Transferring locations between different map data

Abstract

The invention relates to a method (200) for referencing a route (300) of a vehicle (105) relating to first map data (125) to second map data (130), said method (200) comprising the following steps: determining (215) each first position (330) on the route (300) with respect to the first map data (125); assigning (225) a lane (320) on which the vehicle (105) travels in each first position (330); providing (230) a respective first position (330) with a respective assigned lane (320); a respective second position (330) is determined (235) with respect to the respective first position (330) and the respective assigned lane (320).

Description

Technical Field

[0001] The invention relates to the transmission of positions between different map data and in particular to the transmission between systems on a motor vehicle using different map data. Background Art

[0002] A motor vehicle comprises a first system and a second system, each of which processes information related to a position. The first system may, for example, comprise a driver assistance system, which may support or control a driving function of the motor vehicle, and the second system may comprise a navigation system, which is configured to plan a route between a current position and a predetermined target position. The first system is based on first map data, and the second system is based on second map data.

[0003] The first system can determine and provide a planned position of the motor vehicle with respect to the first map data. The first map data and the second map data may deviate significantly from each other and / or from the actual situation. Thus, the first position adopted unchanged may be located outside the driving route or even on another driving route, for example, with reference to the second map data.

[0004] In order to transmit positions between the first and second map data, it has been proposed to reference objects in a map-independent format that does not require map data. However, this approach is very processing-intensive and is not suitable for processing a large number of positions, especially in real time. Another proposal involves a centrally maintained reference format, such as TMC (Traffic Message Channel). However, this format uses a relatively coarse grid and is only available on major roads or at important traffic hubs.

[0005] The position can also be referred to absolute geographic coordinates. However, the available map data that also use absolute geographic coordinates usually have an error in the range of about 20 meters at the given position. In addition, the position of an object can only be determined with limited accuracy from a motor vehicle. Summary of the invention

[0006] The object of the present invention is to specify an improved technique for referencing a position associated with first map data to second map data. The present invention achieves this object by means of the technical solution of the independent claim. The dependent claims provide preferred embodiments.

[0007] A method for referencing a route of a vehicle associated with first map data to second map data comprises the following steps: determining first positions on the route with respect to the first map data; assigning lanes for the vehicle to travel in at the first positions; providing the first positions with the lanes assigned accordingly; and determining second positions with respect to the first positions and the lanes assigned accordingly.

[0008] By combining the delivery positions and the lanes respectively assigned to these positions, on which the vehicle is located at these positions, the positions of the route can be easily referenced to the second map data or to the second map data. The method can be implemented with any first and second map data.

[0009] The map data can be used, for example, with different map systems, different geoids or different measuring systems. This allows a lane-accurate position transfer from the first map data to the second map data. The relative description of the transverse position makes it possible, in particular, to transfer the first position to the second position in such a way that the lane traveled in is correctly reproduced. Such a transfer is also referred to herein as lane-accurate.

[0010] Preferably, the lanes are respectively related to the driving road including the lanes. It can generally be assumed that the vehicle should always be located on the driving road. The lanes can be displayed with reference to the driving road, for example by counting the lanes of the driving road from right to left or from left to right. In this way, it is easy to convert the lanes referenced to the driving road according to the first map data into the lanes referenced to the driving road according to the second map data.

[0011] It is further preferred that the route comprises a reference position for which the first position is known with respect to the first map data and the second position is known with respect to the second map data.

[0012] In this way, an absolute deviation of a reference position according to the first map data from a reference position according to the second map data can be determined. The deviation can be used at positions within a predetermined range around the reference position. In this way, the planned route of the vehicle can be transferred from the first map data to the second map data in a simple and fast manner.

[0013] The reference position may in particular comprise the current position of the vehicle. The position may be determined by means of one or more positioning systems on the vehicle. Measurements of the positioning system may be used as a basis for determining the current position of the vehicle with reference to different map data. Preferably, the route is a planned route extending forward in the direction of travel from the current position of the vehicle.

[0014] In one embodiment, each first position is comprised by a broken line. The broken line may represent a sequence of positions linked to each other. This may give a position relative to a reference to a previous or subsequent position. This may reduce the data to be transmitted and may simplify the processing of the positions.

[0015] It is further preferred that the sequence of predetermined first positions includes a change in the lane traveled. With the aid of the method presented here, such driving maneuvers can be easily transferred from the first map data to the second map data.

[0016] It is possible to express the position by a position distance from a reference position along the road being traveled and an indication of the lane being used. The lane change maneuver can include, for example, the indication that, starting from the current position of the vehicle as a reference position, a change is to be made from the right second lane to the third lane along the road being traveled within approximately 50 m.

[0017] If, according to the first map data, the lane is undefined in the area of ​​the first position, a reminder of the undefined lane can be assigned to the first position. The undefined lane can be used, for example, in the area of ​​an intersection or during a turning process. The shape of the curve described by the first positions in this area can be adapted accordingly between the second positions before and after this area. In this way, the route can also show the actual course with respect to the second map data.

[0018] If the second map data do not include lane information in the area of ​​the second position, the lateral position of the second position can be determined with respect to the boundaries of the traveled road. If, for example, the vehicle is to be driven in the right second lane according to the first map data, and the traveled road has four lanes according to the first map data, the lateral (transverse) position of the vehicle can be determined with respect to the second map data by dividing the traveled road into four equal-width sections according to the second map data, which can be regarded as lanes.

[0019] The lane of travel can be determined as a region whose lateral distance from the right edge of the travel road is between one and two widths according to the second map data. In this way, the vehicle can be positioned on different "virtual" lanes with respect to the second map data. It is not important here whether the lanes are marked on the travel road.

[0020] It is generally preferred that the first map data have a higher level of detail and / or a higher accuracy than the second map data. For example, the first map data may be included by a driver assistance system and / or the second map data may be included by a navigation system. The driver assistance system can determine the lane in which the vehicle is traveling with a high degree of reliability. With the described method, this reliability or accuracy can be easily used as a basis for the description of the second map data.

[0021] The device for referencing a route of a vehicle related to first map data to second map data comprises: a first map memory for the first map data; a second map memory for the second map data; and a processing device. The processing device is configured to: determine first positions on the route with respect to the first map data; assign lanes in which the vehicle is to travel at the first positions; provide the first positions with the assigned lanes; and determine the second positions with respect to the first positions and the assigned lanes.

[0022] The processing device can be configured to partially or completely implement the method described herein. For this purpose, the processing device can be implemented electronically and, for example, include a programmable microcomputer or microcontroller. The method can exist in the form of a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. The features or advantages of the method can be transferred to the device, or vice versa.

[0023] The vehicle comprises the device described herein. The vehicle preferably comprises a motor vehicle, in particular a motorcycle, a car, a truck or a bus. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will now be described in more detail with reference to the accompanying drawings, in which:

[0025] Figure 1 The equipment on the vehicle is shown;

[0026] Figure 2 A flow chart of the method is shown;

[0027] Figure 3 An exemplary route of a vehicle is shown. DETAILED DESCRIPTION

[0028] Figure 1 Device 100 is shown on vehicle 105. Vehicle 105 is shown as a passenger car by way of example; in other embodiments, another type of vehicle may also be included. Device 100 includes a processing device 110, a first map memory 115, and a second map memory 120. Map memories 115, 120 are each configured to store map data. In this case, first map data 125 are stored in first map memory 115, and second map data 130 are stored in second map memory 120.

[0029] Purely by way of example, the first map data 125 are of high precision (HD: High Definition) and can be used by a first system 135, which can include, for example, a driver assistance function, an automatic or autonomous control of the vehicle 105. The second map data 130 are exemplarily of single precision (SD: Single Definition) and can be used by a second system 140, which exemplarily includes a navigation system.

[0030] The map data 125 and 130 are used for different purposes and can be optimized accordingly with respect to different criteria. For example, the first map data 125 can be optimized primarily with respect to the lanes included in the drivable driving road or with respect to the classification of driving roads such as city roads, town roads and highways. The second map data 130 can be optimized with respect to reality, traffic regulations or traffic flow information. In this way, the driving maneuvers of the vehicle 105 can be better explained with respect to the first map data 125, while determining a favorable route can be more easily achieved with respect to the second map data 130.

[0031] In order to determine the geographic location of the vehicle 105, a positioning device 145 may be provided. The positioning device 145 shown is implemented as a receiver of a satellite-based global navigation system (GNSS) such as GPS, Glonass or Galileo. Figure 1 In the illustration of FIG. 1 , another schematic possibility for determining the position of vehicle 105 is given by camera 150, which is configured to scan landmarks in the surroundings of vehicle 105. The geographical location of the landmark can be determined based on first or second map data 125, 130. The position of vehicle 105 can be determined with respect to a plurality of landmarks.

[0032] In order to transmit a route between the first and second systems 135, 140, it is proposed to convert the route into a sequence of positions in relation to the first map data 125. These positions can then be enriched with information which more precisely determines the lateral and / or longitudinal position in relation to the first map data 125 and can be transmitted to the second map data 130.

[0033] The longitudinal position specification can include the distance from the predetermined position along the traveled road. The transverse position can relate to the lane of the traveled road specified with a number. The additional information can then be evaluated with respect to the second map data 130 based on the transmitted position.

[0034] Figure 2 A flow chart of a method 200 is shown for referencing a route associated with first map data 125 to second map data 130 . Method 200 may be carried out in particular by means of device 100 on board vehicle 105 .

[0035] In step 205, the geographical location of the vehicle 105 may be determined. This location is also referred to as the own location and is related to a predetermined time.

[0036] In step 210, a planned route for the vehicle 105 may be determined. The route may be specified, for example, by the first system 135 and may carry out in detail a predetermined driving maneuver, for example a turning process, of the vehicle 105. Typically, the route extends to a predetermined section, the length of which may be limited, for example to about 1 km, about 500 m, about 200 m or about 100 m.

[0037] In step 215, first positions may be specified which are related to the first map data 125 and represent the route. The number of first positions is not limited, however, at least so many first positions should be determined that the maneuvers performed via the route can be clearly and completely illustrated.

[0038] In step 220, a polyline may be formed, which connects the first positions to each other in their order on the route. In other words: the polyline may include a sequence of first positions.

[0039] In step 225, for each first position on the polyline, a lane traveled or to be traveled by the corresponding vehicle 105 can be determined. Information about the lanes included in the traveled road can be determined from the first map data 125. The lateral position of the vehicle 105 on the travel road can be expressed as an integer representing the lane just traveled.

[0040] Furthermore, the first positions can each be enriched with distances to other first positions. In a particularly preferred embodiment, a reference position is determined, to which the position of the route in the longitudinal direction of the road of travel is referred.

[0041] The first positions, respectively enriched with additional information, may be provided to the second system 140 in step 225 absolutely or in the form of a sequence (eg as a polyline).

[0042] In step 235, the first position of the route can be referenced to the second map data 130. For this purpose, the information that has been enriched with the first position can be analyzed and referenced to the second map data 130. Thus, for example, the lateral position of the vehicle 105 can also be determined here with respect to the known number of lanes of the travel route traveled. The longitudinal position along the travel route can be determined with respect to a predetermined reference position. In particular, the own position detected in step 205 with respect to the second map data 130 can be used as a reference position.

[0043] Figure 3An exemplary route 300 that vehicle 105 should travel is shown. Route 300 describes a turning maneuver at intersection 305. Figure 3 , the first driving road 310 extends vertically, and the second driving road 315 extends horizontally. The first driving road 310 has three lanes 320 per driving direction, while the second driving road 315 includes only two lanes 320 per driving direction, for example.

[0044] Vehicle 105 Figure 3 , wherein the driving direction is upward on the middle lane 320 of the first driving road 310. For reference purposes, an exemplary scale bar 325 is marked on the right side of the first driving road 310, which represents units of 50 m along the first driving road 310. The route 300 includes a plurality of first locations 330, which are located at Figure 3 The circles are schematically shown in FIG. Figure 3 The current position of vehicle 105 in the illustration of FIG. 1 is determined as reference position 335 . Reference position 335 may be determined both with respect to first map data 125 and with respect to second map data 130 .

[0045] Route 300 stipulates that after driving about 50m on the middle lane 320 of the first driving road 310, the vehicle 105 changes to the lane located on its left side and continues to drive straight to the stop line. If traffic permits, the vehicle 105 should then turn left in an arc and continue driving in the right lane of the second driving road 315.

[0046] First position 330 may be enriched with longitudinal and / or transverse information, respectively. Lane 320 is not defined in the intersection region where driving roads 310 , 315 intersect each other. Here, first position 330 may be enriched with the information that a definition of lane 320 is not possible or that a definition of the lane is not specified in first map data 125 .

[0047] The enriched first position 330 of route 300 can be transmitted to second system 140 and referenced there with respect to second map data 130. Starting from reference position 335, both longitudinal and transverse additional information can be evaluated. Route 300 can thus also be represented with respect to second map data 130. The determined route 300 can then be output on a map display, for example, at vehicle 105.

[0048] Reference numerals list

[0049] 100 devices

[0050] 105 Vehicles

[0051] 110 Processing device

[0052] 115 First Map Memory

[0053] 120 Second map memory

[0054] 125 First Map Data

[0055] 130 Second map data

[0056] 135 First System

[0057] 140 Second System

[0058] 145 Positioning device

[0059] 150 cameras

[0060] 200 Methods

[0061] 205 Detecting own position

[0062] 210 Confirm the planned route

[0063] 215 specifies the first position

[0064] 220 Forming a broken line

[0065] 225 Determine the corresponding driving lane

[0066] 230 Provide location with assigned lane

[0067] 235 Determine the second position

[0068] 300 Route

[0069] 305 intersection

[0070] 310 First driving road

[0071] 315 Second driving road

[0072] 320 Lanes

[0073] 325 Scale

[0074] 330 First Position

[0075] 335 Reference position

Claims

1. A method (200) for referencing a route (300) of a vehicle (105) related to first map data (125) to second map data (130), wherein: The method (200) comprises the following steps: - determining (215) first positions (330) on the route (300) with respect to the first map data (125); - assigning (225) a lane (320) for the vehicle (105) to travel in at each first position (330); - providing (230) first positions (330) with correspondingly assigned lanes (320); - Determining (235) the second positions (330) with respect to the first positions (330) and the respectively assigned lanes (320).

2. The method (200) according to claim 1, wherein: The lane (320) is related to the driving road (310, 325) including the lane (320).

3. The method (200) according to claim 1 or 2, wherein: The route (300) includes a reference position (335) for which a first position (330) is known with respect to the first map data (125) and a second position (330) is known with respect to the second map data (130).

4. The method (200) according to claim 3, wherein: The reference position (335) includes a current position (330) of the vehicle (105).

5. The method (200) according to any of the preceding claims, wherein: Each of the first positions (330) is included by a broken line.

6. The method (200) according to any of the preceding claims, wherein: The sequence of predetermined first positions (330) includes a change in lane of travel (320).

7. The method (200) according to any of the preceding claims, wherein: If, according to the first map data (125), the lane (320) is undefined in the area of ​​the first position (330), a reference to the undefined lane (320) is assigned to the first position (330).

8. The method (200) according to any of the preceding claims, wherein: If the second map data (130) do not include lane information in the area of ​​the second position (330), the lateral position of the second position (330) is determined with respect to a boundary of the traveled road (310, 315).

9. The method (200) according to any of the preceding claims, wherein: The first map data (125) has a higher level of detail and / or a higher accuracy than the second map data (130).

10. The method (200) according to any of the preceding claims, wherein: The first map data (125) are included by a driver assistance system (140) and / or the second map data (130) are included by a navigation system (145).

11. A device (100) for referencing a route (300) of a vehicle (105) related to first map data (125) to second map data (130), wherein: The equipment includes: - a first map memory (115) for first map data (125); - a second map memory (120) for second map data (130); and - a processing device (110) configured to: Determining each first position (330) on the route (300) with respect to the first map data (125); Allocating a lane (320) for the vehicle (105) to travel in at each first position (330); providing each first position (330) with each lane (320) assigned accordingly; The second positions (330) are determined with respect to the first positions (330) and the correspondingly assigned lanes (320).

12. Vehicle (105) comprising the device (100) according to claim 11.

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