Method and apparatus for creating digital map

Abstract

Method (300) and device for creating (330) a digital map, in which map data values representative of a base map are invoked, the base map comprising indications about a traffic path having one or more lanes and surrounding characteristics, the indications representative of at least one configuration of the lanes, and the surrounding characteristics of the traffic path having one or more lanes. The invention relates to a method (400) for operating (430) an automated vehicle, in which a configuration of a lane is determined and a surrounding feature is determined, which represents a geographic object that can be detected by means of an environment sensor of the vehicle, in which an area that enables automated driving according to the configuration of the lane and according to the surrounding feature is determined, and a method (400) for operating (430) an automated vehicle, the driving strategy is determined on the basis of a digital map as a function of the current position, the driving strategy comprising a trajectory to an area that enables automated driving, and the automated vehicle is operated as a function of the driving strategy.

Description

Technical Field

[0001] The present invention relates mainly to a method for creating a digital map, wherein the digital map is created by perfecting the following areas: The invention relates to a method for operating an automated vehicle according to a driving strategy, wherein the driving strategy for the automated vehicle is created based on the digital map according to the current position. Summary of the invention

[0002] The method for creating a digital map comprises a step of calling up map data values ​​representing a base map, wherein the base map comprises a description of a traffic path having one or more lanes and surrounding features, wherein the description represents at least one configuration of the lanes, wherein the surrounding features represent geographical objects detectable by means of a surrounding sensor system of a vehicle. The method further comprises a step of determining areas that allow automated driving due to the configuration of the lanes and due to the surrounding features, a step of creating a digital map by completing the base map with the previously determined areas, and a step of providing the digital map for operating an automated vehicle.

[0003] A digital map is understood to be a map that is present on a storage medium in the form of (map) data values. 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 (the 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.

[0004] In one specific 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 means, for example, that the highly accurate map is designed to determine the highly accurate position of the automated vehicle by means of a comparison of 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).

[0005] 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 whether the vehicle is operated manually or partially, highly or fully automatically (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.

[0006] 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 positions and / or correspondingly removing or adapting surrounding features already included in the base map. The base map is understood in particular to be a digital map (as described above).

[0007] Retrieving map data values ​​is understood to mean, for example, loading an existing base map in the form of data values ​​from a storage medium (downloading) or loading it into a buffer memory or a working memory for processing (here: creating a digital map).

[0008] 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.

[0009] Here, the surrounding environment features are understood to be, for example, infrastructure features (road 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 an environmental sensor system.

[0010] A traffic path is understood to be, for example, a single-lane or multi-lane road. An area that enables automated driving is understood to be, for example, a section of the traffic path and a strip on the left and / or right side 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.

[0011] 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).

[0012] The (automated) operation of an (automated) 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.

[0013] Providing a digital map is understood to mean that the digital map can be requested and / or received by a vehicle, in particular an automated vehicle.

[0014] The method mentioned here advantageously solves the task of providing a method for creating a digital map, wherein the map is particularly designed to enable the operation of an automated vehicle. This task is solved by means of the method according to the invention by determining an area that enables automated driving based on the configuration of the lane and based on the surrounding characteristics. This has the advantage that the vehicle can be accurately positioned in the lane (even in the case of lane changes) without having to constantly perform an absolute positioning of the vehicle in this area, because the vehicle itself can be oriented to the lane. This can even enable automated vehicle operation when only a limited detection of the surroundings by means of the vehicle's surrounding sensor device can be achieved in this area. Therefore, these areas are particularly characterized by the fact that the lane can be reliably detected by means of the existing surrounding sensor device, and thus, for example, it can also be determined uniquely and clearly: when there are multiple lanes for the same driving direction, in which lane the vehicle is actually located. In addition, these areas can be characterized by the fact that a minimum number of surrounding characteristics can be reliably detected in these areas, so that safe, in particular automated, operation of the vehicle can be achieved.

[0015] Preferably, the information about the traffic path includes the width of the corresponding lane and / or the total width of the traffic path and / or the configuration of the corresponding lane, in particular features of the lane markings.

[0016] The characteristics of a road marking are understood to mean, for example, whether the road marking is designed as a solid line, a dashed line or in some other form.

[0017] Preferably, the method additionally comprises the step of calling up a sensor description, wherein the sensor description represents at least the detection ranges of the different sensor types and the ranges are determined based on the detection ranges in relation to the spatial arrangement of the lanes.

[0018] This is understood to mean that, depending on the sensor type (video, radar, etc.), different areas can be detected (here: detection area) and therefore - for example, depending on the configuration of the sensor type used in the vehicle - different areas can also be determined - in the sense of the invention. For example, a certain area can be detected with different degrees of detail or at different distances from the vehicle with different accuracy or reliability, depending on the sensor type.

[0019] 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, a server cluster or a cloud or the like.

[0020] 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.).

[0021] 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 specific embodiment, the computer program corresponds to software included in the second device.

[0022] Furthermore, protection is claimed for a machine-readable storage medium on which the computer program is stored.

[0023] The method for operating an automated vehicle according to the present invention comprises: a step of determining a current position of the automated vehicle by means of a satellite-based positioning method; a step of determining a driving strategy for the automated vehicle based on the current position based on a digital map, the digital map being created according to one of the various embodiments of the method for creating a digital map (see above), wherein the driving strategy comprises a trajectory to an area that enables automated driving; and a step of operating the automated vehicle according to the driving strategy.

[0024] The current position is understood to be a position within a predefined coordinate system, for example WGS84 coordinates, which can be determined using a positioning system suitable for this purpose (for example a navigation system for the vehicle and / or a smartphone connected to the vehicle).

[0025] Operating an automated vehicle, in particular operating an automated vehicle according to a driving strategy, is understood, for example, to mean carrying out a lateral control and / or longitudinal control of the automated vehicle, wherein the lateral control and / or longitudinal control is carried out in such a way that the automated vehicle moves along a trajectory. In a possible specific embodiment, “operation” also includes, for example, carrying out safety-related functions (“arming” an airbag, fastening a seat belt, etc.) and / or other (driving assistance) functions.

[0026] A trajectory is understood, for example—relative to a map—to be a line followed by an automated vehicle. In one embodiment, this line is, for example, a fixed point on the automated vehicle. In another possible embodiment, a trajectory is understood, for example, to be a driving path through which the automated vehicle travels.

[0027] Advantageous embodiments of the invention are given in the context of advantageous embodiments and are listed in the description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Embodiments of the invention are shown in the drawings and are explained in more detail in the following description.

[0029] Figure 1 An embodiment of a method for creating a digital map according to the present invention is shown in the form of a flow chart; and

[0030] Figure 2 An exemplary embodiment of a method according to the invention for operating an automated vehicle is shown in the form of a flow chart. DETAILED DESCRIPTION

[0031] 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.

[0032] In step 301 , method 300 begins.

[0033] In step 310, a map data value representing a base map is called up, wherein the base map includes a description of a traffic path having one or more lanes and surrounding features, wherein the description represents at least one configuration of the lanes, and wherein the surrounding features represent geographical objects that can be detected by means of an environmental sensor system of the vehicle.

[0034] In step 320 , areas are determined which, based on the configuration of the lane and based on the surrounding characteristics, allow automated driving through.

[0035] In step 330 , a digital map is determined by completing the base map with the previously determined areas.

[0036] In step 340 , the digital map is provided for use in operating the automated vehicle.

[0037] In step 350 , method 300 ends.

[0038] Figure 2 One embodiment of a method 400 for operating 430 an automated vehicle is shown.

[0039] In step 401 , method 400 begins.

[0040] In step 410 , the current position of the automated vehicle is determined using a satellite-based positioning method.

[0041] In step 420 , a driving strategy for the automated vehicle is determined as a function of the current position based on the digital map created according to method 300 for creating 330 a digital map, wherein the driving strategy includes a trajectory to an area that enables automated driving.

[0042] In step 430, the automated vehicle is operated according to the driving strategy.

[0043] In step 440 , method 400 ends.

Claims

1. A method (300) for creating (330) a digital map, the method comprising: - calling (310) a map data value representing a base map, wherein the base map comprises a description of a traffic path having one or more lanes and surrounding features, wherein the description represents at least one configuration of the lanes, wherein the surrounding features represent geographical objects detectable by means of an environmental sensor device of the vehicle; - determining (320) an area which, based on the configuration of the lane and based on the surrounding characteristics, allows automated driving; - creating (330) a digital map by completing the base map with the previously determined areas; and - providing (340) the digital map for use in operating the automated vehicle.

2. The method (300) according to claim 1, characterized in that: The information about the traffic path includes the width of the corresponding lane and / or the total width of the traffic path and / or the configuration of the corresponding lane, in particular features of lane markings.

3. The method (300) according to claim 1, characterized in that: The method additionally comprises the step of calling up a sensor description, wherein the sensor description represents at least a detection range of different sensor types and the range is determined as a function of the detection range in relation to the spatial arrangement of the lane.

4. 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 3.

5. 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 3.

6. A machine-readable storage medium on which the computer program according to claim 5 is stored.

7. A method (400) for operating (430) an automated vehicle, the method comprising: - determining (410) the current position of the automated vehicle by means of a satellite-based positioning method; - determining (420) a driving strategy for the automated vehicle based on the current position, based on a digital map created according to any one of claims 1 to 3, wherein the driving strategy comprises a trajectory to an area enabling automated driving; and - operating (430) the automated vehicle according to the driving strategy.

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