Method for operating environment detection device, vehicle and system for generating map data

Abstract

The invention relates to a method for operating an environment detection device (4) of a vehicle (11), in which an external detection query is received by an evaluation unit (5) of the vehicle (11), which detection query contains at least one query assignment, in which a query activation signal is assigned to a specific region of a map and a specific time interval of day, according to the invention, an evaluation unit (5) is used to determine whether the vehicle (11) is in a specific region during the time interval of the day on the basis of the map, and if the vehicle (11) is in the specific region during the time interval of the day, the evaluation unit (5) is used to activate the environment detection device (4) using a query activation signal. The invention also relates to a vehicle having at least one environment detection device (4) and an evaluation unit (5). The invention also relates to a system for generating map data for the operation of an automated and / or auxiliary vehicle system of a vehicle.

Description

Technical Field

[0001] The invention relates to a method for operating an environment detection device of a vehicle. The invention also relates to a vehicle having at least one environment detection device and at least one evaluation unit. In addition, the invention also relates to a system for generating map data for operating an automated and / or auxiliary vehicle system of a vehicle, which system has at least one central data processing device and at least one vehicle. Background Art

[0002] The detection of the vehicle's surroundings using the vehicle's own perception system based on sensor technology, such as radar sensors and / or video cameras, is an essential component of modern automated vehicle systems (AD systems) and driver assistance systems (DA systems). The surroundings model used here is often supplemented with additional map information, such as lane orientation. The map data used for this purpose, for example in the form of map products such as planning maps, behavior maps and / or positioning maps, can be provided to the corresponding vehicle system via a map service.

[0003] Fleet data can be used for creating maps or generating map data, which can be transmitted from the fleet vehicles to a cloud system, the fleet cloud. From the fleet cloud, the map data can be further transmitted to the fleet data-mapping-cloud and processed there, in particular, to form the above-mentioned map products. The amount of fleet data required to achieve a given quality level of the corresponding map product has a direct impact on the economic viability of the business model of the map service.

[0004] For map creation, fleet data of the area of ​​the map to be mapped and / or monitored can be requested and transmitted without a targeted selection. For the use of maps in automated and / or auxiliary vehicle systems, algorithms for creating, extending and / or updating maps are known.

[0005] Methods are known from DE 10 2014 212 280 A1, DE 10 2014 212 284 A1 and DE 10 2017 200317 A1, with which high-resolution radar data can be acquired via a MIMO antenna array of a vehicle. Summary of the invention

[0006] The subject of the invention is a method for operating a surroundings detection device of a vehicle, with which method location-dependent and time-dependent activation of the surroundings detection device is possible, so that by means of the surroundings detection device, surrounding data can be obtained in at least one specific area contained in a map during specific time intervals of the day, for the purpose of generating improved map data, i.e., in particular updated information for this specific area and / or optimized in terms of its accuracy.

[0007] The specific area and the specific time of day can be provided to the electronic evaluation unit of the vehicle, for example, by an external detection query. Here, the external detection query can be generated by a data processing device that is not the vehicle's own (i.e., external, for example, central) and sent to the vehicle. As an alternative, at least the specific area can be determined by means of the vehicle's own evaluation unit.

[0008] The evaluation unit can be used to determine from the map whether the vehicle is in a specific area during a specific time period of the day. The evaluation unit can determine, for example, whether the vehicle is in a specific area based on GPS data and / or by comparing environmental features or a specific combination of environmental features detected by the environmental detection device with environmental features or a specific combination of environmental features contained in the map data or in the map for the specific area. If the evaluation unit simultaneously determines that a specific time period of the day is currently given, the activation unit activates the environmental detection device using the query assignment or the query activation signal contained therein for detecting environmental information or generating corresponding environmental data.

[0009] Therefore, environmental information can be detected very specifically and used for the generation of map data, based on which maps or map products can be created and / or updated. This can significantly improve the accuracy and efficiency of mapping systems for creating maps or map products.

[0010] By the resulting improvement in the quality of the maps or map products that can be provided to the vehicle system, the vehicle's (in particular radar-based) self-localization can also be performed significantly more accurately. The performance of the vehicle's self-localization can thus be improved compared to the prior art. The improved quality of the maps or map products can be given in the form of improved efficiency (improved data rate) and / or improved effectiveness (improved data quality).

[0011] According to an advantageous embodiment, the environment detection device is activated by the evaluation unit using the query activation signal for precise operation, in which the environment detection device generates environment data with higher accuracy and / or higher resolution than in normal operation. The activation of the environment detection device by means of the query activation signal thus results in the environment detection device switching from its normal operation to precise operation.

[0012] In this case, in precision operation, the data rate for map generation of the environment data generated, for example, by the environment detection device can be increased compared to normal operation. In addition, the hardware resources used for self-positioning and / or map creation can be advantageously influenced, for example by increasing the availability of hardware resources for self-positioning in a limited time.

[0013] In precise operation, optimized radar data for mapping or mapping and self-localization are generated without the need to use specially optimized sensors for this purpose. Instead, standard sensors can be optimally utilized for this purpose, which are used, for example, for functions such as ACC or AEB. The optimization of the radar data can be achieved by one or more of the methods described below.

[0014] The map product can be provided to the positioning system of the vehicle itself in the form of a positioning map for performing a feature-based self-positioning method. The positioning map can, for example, include at least one clear feature combination in a specific area, which should be used for highly accurate self-positioning. As an alternative or supplementary solution, the positioning map can include at least one specific area with a small amount of clear feature combinations. In this specific area, the environment detection device can be operated in precise operation within a specific time interval of the day, which makes it possible for the vehicle to be more accurately positioned. As an alternative or supplementary solution, the positioning map can include key specific areas, in which the self-positioning accuracy and / or self-positioning reliability required to be improved at the functional level in these key specific areas, such as in the intersection area or the like. The above-mentioned information about the specific area of ​​the positioning map can be generated in the periphery of the vehicle or by the components of the vehicle, such as the analysis and evaluation unit. As long as the vehicle is in the above-mentioned specific area during the time interval of the specific day, the environment detection device can be activated when using the query activation signal for starting the precise operation of the environment detection device.

[0015] In the case of a radar based environment detection device, precise operation of the environment detection device is best performed by generating additional modulation for a limited period of time to meet thermal and emission requirements.

[0016] For example, the pauses between the measurement cycles can be shortened or completely eliminated. Due to the increased thermal load of the sensor here, this operating mode can only be maintained for a short time, for example a few seconds. This additional modulation can have a special chirp sequence that allows an improved resolution for a specific geographical area. For example, the bandwidth and / or the measurement duration can be increased. Vehicle movement can be additionally considered here. For example, the information of multiple consecutive modulation cycles can be processed coherently. For this purpose, vehicle movement must be taken into account in the analysis and evaluation to compensate for the "drift of stationary targets." As an alternative, the modulation duration of a single measurement cycle can be increased, thereby also achieving improved resolution, and vehicle movement must also be taken into account. As an alternative or supplementary solution, an increased sampling rate of the time signal (for example from 10 MHZ to 20 MHZ) and / or an increased bandwidth of the chirp sequence can be achieved in precise operation, as well as optional binning of distance ranges or range partitions outside a specific geographical area. As an alternative or in addition, the evaluation can be focused on a specific elevation angle range in which the majority of mapping-relevant targets are expected by coherently integrating the individual modulation sequences of the modulation according to DE 10 2014 212 280 A1, DE 10 2014 212 284 A1 or DE 10 2017 200 317 A1 and beamforming the individual channels. During coherent integration, the data of the individual modulation sequences offset in time are summed with the correct phase using the vehicle speed, which leads to an improved signal-to-noise ratio. During beamforming of the channels, the received signals are summed with the correct phase for a specific elevation direction, so that targets from this direction are enhanced and targets at elevation angles that deviate greatly from this are weakened. The relevant elevation angle range is around 0° with respect to the vehicle. If the radar sensor is uncorrected in elevation, the preferred direction may also deviate from 0°.

[0017] In order to further improve the accuracy of the analysis and evaluation of the radar signal of the environment detection device by means of the analysis and evaluation unit, a specific geographical area can be projected into the distance-speed space before the detection of the target, that is, when the vehicle speed and the installation angle of the sensor are known, the expected measurement variable distance and speed can be calculated for a specific Cartesian position or a specific area. In this projected specific area (Region of Interest, ROI, region of interest) in the distance-speed space, all targets can then be analyzed and evaluated, that is, their distance, speed and angle can be determined. The target detection usually performed with the help of the CFAR algorithm and the peak search usually performed are omitted here. As an alternative, the distance-speed-spectrum data of the projected specific area can be transmitted to an external data processing device and thus analyzed and evaluated outside the vehicle. Here, the spectrum data includes the complex received signals of all transmitting antennas and receiving antennas and, if possible, also includes data of multiple modulation sequences. In addition, a high-resolution algorithm can be activated for the projected specific area to improve the separability in distance-speed. There are many means in the literature for this purpose, such as MUSIC; ESPRIT, maximum likelihood method. Here the received signal is modeled as a superposition of multiple targets and a 2- to 3-fold increase in separability is achieved using methods known from the literature. Optimal utilization of the storage and computing capacity of the environment detection device can be achieved by achieving an increase in data rate and quality only for a short period of time and, if possible, limited to a partial area of ​​the distance-speed-space. The use of high-resolution algorithms is limited to the relevant area and is only activated when an increased separability is required for this area. The precise operation is preferably selected so that the generation of waste heat caused by the environment detection device is limited and high-frequency emission limits are observed.

[0018] According to another advantageous configuration, in normal operation of the environment detection device, the analysis and evaluation unit is used to determine based on the map and the environment data whether the environment of the vehicle is detected with the minimum quality by means of the environment detection device, wherein only when the environment of the vehicle is detected with the minimum quality or with a quality higher than the minimum quality by means of the environment detection device, the environment detection device will be activated with the use of the query activation signal by means of the analysis and evaluation unit. The minimum quality can be included in the detection query. If a specific area is partially or completely blocked from the observation area of ​​the environment detection device, for example by other traffic participants, and / or there is interference of reflected radar signals with free input signals, and / or there are false targets in the specific area, then "activation of the environment detection device with the use of a query activation signal" can not occur. This is particularly meaningful if the processing of precisely operated high-resolution environment data can no longer be achieved in real time, but requires multiple measurement cycles.

[0019] According to another advantageous embodiment, the environment detection device is activated by the evaluation unit in such a way that a specific observation angle range of the vehicle's environment in a specific area is detected by the environment detection device when using the query activation signal. The specific observation angle range can be included in the detection query. For example, only such a sub-area of ​​the specific area can be observed or studied by the environment detection device, in which a specific feature combination is expected.

[0020] Another subject of the present invention is a vehicle having at least one environmental detection device and at least one analysis and evaluation unit, wherein the analysis and evaluation unit is configured to: receive an external detection query, the detection query comprising at least one query assignment in which a query activation signal is assigned to a specific area of ​​a map and a specific time period of a day; determine whether the vehicle is in the specific area during the time period of the day; and activate the environmental detection device using the query activation signal when the vehicle is in the specific area during the time period of the day.

[0021] The advantages mentioned above with respect to the method are correspondingly associated with the vehicle. The vehicle can be used in particular for carrying out a method according to one of the configurations mentioned above or a combination of at least two of these configurations. Here, advantageous configurations of the method can correspond to advantageous configurations of the vehicle. The vehicle can be designed in particular as a land vehicle, such as a car. The vehicle can be arranged to drive autonomously. The environment detection device can be radar-based and / or video-based.

[0022] According to an advantageous embodiment, the analysis and evaluation unit is configured to activate the environment detection device for performing a precise operation when using the query activation signal, in which the environment detection device generates environment data with a higher accuracy and / or a higher resolution than in normal operation. The advantages mentioned above with respect to the corresponding embodiment of the method are correspondingly associated with this embodiment.

[0023] According to another advantageous embodiment, the evaluation unit is configured to determine, during normal operation of the environment detection device, from the map and the environment data whether the environment of the vehicle is detected with a minimum quality by means of the environment detection device, and to activate the environment detection device using the query activation signal only if the environment of the vehicle is detected with a minimum quality or with a quality higher than the minimum quality by means of the environment detection device. The advantages mentioned above with respect to a corresponding embodiment of the method are correspondingly associated with this embodiment.

[0024] According to another advantageous embodiment, the analysis and evaluation unit is configured to activate the environment detection device in such a way that the environment detection device detects a specific observation angle range of the vehicle's environment in a specific area when the query activation signal is used. The advantages mentioned above with respect to the corresponding embodiment of the method are correspondingly associated with this embodiment.

[0025] Another subject of the invention is a system for generating map data for automated and / or auxiliary vehicle systems for operating vehicles, comprising at least one central data processing device and at least one vehicle, which is designed according to one of the above-mentioned configurations or a combination of at least two of these configurations.

[0026] The advantages mentioned above with respect to the method or the vehicle are correspondingly associated with the system. The system can be used in particular for carrying out a method according to one of the above-mentioned configurations or a combination of at least two of these configurations. Here, an advantageous configuration of the method can correspond to an advantageous configuration of the system. The central data processing device can be cloud-based.

[0027] According to an advantageous embodiment, the central data processing device is configured to determine the quality of the map data assigned to a specific area of ​​the map; to generate a test query containing at least one query assignment in which a query activation signal is assigned to a specific area of ​​the map and a specific time of day when the quality of the map data assigned to the specific area of ​​the map is below a predetermined minimum quality value; and to send the test query to the vehicle. The specific time of day can be established, for example, based on fleet statistics, for example for generating a priority of entry times for the required fleet data. For example, the specific time of day can be a time interval in which there is a low traffic density in the specific area, which can be determined from the fleet statistics. When selecting the corresponding specific area of ​​the map, the relevance of a specific geographical area can be taken into account, for example. For example, an area with outdated data or an extreme case for a driving function can be selected as a specific area of ​​the map. Thus, the fleet data can be queried in a very targeted manner using the test query, based on which a map can be created. As soon as the amount of data required for this purpose has been received, the generation and sending of the test query to the vehicle can be terminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention is explained exemplarily below based on preferred embodiments with reference to the attached drawings, wherein the features explained below can be considered individually or in different combinations of at least two of these features to explain advantageous and / or further development aspects of the present invention.

[0029] Attached pictures show:

[0030] Figure 1 is a block diagram of an embodiment of a system according to the present invention; and

[0031] Figure 2 is a block diagram of an embodiment of a vehicle according to the present invention.

[0032] In the drawings, identical or functionally identical components are provided with the same reference numerals. In order to avoid unnecessary repetitions, repeated descriptions of such components may be omitted in detail. DETAILED DESCRIPTION

[0033] Figure 1 The block diagram of an embodiment of a system 1 according to the invention for generating map data for the operation of an automated and / or auxiliary vehicle system 2 of a vehicle (not shown) is shown. The system 1 has a central data processing device 3 and a vehicle. The vehicle has a radar-based environment detection device 4 and an electronic evaluation unit 5.

[0034] The environment of the vehicle is at least partially detected by means of an environment detection device 4. The environment detection device 4 generates corresponding environment data, which are sent from the environment detection device 4 to an analysis and evaluation unit 5, which collects the received environment data. The analysis and evaluation unit 5 can generate fleet data from the collected environment data, which are sent from the analysis and evaluation unit 5 to a fleet data collection unit 6 of the central data processing device 3. The data can be sent from the fleet data collection unit 6 to a map generation unit 7 of the central data processing device 3. The map generation unit 7 can send the data to a recognition unit 8 of the central data processing device 3, wherein the recognition unit 8 is configured to recognize specific areas of the map from the received data, the quality and / or timeliness of which specific areas are insufficient. In particular, the recognition unit 8 can be configured to determine the quality of the map data assigned to the specific areas of the map. The recognition unit 8 can send the corresponding data to a detection query unit 9 of the central data processing device 3, to which the data from the fleet data collection unit 6 can also be transmitted, wherein the data can in particular be data about the driving experience of a large number of fleet vehicles. The detection query unit 9 can generate a detection query based on the received data and send it to the analysis and evaluation unit 5. The external detection query includes at least one query assignment, in which a query activation signal is assigned to a specific area of ​​the map and a specific time period of the day identified by the identification unit 8. In particular, the detection query is generated when the quality of the map data assigned to the specific area of ​​the map is lower than a predetermined minimum quality value. With the help of the analysis and evaluation unit 5, it is determined based on the map whether the vehicle is in the specific area during the specific time period of the day. If this is the case, the environment detection device 4 is activated with the help of the analysis and evaluation unit 5 using the query activation signal. In addition, the detection query unit 9 can also send data to the map data storage unit 10 of the vehicle and then store the data there. The map data storage unit 10 can send the map data to the vehicle system 2 so that the vehicle system can perform its functions.

[0035] The environment detection device 4 is activated by the analysis and evaluation unit 5 using the query activation signal to perform a precise operation, in which the environment detection device 4 generates environment data with higher accuracy and / or higher resolution than in normal operation. In normal operation of the environment detection device 4, it is determined by the analysis and evaluation unit 5 based on the map and the environment data whether the environment of the vehicle is detected with the minimum quality by the environment detection device 4, wherein the environment detection device 4 is activated by the analysis and evaluation unit 5 using the query activation signal only when the environment of the vehicle is detected with the minimum quality or with a quality higher than the minimum quality by the environment detection device 4.

[0036] Furthermore, the evaluation unit 5 can activate the surroundings detection device 4 by using the query activation signal in such a way that the surroundings of the vehicle in a specific area are detected by the surroundings detection device 4 for a specific observation angle range.

[0037] Figure 2 A block diagram of an exemplary embodiment of a vehicle 11 according to the present invention is shown. The vehicle 11 has an environment detection device 4 and an evaluation unit 5 .

[0038] The environment of the vehicle is at least partially detected by means of the environment detection device 4. The environment detection device 4 generates corresponding environment data, which are sent from the environment detection device 4 to the evaluation unit 5. In addition, map data are also directed from the map data storage unit 10 of the vehicle 11 to the evaluation unit 5. The evaluation unit 5 can determine the self-positioning of the vehicle 11 from the comparison of the environment data with the map data.

[0039] In addition, the analysis and evaluation unit 5 is also configured to: receive an external detection query, which includes at least one query assignment, in which a query activation signal is assigned to a specific area of ​​the map and a specific time period of the day; determine whether the vehicle 11 is in the specific area during the time period of the day using map data; and activate the environmental detection device 4 using the query activation signal when the vehicle 11 is in the specific area during the time period of the day.

[0040] The evaluation unit 5 is further configured to determine the vehicle attitude from the map data and the surroundings data and to send the corresponding data to the vehicle system 2 .

[0041] In addition, the analysis and evaluation unit 5 is configured to activate the environment detection device 4 for performing a precise operation when using the query activation signal, in which the environment detection device 4 generates environment data with higher accuracy and / or higher resolution than in normal operation. Here, the analysis and evaluation unit 5 is configured to determine whether the environment of the vehicle 11 is detected with the minimum quality by means of the environment detection device 4 in the normal operation of the environment detection device 4 based on the map and the environment data, and activate the environment detection device 4 when using the query activation signal only when the environment of the vehicle 11 is detected with the minimum quality or with a quality higher than the minimum quality by means of the environment detection device 4.

[0042] Furthermore, the evaluation unit 5 can also be configured to activate the surroundings detection device 4 when using the query activation signal such that a specific observation angle range of the surroundings of the vehicle 11 in a specific area is detected by the surroundings detection device 4 .

Claims

1. A method for operating an environment detection device (4) of a vehicle (12), characterized in that: An external detection query is received by an analysis and evaluation unit (5) of the vehicle (11), the detection query comprising at least one query assignment, in which a query activation signal is assigned to a specific area of ​​a map and a specific time period of a day, wherein the analysis and evaluation unit (5) determines based on the map whether the vehicle (11) is in the specific area during the time period of a day, wherein when the vehicle (11) is in the specific area during the time period of a day, the environment detection device (4) is activated using the query activation signal by means of the analysis and evaluation unit (4).

2. The method according to claim 1, characterized in that The environment detection device (4) is activated by means of the analysis and evaluation unit (5) using the query activation signal to perform a precise operation, in which the environment detection device (4) generates environment data with a higher accuracy and / or a higher resolution than in normal operation.

3. The method according to claim 2, characterized in that During normal operation of the environment detection device (4), the analysis and evaluation unit (5) determines, based on the map and the environment data, whether the environment of the vehicle (11) has been detected with a minimum quality with the environment detection device (4), wherein the environment detection device (4) is activated with the use of the query activation signal only when the environment of the vehicle (11) has been detected with the environment detection device (4) with a minimum quality or with a quality higher than the minimum quality.

4. The method according to any one of the preceding claims, characterized in that The environment detection device (4) is activated by means of the evaluation unit (5) using the query activation signal in such a way that the environment detection device (4) detects the environment of the vehicle (11) in a specific observation angle range in the specific area.

5. A vehicle (11) having at least one environment detection device (4) and at least one analysis and evaluation unit (5), characterized in that: The analysis and evaluation unit (5) is configured to: receive an external detection query, the detection query comprising at least one query assignment, in which a query activation signal is assigned to a specific area of ​​a map and a specific time interval of a day; determine whether the vehicle (11) is in the specific area during the time interval of the day; and activate the environment detection device (4) using the query activation signal when the vehicle (11) is in the specific area during the time interval of the day.

6. The vehicle (11) according to claim 5, characterized in that The analysis and evaluation unit (5) is configured to activate the environment detection device (4) for performing precise operation when using the query activation signal, in which the environment detection device (4) generates environment data with higher accuracy and / or higher resolution than in normal operation.

7. The vehicle (11) according to claim 6, characterized in that The analysis and evaluation unit (5) is configured to determine, during normal operation of the environment detection device (4), based on the map and the environment data, whether the environment of the vehicle (11) has been detected with a minimum quality by means of the environment detection device (4), and only when the environment of the vehicle (11) has been detected with a minimum quality or a quality higher than the minimum quality by means of the environment detection device (4) is the environment detection device (4) activated by means of the analysis and evaluation unit (5) using the query activation signal.

8. The vehicle (11) according to any one of claims 5 to 7, characterized in that The evaluation unit (5) is configured to activate the environment detection device (4) when using the query activation signal so that a specific observation angle range of the environment of the vehicle (11) in a specific area is detected by the environment detection device (4).

9. A system (1) for generating map data for the operation of an automated and / or auxiliary vehicle system (2) of a vehicle (11), comprising at least one central data processing device (3) and at least one vehicle (11), characterized in that: The vehicle (11) is designed according to one of claims 5 to 9.

10. The system (1) according to claim 9, characterized in that The central data processing device (3) is configured to determine the quality of the map data assigned to a specific area of ​​the map; generate a detection query when the quality of the map data assigned to the specific area of ​​the map is below a predetermined minimum quality value, the detection query comprising at least one query assignment in which the query activation signal is assigned to the specific area of ​​the map and to a specific time of day; and sending the detection query to the vehicle (11).

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