Method of a control device of a first vehicle

Abstract

The invention relates to a method of a control device of a first vehicle, having the steps of: receiving object information detected by means of a surrounding sensor and relating to a geographical object; determining the absence of a database entry in a database relating to the geographical object and corresponding to the object information; creating an information unit relating to the geographical object from the detected object information; and transmitting a verification request relating to the geographical object to a traffic infrastructure unit and / or a second vehicle together with the created information unit. The invention also relates to a method of a traffic infrastructure unit or a server, a control device of a vehicle, a control unit of a traffic infrastructure unit or a server, and a computer program.

Description

Technical Field

[0001] This invention relates to a method for controlling a first vehicle. The invention also relates to a method for a traffic infrastructure unit (roadside unit, or RSU) or server, a vehicle control device, a control unit for the traffic infrastructure unit or server, and a computer program. Background Technology

[0002] Navigation using a navigation system and / or by navigation methods may be based on erroneous data, potentially leading to unsatisfactory or inadequate reliability due to missing or incomplete information in the database upon which the navigation is based. Erroneous data is particularly likely due to missing information. Over time, for example, when data on buildings constructed since the database was last updated is lacking, information may prove to be missing. This can result in discrepancies between the information in the database upon which the navigation is based and the actual surrounding environment the vehicle is traversing.

[0003] For example, this information involves so-called Points of Interest (POIs), which are geographic objects that may be located near busy roads. A POI could be, for example, a tourist attraction, a gas station, or a restaurant. Therefore, the reliability of navigation also depends on information about POIs or geographic objects, which is subsequently referred to as object information. Although multiple service providers maintain a database with this information, the database must be updated by the service provider when the information changes, for example, by having the user or provider schedule or periodically check the data to ensure it is up-to-date and perform updates as necessary. This information can also be road-related and, for example, include information about construction sites.

[0004] The database upon which the navigation system is based can be distributed across the vehicle or its control unit and updated through modifications. Alternatively, the database can be centrally contained within a server that can connect to the control unit via a communication interface to transmit data important to the navigation system.

[0005] Vehicles typically have one or more ambient sensors. These sensors detect information about the vehicle's surroundings. This information can be used to update the database upon which navigation is based. However, the information detected by the vehicle or its ambient sensors is often not reliable enough to reliably update the database.

[0006] The task of this invention

[0007] The present invention is based on the task of enriching the existing technology and providing a foundation for reliably updating the database on which navigation is based. Summary of the Invention

[0008] The objective according to the invention is achieved by a method using a control device for a first vehicle. The objective according to the invention is also achieved by a method using a traffic infrastructure unit or server, by a vehicle control device, by a control unit of a traffic infrastructure unit or server, and by a computer program.

[0009] A first aspect of the present invention relates to a method for controlling a first vehicle. The method includes the steps of: receiving object information related to a geographic object detected by means of an ambient environment sensor; determining the absence of a database entry in a database related to the geographic object and corresponding to the object information; creating an information unit related to the geographic object based on the detected object information; and transmitting a verification request related to the geographic object, along with the created information unit, to a traffic infrastructure unit (RSU) and / or a second vehicle.

[0010] The method steps can also be performed in a different order than those described. It is also preferable to create an information unit related to the geographic object based on the detected object information after receiving the object information, and then determine the absence of that database entry.

[0011] To receive object information, the control device or on-board unit (OBU) connects to ambient sensors via a data link. This invention uses data detected by the ambient sensors, particularly real-time data, to improve the database upon which navigation is based. Here, the ambient sensors, which are present in most vehicles, are used. Based on the object information received by the control device, the absence of database entries related to and corresponding to the geographic object is inferred, for example, where the detected object information identifies either the absence of a database entry related to the geographic object or the presence of an erroneous database entry related to the geographic object. To achieve reliable adjustment of the database, rather than solely based on object information detected by the vehicle's ambient sensors, the control device transmits a verification request to the traffic infrastructure unit and / or a second vehicle. This verification request is preferably received and evaluated by the traffic infrastructure unit and / or the second vehicle to receive a response, if necessary, upon successful verification, to update or adjust the database.

[0012] The second vehicle is preferably a vehicle also equipped with a control device configured to perform the method according to the invention. For the verification request to be transmitted from the first vehicle to the second vehicle, the control devices of these vehicles each include a communication interface, particularly a vehicle-to-vehicle interface, V2V interface, or vehicle-to-vehicle interface, or C2C interface, especially using WLAN, DSRC, LTE, or 5G.

[0013] The transportation infrastructure unit is preferably a roadside unit (RSU) or a roadside equipment (RSE). Specifically, to ensure the verification request can be transmitted from the first vehicle to the transportation infrastructure unit, a data connection is established between the vehicle and the transportation infrastructure unit via a vehicle-to-roadside interface (V2R) or a vehicle-to-infrastructure interface (V2I). Here, the transportation infrastructure unit (RSU) preferably includes database entries about geographic objects in its vicinity. Alternatively or additionally, the transportation infrastructure unit (RSU) preferably establishes an Internet connection with an external server that centrally manages the database.

[0014] The method also preferably includes the steps of receiving a verification message related to a geographic object from a Transportation Infrastructure Unit (RSU) and / or a second vehicle, and adjusting the database based on information units related to the geographic object. By means of these method steps, the database of the first vehicle is adjusted based on verified, reliable object information related to the geographic object. Therefore, the verification message implies a corresponding adjustment to the database, for example, by confirming object information about the geographic object corresponding to the information unit of the verification request. It is also preferred that the verification message has information units related to the geographic object that correspond to and / or correspond to the information units transmitted by the first vehicle along with the verification request. Preferably, the information units received along with the verification message are created based on the information units transmitted along with the verification request, i.e., based on at least a portion of the information contained therein. Alternatively or additionally, the information units of the verification message include variables for verifying object information corresponding to the information units of the verification message. Then, if the variables indicate that the object information is verified reliably, the database is preferably adjusted according to the information units transmitted along with the verification request.

[0015] Preferably, the missing database entries related to the geographic object and corresponding to that object information are determined based on user input and / or on an automated comparison of the database with object information. If a user finds a geographic object near their vehicle, but the corresponding database entry related to that geographic object is missing—that is, the navigation system does not display any information about the geographic object to the user—the user can transmit a corresponding command to the control device by inputting a command indicating the missing database entry related to the geographic object and corresponding to that object information. Here, the user is, for example, the driver or passenger of the vehicle. Alternatively or additionally, the missing information is determined based on an automated comparison of the database with object information received by the control unit and detected by ambient environment sensors. For example, the presence and / or characteristics of the geographic object are inferred based on the detected object information, which is used for comparison with the database and for determining the missing database entry corresponding to the detected object information.

[0016] At least one ambient sensor preferably also includes a camera, and this object information is determined by segmentation and analysis of image data detected by the camera. Thereby, the control device receives object information created through analysis of image data recorded by the camera. This object information preferably includes detailed information about the presence and / or characteristics of geographic objects. Segmentation of the detected image data, for example, can identify road signs themselves, which preferably include traffic information, and analysis of these road signs provides information about vehicle locations and / or the locations of detected geographic objects. Particularly preferred is sensor fusion with data from additional sensors such as lidar, radar, and IR to improve the accuracy and reliability of the detected object information and / or to detect other object information, such as spatially resolved object information. Preferably, machine learning is used to support the evaluation, especially segmentation and analysis, of the image data and the data from the additional sensors.

[0017] Preferably, object information related to a geographic object is determined based on the detection of geographic objects or geographic object landmarks related to that geographic object supported by sensors. When a geographic object is detected, it is within the detection range of the surrounding environment sensors and is directly detected. Alternatively or additionally, object information exists in the form of geographic object landmarks, such as signs displaying distances to a specific geographic object. By detecting object information, such as object information on signs or advertising panels serving as geographic object landmarks, the location and / or characteristics of the geographic object, such as its name or type, can be detected. Preferably, the coordinate information of the geographic object is determined based on vehicle location information and data on the relative distance between the geographic object landmark and the geographic object.

[0018] Preferably, the method includes the following steps: determining the geographic location information of a first vehicle; determining the coordinate information of a geographic object, taking into account the determined location information and the detected object information; and determining the absence of database entries based on this coordinate information. To determine the geographic location information of the first vehicle, the control device has a position sensor, or the control device is connected to the vehicle's position sensor to receive this geographic location information. It is also preferred that the location information of the first vehicle be determined by means of a traffic infrastructure unit (RSU). Since the RSU is fixed in location, the location information of the first vehicle when passing through the RSU can be sufficiently determined.

[0019] The detected object information preferably includes information about the location of the geographic object relative to the vehicle. Therefore, the coordinate information of the geographic object can be determined based on the vehicle's location information and the detected object information. Preferably, a missing database entry is identified if no database entry with matching coordinate information exists and / or no database entry with matching coordinate information exists for a further characterized geographic object. Preferably, the existence of database entries with a specific radius around the determined coordinate information is checked.

[0020] In the method according to the invention, the verification request is preferably sent to a Transportation Infrastructure Unit (RSU) for further transmission and authorization by a server. This allows the server, as the authoritative body managing the database, to manage it. Alternatively, the verification request is transmitted directly from the first vehicle to the server. This is achieved, for example, via the vehicle's mobile radio interface, by which an Internet connection to the server is established. The server's required verification response is either sent to the Transportation Infrastructure Unit (RSU) and further to a second vehicle, or sent directly from the cloud to the second vehicle. Each newly detected geographic object by the vehicle's sensors that is not included in the navigation database must be checked and accepted before being entered into the database. For this purpose, the Transportation Infrastructure Unit (RSU) acts as a relay station, which can temporarily store verification requests and retrieve the associated responses from the server.

[0021] Another aspect of the invention relates to a method for a transportation infrastructure unit or server. The method includes the steps of: receiving from a first vehicle a first verification request relating to a geographic object, the first verification request having a first information unit relating to the geographic object; receiving from a second vehicle a second verification request relating to the geographic object; and, based on the received verification requests, transmitting a verification message relating to the geographic object to the first vehicle and / or the second vehicle. This method is preferably implemented by a transportation infrastructure unit (RSU) capable of directly connecting to the first vehicle and / or the second vehicle for communication to exchange data via V2X, either directly (PC5) or via mobile radio 5G (C-V2X). Also preferably, the method is implemented by a server that communicates directly with the first vehicle and / or the second vehicle, for example, via mobile radio. Alternatively, the server can connect to the transportation infrastructure unit, and the transportation infrastructure unit can connect to the first vehicle and / or the second vehicle.

[0022] If a traffic infrastructure unit or server receives two verification requests containing similar information units related to a geographic object, the traffic infrastructure unit and / or server can verify the object information related to the geographic object for that information unit and transmit a corresponding verification message. Particularly preferred is that if more than two vehicles transmit similar information units related to the geographic object to the traffic infrastructure unit or server via verification requests, the object information related to the geographic object is verified. This further improves the reliability of the method because multiple vehicles can contribute to higher accuracy of the verified object information. According to this embodiment, verification is therefore preferably performed if the traffic infrastructure unit and / or server receives a predetermined number of corresponding verification requests within a predetermined time period. Particularly preferred is that this predetermined time period is initiated by receiving a first verification message.

[0023] Preferably, the method includes the following steps: in response to receiving a first verification request, transmitting a verification request related to a geographic object and a first information unit related to that geographic object to a second vehicle; and in response to the verification request, receiving a second verification request from the second vehicle. According to this embodiment, verification of object information related to a geographic object is initiated by another vehicle by a traffic infrastructure unit or server transmitting a corresponding verification request to the second vehicle based on the verification request from the first vehicle. Alternatively, the verification request may have information units that are different from but correspond to the first information unit, such as information units containing only a subset of the data from the first information unit, to reduce the amount of data transmitted. Preferably, the second vehicle is selected by the traffic infrastructure unit or server based on its location and / or direction of travel to ensure that the second vehicle passes the location of the geographic object according to the first information unit and thus can detect the geographic object through the vehicle's surrounding environmental sensors.

[0024] Particularly preferred is that the second verification request has a second information unit related to a geographic object, so as to enable comparison with the first verification request of the first vehicle that has a first information unit related to that geographic object. Alternatively, the second verification request has variables for verifying (confirming) or refuting the first information unit. Also preferably, the verification message has a verification-reliable information unit created based on the received information units. In other words, the verification message preferably has information units created based on information from different information units received from the vehicle.

[0025] In a preferred embodiment, the method further includes the steps of: sending a verification request to a server based on a first information unit; and receiving authorization from the server for a verified and reliable information unit. Thus, the server can authorize the information unit and cause a change in the database. If the method is implemented, for example, by a control unit of the server, the control unit can verify the information unit and send it, along with a corresponding verification request, to the part of the server that manages the database. The information unit is thus authorized, causing a change in the database. Finally, the server notifies the transportation infrastructure unit and / or individual vehicles of the verified and reliable information unit. Optionally, the method further includes the steps of: comparing a first verification request with a second verification request; and determining a verified and reliable information unit related to a geographic object based on the comparison. Thus, the verified and reliable information unit is based on the first information unit. The comparison is used to determine whether the object information included in these information units and related to the geographic object is reliable. If the method is implemented by a transportation infrastructure unit and a comparison with the server's central database and / or adjustments to the server's central database are required, the transportation infrastructure unit verifies the information unit and transmits it, along with a corresponding verification request, to the server.

[0026] Preferably, the information unit related to the geographic object has the geographic coordinates of the geographic object and at least one of the following: category information, operator information, surrounding environment information, and name information, in order to comprehensively represent the geographic object. Category information preferably includes whether the geographic object is a restaurant, gas station, shop, rest area, public facility, public toilet, or other POI. Operator information preferably includes information about who operates the geographic object. The information unit also preferably has the road name of the geographic object, which can help improve the determination of the geographic object's coordinate information.

[0027] Another aspect of the invention relates to a control device (On-Board Unit) for a vehicle equipped with ambient environment sensors, wherein the control device (OBU) is configured to receive object information related to geographic objects detected by means of the ambient environment sensors. The control device (OBU) has a communication interface for establishing data communication connections with a traffic infrastructure unit (RSU), a server, and / or other vehicles. The control device (OBU) is configured to execute the described method for controlling a vehicle. The control device (OBU) is preferably configured to implement the aforementioned preferred steps of the method according to the invention for the vehicle, in order to achieve the associated advantages.

[0028] Another aspect of the invention relates to a control unit for a transportation infrastructure unit (RSU) or server, which respectively has communication equipment for establishing a data communication connection with a vehicle. The control unit is configured to perform the described method for the transportation infrastructure unit or server. The control unit is preferably configured to implement the aforementioned preferred steps of the method according to the invention for the transportation infrastructure unit or server in order to achieve the associated advantages.

[0029] Another aspect of the invention relates to a computer program that includes instructions that, when executed by a control unit of a traffic infrastructure unit or server, cause the control unit to perform a described method for a traffic infrastructure unit or server; or the computer program includes instructions that, when executed by a control device of a vehicle, cause the control device to perform a described method for a vehicle control device. Attached Figure Description

[0030] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings.

[0031] Figure 1 Implementations of a method for a control device for a first vehicle and a method for a control unit for a traffic infrastructure unit are shown;

[0032] Figure 2 An implementation of the method for the first vehicle is shown;

[0033] Figure 3 Alternative embodiments of the method for a control device for a first vehicle and a method for a control unit for a traffic infrastructure unit are shown;

[0034] Figure 4A and 4B A scenario is shown for an application of an embodiment of the method according to the invention, presenting the vehicle in a bird's-eye view and according to the detection range of the vehicle's optical ambient environment sensors;

[0035] Figure 5A and 5B Another scenario illustrating an application of an embodiment of the method according to the invention, presented in a bird's-eye view and according to the detection range of the vehicle's optical ambient sensors; and

[0036] Figure 6 A schematic diagram of the first vehicle, the traffic infrastructure unit, the server, and the second vehicle is shown. Detailed Implementation

[0037] Figure 1Implementations of a method 100 for a control device 501 for a first vehicle 500 and a method 150 for a control unit 511 for a traffic infrastructure unit 510 are shown.

[0038] In the illustrated embodiment, a first vehicle 500, a second vehicle 520, a traffic infrastructure unit 510, and a server 530 are schematically shown. The first vehicle 500 is... Figure 6 The diagram is schematically shown and included in Figure 1 The control device 501 (not shown) and the ambient environment sensor 502 are included. The traffic infrastructure unit 510 is located in... Figure 6 The diagram is schematically shown and included in Figure 1 The control unit 511 is not shown. The first vehicle 500 and the second vehicle 520 each include a communication interface 502, and the traffic infrastructure unit 510 and the server 530 each include communication devices 513 and 533, respectively, to enable the implementation of the method steps shown in methods 100 and 200, and in particular, to transmit and / or receive data. Figure 1 The method steps shown are presented as method steps of a first vehicle 500, a second vehicle 520, a traffic infrastructure unit 510, and a server 530, even though these method steps are implemented by their respective components.

[0039] The surrounding environment sensor 502 of vehicle 500 detects object information related to geographic object 311 and transmits this object information to the control device 501 via the corresponding interface. Figure 1 (Not shown in the image). For this purpose, at least one ambient environment sensor 502 includes a camera, and this object information is determined by segmentation and analysis of image data detected by the camera. Object information related to geographic object 311 is determined based on sensor-supported detection of geographic object 311 (see Figure 4) or geographic object landmark 411 (see Figure 5) associated with geographic object 311.

[0040] In accordance with Figure 1 In the first step of method 100, the control device 501 of the first vehicle 500 receives object information related to the geographic object 311 detected by the surrounding environment sensor 502.

[0041] Then, the geographic location information of the first vehicle 500 is determined. The location information of the first vehicle 500 is determined by the location sensors of the first vehicle 500. Alternatively or additionally, this location information is determined by identifying the nearest transportation infrastructure unit 510 whose location information is known. This object information includes information about the location of geographic object 311 relative to the vehicle 500. Taking into account the determined location information of the first vehicle 500 and the detected object information, the coordinate information of geographic object 311 is determined.

[0042] Then, it is determined that 102 is missing a database entry in the database related to the geographic object 311 and corresponding to the object information. The missing database entry 102 is determined based on the coordinate information of the geographic object 311. The missing database entry related to the geographic object 311 and corresponding to the object information is triggered based on user input and / or based on an automated comparison of the database with the object information. Here, the missing database entry related to the geographic object 311 and corresponding to the object information is inferred by finding that no database entry exists for a specific geographic object 311. The database is stored wholly or partially in the memory of the first vehicle 500 and is used for navigation of the first vehicle 500. Alternatively, the database is stored wholly or partially on the server 530, and the memory of the vehicle 500 only contains the portion of the database related to the surrounding environment of the vehicle 500.

[0043] If, in step 102, a missing database entry is found related to geographic object 311 and corresponding to this object information, then information unit 103 related to geographic object 311 is created based on the detected object information. Here, the information unit related to geographic object 311 has the geographic coordinates of geographic object 311 and at least one of the following: category information, operator information, surrounding environment information, and name information of geographic object 311. After creating the information unit 103, a verification request S1 related to geographic object 311 is transmitted 104 to transportation infrastructure unit 510 along with the created information unit. The verification request S1 is sent to transportation infrastructure unit 510 for continued transmission and authorization 113 by server 530.

[0044] In order to perform the adjustment 111 of the database based on the information unit related to geographic object 311 in the verification request S1, the traffic infrastructure unit 510 receives the verification message S6 related to geographic object 311. Based on the verification message S6, the database of the first vehicle 500 is adjusted. Therefore, navigation of the first vehicle 500 can be performed based on the updated database.

[0045] The above method steps are reflected in the corresponding method steps of the transportation infrastructure unit 510, wherein in the illustrated embodiment, additional method steps are performed to improve the reliability of the verification of object information.

[0046] In the control unit 511 of the transportation infrastructure unit 510, a comparison 107 is performed between the first verification request S1 and the second verification request S2. Specifically, this involves comparing the information units of verification requests S1 and S2 with each other and / or comparing object information corresponding to the information units of verification requests S1 and S2 with object information in a database that can be accessed and called by the transportation infrastructure unit 510. These information units include object information in a format suitable for comparison 107. For example, during comparison 107, coordinate information of a geographic object 311 or information about the characteristics of the geographic object 311 is compared. Based on comparison 107, a verification-reliable information unit related to the geographic object 311 is determined. This verification-reliable information unit may be related to matching object information that corresponds to the information units of verification requests S1 and S3.

[0047] Then, the verification request S4, along with the verified reliable information unit, is transmitted to the server 530. The server 530 grants authorization 113 to modify the database. During authorization 113, the server 530 compares, for example, the verified reliable information unit of verification request S4 with other verification requests, such as those transmitted through other transportation infrastructure units. Using this authorization 113, changes are caused to the central database on and / or through the server. Next, the transportation infrastructure unit 510 receives authorization S5 from the server 530 for the verified reliable information unit. Based on authorization S5, the transportation infrastructure unit 510 creates a verification message S6. Based on the received verification requests S1 and S3, the verification message S6 related to the geographic object 311 is transmitted to the first vehicle 500. Here, the verification message S6 has a verified and authorized information unit created based on the received information unit.

[0048] Figure 2 An embodiment of the method 200 for a first vehicle 500 is shown.

[0049] In the illustrated embodiment, a first vehicle 500 and a second vehicle 520 are schematically shown. The first vehicle 500 is referenced... Figure 6 To be described. Optionally, the features of the second vehicle 520 with respect to the first vehicle 500 are the same as those of the first vehicle 500. According to Figure 2 The description of the steps in Method 200 is based on reference. Figure 1The method steps of method 100 are performed, with particular attention to the details of method steps 101, 102, 103, 112, and 111 appearing in both methods 100 and 200, as per [reference needed]. Figure 1 The description of method 100.

[0050] The surrounding environment sensor 502 of vehicle 500 detects object information related to geographic object 311 and transmits this object information to the control device 501 via the corresponding interface. Figure 2 (Not shown in the figure). Object information related to geographic object 311 is determined based on the detection of geographic object 311 (see Figure 4) or geographic object landmark 411 (see Figure 5) related to geographic object 311 supported by sensors.

[0051] In accordance with Figure 2 In the first step of method 200, object information related to geographic object 311 is received by 101 by means of ambient environment sensor 502 via first vehicle 500 or its control device 501.

[0052] Then, the geographical location information of the first vehicle 500 is determined. Taking into account the determined location information and the detected object information, the coordinate information of the geographic object 311 is determined.

[0053] Then, it is determined whether there are any missing database entries in the database related to the geographic object 311 and corresponding to the object information. Optionally, the missing database entries are determined based on the coordinate information of the geographic object 311. The missing database entries related to the geographic object 311 and corresponding to the object information are caused by user input and / or by automated comparison of the database with the object information.

[0054] If a missing database entry related to geographic object 311 and corresponding to this object information is found, an information unit 103 related to geographic object 311 is created based on the detected object information. After creating the information unit 103, a verification request S1 related to geographic object 311 is transmitted to the second vehicle 520 along with the created information unit 204.

[0055] The second vehicle 520 can verify the information unit of the verification request S1. If the second vehicle 520 has object information related to the geographic object 311 that has been verified and is reliable, the verification by the second vehicle 520 can, for example, be performed solely by the second vehicle 520. Before the second vehicle 520 transmits the verification message S6 to the first vehicle 500, the second vehicle 520 may optionally undergo a reference... Figure 1 Or the method described in 3, 100.

[0056] In order to implement the adjustment 111 of the database based on the information unit related to the geographic object 311, a verification message S6 related to the geographic object 311 is received from the second vehicle 520. In addition, the adjustment 111 can only be performed if the information unit of the verification request S1 has been verified reliably by multiple vehicles (not shown) that have also transmitted the verification message S6 to the first vehicle 500.

[0057] First, in method 150 of traffic infrastructure unit 510, a first verification request S1 relating to geographic object 311 and a first information unit relating to geographic object 311 are received from first vehicle 500. This corresponds to the transmission 104 of the first verification request S1 as described in method 100 of control device 501 of first vehicle 500. The first verification request S1 is stored in traffic infrastructure unit 510 so as to create a verification request S2 for transmission to another vehicle 520 or a verification request S4 for transmission to server 230, as described further below.

[0058] In the illustrated embodiment, in response to the receipt 104 of the first verification request S1, the verification request S2 related to the geographic object 311 and the first information unit related to the geographic object 311 are transmitted 105 to the second vehicle 520. For this purpose, if a direct data connection can be established between the traffic infrastructure unit 510 and the second vehicle 520, the traffic infrastructure unit 510 will send the verification request S2 directly to the second vehicle 520. Alternatively or additionally, the traffic infrastructure unit 510 may cause another traffic infrastructure unit or another vehicle to indirectly transmit the verification request S2 to the second vehicle 520. The verification request S2 may also be indirectly transmitted to the second vehicle 520 by means of a mobile radio.

[0059] In the same manner as receiving the first verification request S1 (104), a second verification request S3 (106) relating to the geographic object 311 is received from the second vehicle 520. Here, the second verification request S3 has a second information unit relating to the geographic object 311. Alternatively, the verification request S3 may have a verification-reliable information unit representing the first information unit of the first verification request S1, in order to enable possible data transmission. In the illustrated embodiment, the second verification request S3 (106) is received from the second vehicle 520 in response to the verification request S2.

[0060] Figure 3 Alternative embodiments of the method 100 of the control device 501 of the first vehicle 500 and the method 150 of the control unit 511 of the traffic infrastructure unit 510 are shown.

[0061] Reference Figure 1The method steps of method 100 are used to describe the method steps of method 100 for control device 501 for first vehicle 500 and method 150 for control unit 511 for traffic infrastructure unit 510, wherein only the differences between these methods are described.

[0062] In this implementation, no reference is required. Figure 1 The steps described are comparison 107 and determining verified reliable information units related to geographic objects 311. For example, server 530 includes verified reliable database entries in the database that are related to geographic objects 311 and correspond to information about those objects.

[0063] For this purpose, the traffic infrastructure unit (510) acts as a relay station, which can temporarily store the verification request S1 and retrieve the relevant response from the server. In step 104, the first vehicle 500 transmits the verification request S1 and the information unit related to the geographic object 311 to the traffic infrastructure unit 510. In order to retrieve the relevant response from the server 530 through the traffic infrastructure unit 510, the verification request S4 based on the first information unit is then transmitted to the server 530 for authorization 113, and the traffic infrastructure unit 510 receives the authorization S5 of the verified information unit from the server 530 in step 109. In order to perform the database adjustment 111 based on the information unit related to the geographic object 311 in the verification request S1, the traffic infrastructure unit 510 receives the verification message S6 related to the geographic object 311.

[0064] Figures 4 and 5 are each presented as bird's-eye views. Figure 4A and 5A And according to the optical ambient environment sensor 502 of vehicle 500 or the detection range 310, 410 of the user of vehicle 500. Figure 4B and 5B The illustration shows a scenario in which an embodiment of the method 100, 200 according to the present invention is used to present a vehicle 500.

[0065] Figure 4A The scene is shown in a bird's-eye view. The first vehicle, 500, is shown in reference. Figure 6As described, the vehicle is traveling on road 313. The direction of travel of the first vehicle 500 is schematically shown by a triangle within the first vehicle 500. The ambient environment sensor 502 is an imaging sensor and is configured to detect image data within a detection range 310, which is shown in the illustration by dashed lines arranged at an angle to the ambient environment sensor 502, the detection range 310 being located between these dashed lines. The ambient environment sensor 502 is arranged such that the detection range 310 is located in front of the first vehicle 500 in the direction of travel. Therefore, the detection range 310 also at least partially includes the field of vision visible to the driver and / or occupants of the first vehicle 500.

[0066] While driving on road 313, the surrounding environment sensor 502 detects geographic objects 311 and thus determines object information related to those geographic objects based on the sensor-supported detection of geographic objects 311. Figure 4A In the scenario shown, this object information includes information about the type of geographic object 311, such as whether geographic object 311 is a specific building and / or has a specific size. This object information also includes information about the relative position of geographic object 311 with respect to vehicle 500, particularly about the distance between vehicle 500 and geographic object 500, and / or about how geographic object 311 is positioned relative to road 313, for example, on the right side of road 313.

[0067] After the first vehicle 500 detects the geographic object 311, the first vehicle 500 passes through the traffic infrastructure unit 510. While passing through the traffic infrastructure unit 510, the first vehicle 500 experiences a reference... Figure 1 The method described is 100. The corresponding experience reference is for transportation infrastructure unit 510. Figure 1 The method described is 150. If there is no traffic infrastructure unit 510 near the identified geographic object 311, the first vehicle 500 can temporarily store information about the identified geographic object 311 until the next traffic infrastructure unit 511.

[0068] Figure 4B It shows according to Figure 4A The scene is within the detection range 310 of the optical ambient environment sensor 502 of vehicle 500. That is, Figure 4B The detection range 310 of the optical ambient environment sensor 502 or the field of vision of the driver and / or occupants of the first vehicle 500 is shown.

[0069] Figure 5A and 5B Another scenario is shown and referenced. Figure 4A and 4B To be explained, which only describesFigure 5A and 5B and Figure 4A and 4B The difference lies in the location of the geographical object. When traveling on road 413, the surrounding environment sensor 502 detects geographical object landmarks 411 associated with geographical object 311 and thus determines object information related to geographical object 311 based on the sensor-supported detection of geographical object landmarks 411 associated with geographical object 311. For example, a geographical object landmark 411 could be an advertisement or signpost for a location that can be found at a specific distance relative to the geographical object landmark 411. Therefore, object information, particularly coordinate information and other characteristics of geographical object 311, can be determined based on geographical object landmarks 411.

[0070] exist Figure 4A , 4B In 5A and 5B, respectively, it is like in Figure 4B and 5B As seen in the diagram, two-dimensional image data is detected and processed. Two-dimensional objects are identified and assigned to real-world objects, specifically traffic information 312, 412, and geographic objects 311 (in...). Figure 4B (in) and geographic object landmark 411 (in Figure 5B (In the middle). The object information determined from these objects is processed into information units of V2X messages.

[0071] Figure 6 A schematic diagram of a first vehicle 500, a traffic infrastructure unit 510, a server 530, and a second vehicle 520 is shown.

[0072] The first vehicle 500 includes a control unit 501 and an ambient environment sensor 502. The control unit 501 is configured to receive object information related to a geographic object 311 detected by means of the ambient environment sensor 502. The control unit 501 may have a memory (not shown) or be connected to a memory storing a database containing information required for navigation of the vehicle 500. The control unit 501 has a communication interface 503 for establishing data communication connections with a traffic infrastructure unit 510, a server 530, and / or other vehicles 520. Figure 6 The data communication connection is indicated by dashed lines. Control device 501 is configured to perform actions as described in the reference. Figure 1 , 2 One or more of the methods 100 and 200 described in 3.

[0073] The second vehicle 520 is preferably a vehicle also having a control device 501 (not shown), which is configured to perform methods 100, 200 according to the invention. Preferably, the second vehicle 520 is related to the first vehicle 500 in...Figure 6 The features shown are the same.

[0074] In order for verification request S1 to be transmitted from the first vehicle 500 to the second vehicle 520, as per... Figure 2 As in method 200, the control devices 501 of these vehicles 500, 520 each include a communication interface 503, particularly a vehicle-to-vehicle, i.e., V2V interface or a vehicle-to-vehicle, i.e., C2C interface, particularly via WLAN, DSRC, LTE or 5G.

[0075] The transportation infrastructure unit 510 includes a control unit 511. The server 530 includes a control unit 531. Control units 511 and 531 are connected to or can be connected to communication devices 513 and 533, respectively, for establishing data communication connections with vehicles 500 and 520. Control units 511 and 531 are respectively configured to: implement as referenced Figure 1 and 3 The method described is 150.

[0076] Traffic infrastructure unit 510 is a roadside unit (RSU) or roadside equipment (RSE). In particular, verification request S1 can be transmitted from the first vehicle 500 to traffic infrastructure unit 510. A data connection can be established between the first vehicle 500 and traffic infrastructure unit 510 via communication device 513, especially using WLAN, DSRC, LTE or 5G, through vehicle-to-roadside interface, C2R interface or vehicle-to-infrastructure interface, C2I interface or more generally vehicle-to-everything interface, V2X interface.

[0077] Typically, the information unit is formatted as a vehicle-to-everything (V2X) message to enable transmission between the first vehicle 500, the traffic infrastructure unit 510, the server 530, and / or the second vehicle 520.

[0078] The transportation infrastructure unit 510 is configured to establish an Internet connection with the server 530, as shown by the dashed lines. The first vehicle 500 is configured to establish a communication connection with the server 530, for example, by means of a mobile radio.

[0079] List of reference numerals

[0080] 100 Methods of controlling the device

[0081] 101 Receiving Object Information

[0082] 102 Determining the missing information

[0083] 103 Creating Information Units

[0084] 104 Transmit verification request, Receive verification request

[0085] 105 Transmit Verification Request

[0086] 106 Received second verification request

[0087] 107 Comparisons

[0088] 108 Transmission Verification Requirements

[0089] 109 Receive Authorization

[0090] 110 receives and transmits verification messages.

[0091] 111 Adjust the database

[0092] 112 Determine geographical location information

[0093] 113 Authorization

[0094] 150 Methods for transport infrastructure units or servers

[0095] 200 Methods for controlling the device

[0096] 204 Verification Request

[0097] 210 Receive verification message

[0098] 310 Detection range

[0099] 311 Geographical Objects

[0100] 312 Traffic Information

[0101] 313 Road

[0102] 410 Detection range

[0103] 411 Geographic Object Landmarks

[0104] 412 Traffic Information

[0105] 413 Road

[0106] 500 First Vehicle

[0107] 501 Control Device

[0108] 502 Ambient Environment Sensor

[0109] 503 Communication Interface

[0110] 510 Transportation Infrastructure Unit

[0111] 511 Control Unit

[0112] 513 Communication Equipment

[0113] 520 Second Vehicle

[0114] 530 server

[0115] 531 Control Unit

[0116] 533 Communication Equipment

[0117] S1 Authentication Request

[0118] S2 Validation Delegation

[0119] S3 Second Authentication Request

[0120] S4 Validation Requirements

[0121] S5 Authorization

[0122] S6 Authentication Message

Claims

1. A method (100, 200) for a control device (501) of a first vehicle (500), the method (100, 200) comprising the following steps: Receive (101) object information related to geographic objects (311) detected by means of surrounding environment sensors (502); Identify (102) the missing database entries in the database that are related to the geographic object (311) and correspond to the information of these objects; Based on the detected object information, create (103) an information unit related to the geographic object (311); The verification request (S1) related to the geographic object (311) is transmitted (104, 204) along with the created information unit to the transportation infrastructure unit (510) and / or the second vehicle (520). Receive (110, 210) a verification message (S6) relating to the geographic object (311) from the traffic infrastructure unit (510) and / or the second vehicle (520); and The database (111) is adjusted based on information units related to the geographic object (311). The verification request (S1) is received and evaluated by the traffic infrastructure unit (510) and / or the second vehicle (520) in order to receive a response after successful verification, thereby updating or adjusting the database.

2. The method of claim 1, wherein the absence of a database entry relating to the geographic object (311) and corresponding to the object information is determined (102) based on user input and / or based on an automated comparison of the database with the object information.

3. The method according to claim 1 or 2, wherein at least one ambient environment sensor (502) includes a camera, and the object information is determined by segmentation and analysis of image data detected by the camera.

4. The method according to claim 3, wherein object information related to the geographic object (311) is determined based on the detection of the geographic object (311) or geographic object landmarks (411) related to the geographic object (311) supported by the sensor.

5. The method according to claim 1 or 2, further comprising: Determine (112) the geographical location information of the first vehicle (500); The coordinate information of the geographic object (311) is determined by taking into account the determined location information and the detected object information; The missing database entry (102) is determined based on the coordinate information.

6. The method according to claim 1 or 2, wherein the verification request (S1) is sent to the traffic infrastructure unit (510) and / or the second vehicle (520) for continued transmission and authorization (113) by the server (530).

7. A method (150) for a transportation infrastructure unit (510) or server (530), the method comprising the following steps: Receive (104) a first verification request (S1) related to a geographic object (311) and a first information unit related to the geographic object (311) from the first vehicle (500); Receive (106) a second verification request (S3) related to the geographic object (311) from the second vehicle (520); Based on the received verification requests (S1, S3), a verification message (S6) related to the geographic object (311) is transmitted (110) to the first vehicle (500) and / or the second vehicle (520). In response to receiving the first verification request (S1) (104), a verification request (S2) related to the geographic object (311) and a first information unit related to the geographic object (311) are transmitted (105) to the second vehicle (520). In response to the verification mandate (S2), the second verification request (S3) is received (106) from the second vehicle (520). The transportation infrastructure unit (510) or the server (530) can verify the object information of the first information unit related to the geographic object (311) and transmit the corresponding verification message (S6).

8. The method according to claim 7, wherein the second verification request (S3) has a second information unit relating to the geographic object (311) and / or the verification message (S6) has a verification reliability information unit created based on the received information unit.

9. The method according to claim 7 or 8, further comprising the following steps: Based on the first information unit, the verification requirement (S4) is transmitted (108) to the server (530); and Receive (109) authorization (S5) for the verified reliable information unit from the server (530).

10. The method according to claim 7 or 8, wherein the information unit relating to the geographic object (311) has geographic coordinates of the geographic object (311) and at least one of category information, operator information, surrounding environment information and name information of the geographic object (311).

11. A control device (501) for a vehicle (500, 520) having an ambient environment sensor (502), wherein the control device (501) is configured to receive object information detected by means of the ambient environment sensor (502) and relating to a geographic object (311), and wherein the control device (501) has a communication interface (503) for establishing a data communication connection with a traffic infrastructure unit (510), a server (530) and / or other vehicles (500, 520), wherein the control device (501) is configured to perform the method (100, 200) according to any one of claims 1 to 6.

12. A control unit (511, 531) for a traffic infrastructure unit (510) or a server (530), the traffic infrastructure unit or the server having communication devices (513, 533) for establishing a data communication connection with a vehicle (500, 520), wherein the control unit (511, 531) is connected to the communication devices (513, 533), wherein the control unit (511, 531) is configured to perform (150) the method according to any one of claims 7 to 10.

13. A computer program comprising instructions that, when executed by a control unit (511, 531) of a transportation infrastructure unit (510) or a server (530), cause the control unit to perform the method (150) according to any one of claims 8 to 11; or the computer program comprising instructions that, when executed by a control device (501) of a vehicle (500), cause the control device to perform the method (100, 200) according to any one of claims 1 to 6.

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