Method and device for creating digital map and operating automated vehicle, computer program and storage medium

Abstract

The invention relates to a method (300) and a device for creating (330) a digital map representing one or more traffic paths, each of which is composed of traffic path sections, and to a method (400) for operating (470) an automated vehicle.

Description

Technical Field

[0001] The present invention relates primarily to a method for creating a digital map and to a method for operating an automated vehicle in accordance with the created map. Summary of the invention

[0002] A method for creating a digital map, which represents one or more traffic routes, wherein each traffic route is composed of traffic route segments, comprises the following steps: calling up map data values ​​representing a base map, wherein the base map includes a traffic infrastructure description for each traffic route segment; determining a tolerance specification for each traffic route segment based on the traffic infrastructure description, wherein the tolerance specification represents a maximum permissible deviation of a position or an attitude determined independently of one another. The method for creating a digital map further comprises the following steps: creating a digital map by adding the predetermined tolerance specifications for the individual traffic route segments to the traffic infrastructure description; and 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 (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 is understood, for example, to mean 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 (according to one of the SAE levels 1 to 5). In principle, the maximum unsharpness is so low that in particular safe operation of an automated vehicle is ensured. For fully automated operation of an automated vehicle, the maximum unsharpness is, for example, in the order of magnitude of approximately 10 centimeters.

[0006] Retrieving map data values ​​is understood to mean, for example, loading (downloading) an existing base map in the form of data values ​​from a storage medium or loading it into a buffer memory or a working memory for processing (here: creating a digital map).

[0007] 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.

[0008] Here, the surroundings are understood to be at least one area, in particular along a traffic path, which can be driven over by the vehicle. Here, the surroundings include not only the traffic path itself, but also areas along the traffic path that can be detected by means of an environmental sensor device when driving over the traffic path. An environmental sensor device 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 embodiment, the environmental sensor device includes, for example, a computing unit (processor, working memory, hard disk) with suitable software and / or is connected to such a computing unit.

[0009] A traffic path is understood, for example, to be a single-lane or multi-lane road. An area along a traffic path is understood, for example, to be the traffic path itself and a strip on the left and / or right side of the traffic path. The width of the strip is, for example, related to the specific configuration of the surroundings and / or to the sensor range of an individual vehicle. Typically, the strip includes surrounding features, such as traffic signs, etc. A traffic path segment is understood, for example, to be a segment of a certain length of the traffic path and / or a segment between two intersections of the respective traffic path and / or a segment between two entrances or exits, etc.

[0010] 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.

[0011] An automated vehicle is understood to be a partially automated, highly automated or fully automated vehicle according to any of the SAE levels 1 to 5 (see standard SAE J3016).

[0012] The method described here is based on the following assumption: the position determination of the (automated) vehicle is carried out by means of (at least) two different (redundant) position determination methods. For example, the position determination method used here can be carried out by means of a GNSS-based method and / or by means of a comparison of sensor data with a positioning map constructed accordingly for this purpose (see, for example, above: highly accurate map) and / or by means of another method. In particular, one method can be designed as a so-called main method for determining the attitude or position, while the other method can be designed as a plausibility check method for determining the attitude or position.

[0013] The determined posture or position is then subjected to a geometric comparison, wherein the difference resulting from the previously performed comparison is then compared with a predetermined maximum deviation. If the maximum deviation is assumed to be the same for all traffic path sections, then the smallest possible value must be assumed in order to ensure appropriate safety during the operation of the automated vehicle.

[0014] The method mentioned here now advantageously solves the object of providing a method for creating a digital map which, for individual traffic route segments, provides different maximum deviations adapted to the respective traffic route segment.

[0015] This object is achieved by means of the method according to the invention by determining the corresponding tolerance presetting for each traffic path section based on the traffic infrastructure description. This has the advantage that the plausibility check of the self-positioning of the (automated) vehicle does not have to be carried out in all cases with the so-called "worst-case" requirement for the maximum deviation. Instead, the corresponding safety or accuracy is ensured by means of the maximum deviation of the local adaptation. At the same time, the requirements for other locations (other traffic path sections) that do not require such accuracy for safety reasons can also be relaxed.

[0016] The traffic infrastructure description preferably at least partially includes the configuration and / or usage specifications of the corresponding infrastructure of the traffic path section. The configuration of the traffic path section is understood to be, for example, the width of the roadway and / or the surface characteristics and / or the number and radius of curves and / or the presence of parking spaces at the edge of the traffic path and / or other features. The usage specifications are understood to be, for example, speed specifications and / or prohibitions on overtaking and / or ... and / or other (legal) regulations.

[0017] The tolerance presetting preferably includes a longitudinal tolerance and a transverse tolerance. This is understood to mean that the maximum permissible deviation in the longitudinal direction or in the transverse direction is determined differently relative to the main driving direction stored in the map. This makes it possible, for example, to achieve a particularly high degree of accuracy in the longitudinal direction at intersections and / or stop lines. Likewise, for example, on highways, a larger maximum permissible deviation in the longitudinal direction can be tolerated, while the transverse maximum permissible deviation in the transverse direction must be smaller in order to ensure that the respective vehicle always moves in its lane.

[0018] The tolerance predefined value is preferably additionally determined as a function of vehicle-specific and / or vehicle motion-specific parameters. For example, the tolerance predefined value can be determined in dependence on the speed value such that the digital map includes a maximum deviation that is dependent on the speed value (so that when using a corresponding map, the maximum deviation is predefined in dependence on the actual speed value of the vehicle).

[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 comprises: a step of determining a first pose or position of the automated vehicle; a step of determining a second pose or position of the automated vehicle; a step of determining a (geometric) difference between the two positions. The method for operating an automated vehicle further comprises: a step of determining a maximum permissible deviation with the aid of a digital map that was created according to one of the embodiments of the method for creating a digital map; a step of comparing the difference with the maximum permissible deviation; a step of determining a driving strategy based on a previously performed comparison; a step of operating the automated vehicle according to the driving strategy.

[0024] Operating the automated vehicle, in particular operating the 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” airbags, fastening seat belts, etc.) and / or other (driving assistance) functions.

[0025] A trajectory is understood, for example—relative to a map—to be a line that the automated vehicle follows. In one embodiment, the 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 that the automated vehicle will travel through.

[0026] In one possible specific embodiment, the driving strategy additionally includes a speed specification at which the automated vehicle should move along the trajectory.

[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 330 a digital map representing one or more traffic paths is shown, wherein each traffic path is comprised of traffic path segments.

[0032] In step 301 , method 300 begins.

[0033] In step 310 , a map data value representing a base map is retrieved, wherein the base map includes a traffic infrastructure description for each traffic path segment.

[0034] In step 320 , a tolerance specification is determined for each traffic route segment based on the traffic infrastructure description, wherein the tolerance specification represents a maximum permissible deviation of positions determined independently of one another.

[0035] In step 330 , a digital map is created by adding predetermined tolerance specifications for individual traffic route sections to the traffic infrastructure description.

[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 470 an automated vehicle is shown.

[0039] In step 401 , method 400 begins.

[0040] In step 410, a first position of the automated vehicle is determined.

[0041] In step 420, a second position of the automated vehicle is determined.

[0042] In step 430, the difference between the two positions is determined.

[0043] In step 440 , a maximum permissible deviation is determined using a digital map created according to one of the specific embodiments.

[0044] In step 450, the difference is compared to the maximum allowed deviation.

[0045] In step 460 , a driving strategy is determined based on the previously performed comparison.

[0046] In step 470, the automated vehicle is operated according to the driving strategy.

[0047] In step 480 , method 400 ends.

Claims

1. A method (300) for creating (330) a digital map, the digital map representing one or more traffic routes, wherein: Each traffic path is composed of traffic path segments, and the method includes: - calling (310) a map data value representing a base map, wherein the base map includes a description of the transportation infrastructure for each transportation path segment; - determining (320) a tolerance specification for each traffic route segment based on the traffic infrastructure description, wherein the tolerance specification represents a maximum permissible deviation of positions determined independently of one another; - creating (330) a digital map by adding predetermined tolerance specifications for the individual traffic route sections to the traffic infrastructure description; and - providing (340) the digital map for use in operating an automated vehicle.

2. The method (300) according to claim 1, characterized in that: The traffic infrastructure description at least partially includes the configuration and / or usage specifications of the corresponding infrastructure of the traffic route section.

3. The method (300) according to claim 1, characterized in that: The tolerance specification includes a longitudinal tolerance and a transverse tolerance.

4. The method (300) according to claim 1, characterized in that: The tolerance specification is additionally determined as a function of vehicle-specific and / or vehicle-motion-specific parameters.

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.

8. A method (400) for operating (470) an automated vehicle, the method comprising: - determining (410) a first position of the automated vehicle; - determining (420) a second position of the automated vehicle; - determining (430) a difference between the two positions; - determining (440) a maximum permissible deviation with the aid of a digital map created according to any one of claims 1 to 4; - comparing (450) said difference with said maximum permissible deviation; - determining (460) a driving strategy based on a previously performed comparison; and - operating (470) the automated vehicle according to the driving strategy.

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