environmental data from one or more environmental sensors (103) of the vehicle (100), determine the arrangement (410) of multiple signal flags (205) of the transmitting unit; and - Using association logic, one or more active signal flags and one or more inactive signal flags in the signal flags (205) are associated with the corresponding grid cells (405) of the signal flag grid (400) in a one-to-one manner. Each signal sign is associated with a corresponding grid cell according to its position in the arrangement, so as to at least partially fill the grid cells (405) of the signal sign grid (400).

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