Method and apparatus for creating digital map

Abstract

Method (300) and device for creating a digital map representing at least one area along a traffic path, the method comprising a receiving step (310) for receiving a plurality of sets of environmental data values, each set of environmental data values being detected by means of an environmental sensing device of a vehicle traveling the traffic path, each surrounding environment data value set comprises a surrounding environment feature and a position of the surrounding environment feature; a step (320) of creating the digital map, in which, in a first sub-step (321), the surroundings characteristics of the surroundings data value set are classified into groups depending on the positions of the surroundings characteristics, in a second sub-step (322), a spatial arrangement of the respective surroundings characteristics relative to one another is determined for each group, and in a third sub-step (323), a spatial arrangement of the respective surroundings characteristics relative to one another is determined for each group. Determining, for each group, an optimal position of a corresponding ambient feature of the group without changing the spatial arrangement, and wherein, in a fourth sub-step (324), a digital map is created from the optimal position of the ambient feature of each group; and a step (330) of providing the digital map.

Description

Technical Field

[0001] The present invention generally relates to a method for creating a digital map, which represents at least one area along a traffic path, the method comprising: a step of receiving a plurality of surrounding environment data value sets, wherein each surrounding environment data value set comprises surrounding environment characteristics; a step of creating a digital map based on the surrounding environment characteristics; and a step of providing the digital map. Summary of the invention

[0002] The invention relates generally to a method for creating a digital map, which represents at least one area along a traffic path, the method comprising the step of receiving a plurality of sets of surrounding data values, wherein each set of surrounding data values ​​is detected by means of a surrounding sensor device of a vehicle traveling the traffic path, wherein each set of surrounding data values ​​comprises surrounding features and the positions of these surrounding features. The method further comprises the steps of creating a digital map, wherein in a first sub-step the surrounding features of the surrounding data value sets are sorted into groups according to the positions of these surrounding features, wherein in a second sub-step the spatial arrangement of the corresponding surrounding features relative to one another is determined for each group, wherein in a third sub-step the optimal positions of the surrounding features of the group are determined without changing the spatial arrangement, wherein in a fourth sub-step the digital map is created according to the optimal positions of the surrounding features of each group; and the step of providing the digital map.

[0003] For example, a traffic path is understood to be a single-lane or multi-lane road. An area along a traffic path is understood to be, for example, the traffic path itself and a strip to the left and / or right of the traffic path. The width of the strip depends, for example, on the specific configuration of the surroundings and / or on the sensor range of the individual vehicles. Typically, the strip includes surrounding features, such as traffic signs, etc.

[0004] An environment sensor system is understood to be at least one video sensor and / or at least one radar sensor and / or at least one lidar sensor and / or at least one ultrasonic sensor and / or at least one other sensor, which is designed to detect the surroundings of the vehicle in the form of sensor data values. In a possible specific embodiment, the environment sensor system includes a computing unit (processor, working memory, hard disk) with suitable software and / or is connected to such a computing unit.

[0005] In this case, surrounding features are understood to be, for example, infrastructure features (lane boundaries, guardrails, etc.) and / or traffic signs (road signs, traffic lights, etc.) and / or structural features (buildings, bridges, tunnels, etc.) and / or other features that can be detected by means of environmental sensor devices.

[0006] A digital map is understood to be a map that is present in the form of (map) data values ​​on a storage medium. The map is constructed, for example, in such a way that one or more map layers are included, wherein one map layer, for example, shows a map from a bird's-eye view (course and position of roads, buildings, landscape features, etc.). This corresponds, for example, to a map of a navigation system. Another map layer, for example, includes a radar map, wherein the surrounding features included in the radar map are stored with a radar signature. Another map layer, for example, includes a lidar map, wherein the surrounding features included in the lidar map are stored with a lidar signature.

[0007] In one embodiment, the map is designed as a highly accurate map. The highly accurate map is designed in particular such that it is suitable for navigation of an automated vehicle. This is understood, for example, to mean that the highly accurate map is designed for determining a highly accurate position of the automated vehicle by comparing stored surrounding features with detected sensor data values ​​of the automated vehicle. To this end, the highly accurate map includes, for example, surrounding features with highly accurate position information (coordinates). In this context, a map is understood, in particular, to be a globally accurate map.

[0008] A highly accurate position is understood to be a position which is so accurate within a predetermined coordinate system, for example WGS84 coordinates, that it does not exceed a maximum permissible unsharpness. In this case, the maximum unsharpness can be dependent on the surroundings, for example. Furthermore, the maximum unsharpness can be dependent on, for example, whether the vehicle is operated manually, partially, highly, or fully automated (corresponding to one of SAE levels 1 to 5). In principle, the maximum unsharpness is so low that safe operation of an automated vehicle is ensured, in particular. For fully automated operation of an automated vehicle, the maximum unsharpness is, for example, in the order of magnitude of approximately 10 centimeters.

[0009] Creating a digital map is understood, for example, to include newly integrating surrounding features included in the surrounding data values ​​into a base map corresponding to their (optimal) position and / or correspondingly removing or adapting surrounding features already included in the base map. In this context, a base map is understood to be a digital map (as described above).

[0010] The method mentioned here advantageously solves the object of providing a method for creating a digital map. This object is solved by means of the method according to the invention in that the surrounding features provided for this purpose are sorted into groups according to their positions and the spatial arrangement of the corresponding surrounding features relative to each other is determined for each group. Subsequently, the optimal position of the surrounding features of this group is determined for each group without changing the relative spatial arrangement. This has the advantage that based on a large number of sets of surrounding data values, individual errors or deviations in the position of the surrounding features that may occur in a satellite-based positioning system, for example due to multipath effects or atmospheric disturbances, can be compensated and the optimal position can thus be determined without changing the relative position of the surrounding features relative to each other.

[0011] The spatial arrangement of corresponding surrounding features of a group preferably includes distances and / or angles between the surrounding features.

[0012] Preferably, for each surroundings feature, the position of the respective surroundings feature is determined from a combination of the vehicle position of the vehicle that detected the surroundings feature and the relative position of the surroundings feature and the vehicle and is assigned to the surroundings feature. The vehicle position of the vehicle is determined by means of a satellite-based positioning system for the vehicle, and the relative position is determined from the respective surroundings data value set.

[0013] The position of a surrounding feature is understood to be, for example, a 3D specification in a predefined coordinate system, for example WGS84 coordinates.

[0014] The combination of a vehicle position of the vehicle and the relative position of a surrounding feature is understood to be, for example, the vector addition of the coordinates of the vehicle position and the direction vector between the position and the position of the surrounding feature.

[0015] The digital map is preferably provided in such a way that it can be requested and / or received by a vehicle, in particular an automated vehicle.

[0016] A vehicle is understood to be, for example, a manually operated vehicle (SAE class 0) or an automated vehicle according to one of SAE classes 1 to 5 (see standard SAE J3016).

[0017] The operation of the vehicle is understood to mean, for example, the implementation of lateral control and / or longitudinal control (depending on the SAE level or configuration of the [automated] vehicle). In one possible specific embodiment, “operation” also includes, for example, the implementation of safety-related functions (“preparing” airbags, fastening seat belts, etc.) and / or other (driving assistance) functions.

[0018] The device, in particular a computing unit, is configured to carry out all steps of the method for creating a digital map. A computing unit is understood to be, for example, a server or a server cluster or a cloud.

[0019] The device or computing unit comprises a processor, a working memory, a storage medium and suitable software in order to implement the method according to the invention. In addition, the device comprises an interface in order to send and receive data values ​​by means of a wired and / or wireless connection, for example, to corresponding devices of the vehicle (controller, communication device, environmental sensor device, navigation system, etc.) and / or other devices external to the vehicle (server, cloud, etc.).

[0020] Furthermore, protection is claimed for a computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the invention for creating a digital map. In one embodiment, the computer program corresponds to software included in the second device.

[0021] Furthermore, protection is claimed for a machine-readable storage medium on which the computer program is stored.

[0022] Advantageous embodiments of the invention are indicated in the specific embodiments and are listed in the description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Embodiments of the invention are shown in the drawings and are explained in more detail in the following description.

[0024] Figure 1 : An embodiment of the method for creating a digital map according to the present invention in the form of a flow chart. DETAILED DESCRIPTION

[0025] Figure 1 One embodiment of a method 300 for creating 320 a digital map representing at least one area along a traffic path is shown.

[0026] In step 301 , method 300 begins.

[0027] In step 310 , a plurality of surroundings data value sets are received, wherein each surroundings data value set is detected by means of surroundings sensor systems of vehicles travelling the traffic route, wherein each surroundings data value set includes surroundings features and positions of these surroundings features.

[0028] In step 320 , a digital map is created, wherein this step includes four sub-steps 321 - 324 .

[0029] In a first substep 321, the surrounding features of the surrounding data value set are sorted into groups according to their positions. Here, surrounding features having a certain proximity are combined into one group according to a predetermined criterion (eg, a maximum distance from each other).

[0030] In a second substep 322 , the spatial arrangement of the corresponding surrounding features relative to one another is determined for each group.

[0031] In a third substep 323, the best position of the surrounding features of the group is determined for each group without changing the relative spatial arrangement. In this case, the best position is determined for each group from a plurality of individual positions of all considered surrounding features. The relative spatial arrangement of the surrounding features of a group remains unchanged.

[0032] In a fourth sub-step 324, a digital map is created based on the optimal positions of the surrounding features for each group.

[0033] In step 330, the digital map is provided.

[0034] In step 340 , method 300 ends.

Claims

1. A method (300) for creating (320) a digital map representing at least one area along a traffic path, the method comprising: - receiving (310) a plurality of sets of surrounding data values, wherein each set of surrounding data values ​​is detected by means of an environment sensor device of a vehicle traveling the traffic path, wherein each set of surrounding data values ​​comprises a surrounding feature and a position of the surrounding feature; - creating (320) the digital map, wherein in a first sub-step (321) the surrounding environment features of the set of surrounding environment data values ​​are sorted into groups according to the positions of the surrounding environment features, wherein in a second sub-step (322) the spatial arrangement of the corresponding surrounding environment features relative to each other is determined for each group, wherein in a third sub-step (323) the optimal positions of the surrounding environment features of the group are determined without changing the spatial arrangement, wherein in a fourth sub-step (324) the digital map is created according to the optimal positions of the surrounding environment features of each group; and - Providing (330) said digital map.

2. The method (300) according to claim 1, characterized in that: The spatial arrangement of corresponding surrounding features of a group comprises distances and / or angles between the surrounding features.

3. The method (300) according to claim 1, characterized in that: For each surroundings feature, the position of the respective surroundings feature is determined from a combination of a vehicle position of a vehicle that detected the surroundings feature and a relative position of the surroundings feature and the vehicle and is assigned to the surroundings feature, wherein the vehicle position is determined by means of a satellite-based positioning system for the vehicle, wherein the relative position is determined by a respective set of surroundings data values.

4. The method (300) according to claim 1, characterized in that: The provision ( 330 ) of the digital map occurs in such a way that the digital map can be requested and / or received by a vehicle, in particular an automated vehicle.

5. A device, in particular a computing unit, which is configured to carry out all steps of the method (300) according to any one of claims 1 to 4.

6. A computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out the method (300) according to any one of claims 1 to 4.

7. A machine-readable storage medium having stored thereon the computer program according to claim 6.

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