Method for mapping at least one position of road suitable for overtaking

Abstract

The invention relates to a method for mapping at least one overtaking-suitable position of a road, comprising the following steps: ascertaining a plurality of overtaking-related factors of the road, ascertaining a suitability measure of the at least one position of the road on the basis of the ascertained overtaking-related factors, the suitability measure indicates a measure of suitability related to overtaking at the position, and the determined suitability measure is input into a digital road map representing the road. The invention relates to a corresponding device, to a computer program, and to a machine-readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method for mapping at least one overtaking-suitable position of a road, a corresponding device, a computer program, and a machine-readable storage medium. Background Art

[0002] The published document US 2022 / 0324467 A1 discloses a safety system for a motor vehicle.

[0003] The published document JP 2022110001 A discloses a method for autonomous motor vehicle navigation.

[0004] The published document DE 10 2022 001 253 A1 discloses a method for mapping a dangerous road section.

[0005] The published document JP 2006293615 A discloses a device that provides information to assist a motor vehicle driver during overtaking. The information required for this is obtained from a database. However, it does not explain in detail how to obtain this information. Summary of the Invention

[0006] The task on which the present invention is based is to provide a solution for mapping at least one overtaking-suitable position of a road.

[0007] This task is solved by the basic subject matter of the present invention. Advantageous configurations of the present invention are extended subject matters.

[0008] According to a first aspect, there is provided a method for mapping at least one overtaking-suitable position of a road, comprising the following steps:

[0009] Determining a plurality of overtaking-related factors of the road,

[0010] Based on the determined overtaking-related factors, determining a suitability measure for at least one position of the road, the suitability measure indicating a measure of the suitability for overtaking at that position,

[0011] Entering the determined suitability measure into a digital road map representing the road.

[0012] According to a second aspect, there is provided a device configured to perform all steps of the method according to the first aspect.

[0013] According to a third aspect, there is provided a computer program comprising instructions that, when the computer program is executed by a computer, such as by the device according to the second aspect, cause the computer to perform the method according to the first aspect.

[0014] According to a fourth aspect, there is provided a machine-readable storage medium having stored thereon a computer program according to the third aspect.

[0015] The present invention is based on and includes the recognition that a plurality of overtaking-related factors of a road are determined, and a suitability measure for at least one position of the road is determined based on these factors. The suitability measure indicates the suitability for overtaking at that position. In other words, it is indicated for the said one position how suitable that position is for overtaking. This information, i.e., the determined suitability measure, is entered into a digital road map representing the road.

[0016] As a result, there is thus a digital road map available which contains information stating "how suitable this one position of the road is for overtaking". Based on such information, a motor vehicle can, for example, drive on the road at least partially automatically. For example, a driving assistance system can use this information to, for example, give a driver a hint as to when to overtake or not to overtake.

[0017] Overtaking in the sense of this specification means that a motor vehicle overtakes a traffic participant, where both the traffic participant and the motor vehicle are moving or driving on the road.

[0018] The expression "at least one" means "one or more". This means that if the singular is used for a position, the plural should always be included as well, and vice versa. Thus, in particular, this means that the method provides, for example, that a suitability measure is determined for each of a plurality of positions of the road, and the determined suitability measure is entered into the digital road map.

[0019] Entering the determined suitability measure into the digital road map includes, for example, entering the determined suitability measure into its own digital road map layer. In other words, the digital road map includes, for example, a plurality of layers, and one or more of the determined suitability measures are entered into one of these layers. Thus, the digital road map includes, for example, a layer in which only the determined suitability measure is contained.

[0020] In an embodiment of the method, it is provided that the plurality of overtaking-related factors include a lane factor, where the number of lanes of the road in each driving direction at the said one position is determined, and the lane factor is determined based on the determined number of lanes of the road in each driving direction.

[0021] This thus gives rise to, for example, the following technical advantage: particularly suitable and meaningful overtaking-related factors are determined, such that the suitability measure can be meaningfully determined.

[0022] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a sight distance factor, wherein the sight distance, in particular the horizontal sight distance or the vertical sight distance, at the one position is determined, and wherein the sight distance factor is determined based on the determined sight distance.

[0023] This causes, for example, the following technical advantage: determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0024] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a curvature factor, wherein the curvature of the road, in particular the horizontal or vertical curvature, at the one position is determined, and wherein the curvature factor is determined based on the determined curvature.

[0025] This causes, for example, the following technical advantage: determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0026] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a speed limit factor, wherein the maximum permitted speed at the one position is determined, and wherein the speed limit factor is determined based on the determined maximum permitted speed.

[0027] This causes, for example, the following technical advantage: determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0028] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a mileage factor, wherein the mileage of the road from the one position to the next node of the road is determined, and wherein the mileage factor is determined based on the determined mileage.

[0029] This causes, for example, the following technical advantage: determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0030] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a road width factor, wherein the road width at the one position is determined, and wherein the road width factor is determined based on the determined road width.

[0031] This causes, for example, the following technical advantage: determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0032] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a sliding friction coefficient factor, wherein the sliding friction coefficient of the motor vehicle lane of the road at the one position is determined, and wherein the sliding friction coefficient factor is determined based on the determined sliding friction coefficient.

[0033] Thus, for example, the following technical advantages are achieved: Determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0034] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include a road traffic hazard factor, wherein the mileage of the road from the one position to a road traffic hazard position related to the road traffic hazard is determined, and wherein the road traffic hazard factor is determined based on the determined mileage.

[0035] Thus, for example, the following technical advantages are achieved: Determining particularly suitable and meaningful factors related to overtaking, such that a suitability measure can be meaningfully determined.

[0036] In one embodiment of the method, it is provided that the plurality of factors related to overtaking include an overtaking traffic rule factor, wherein the overtaking traffic rules applicable at the one position are determined, and wherein the overtaking traffic rule factor is determined based on the applicable overtaking traffic rules.

[0037] Thus, for example, the following technical advantages are achieved: It can be effectively determined whether overtaking is permitted at the one position. For example, it may be that the traffic rules stipulate that overtaking is prohibited at the one position. In such a case, for example, it is provided that the suitability measure indicates that the one position is not suitable for overtaking or that overtaking is prohibited at this location or at this one position. In this example, the overtaking traffic rule factor is, for example, zero.

[0038] In one embodiment of the method, it is provided that the factors related to overtaking are scaled to a predetermined scaling interval to obtain scaled factors related to overtaking, and wherein the suitability measure of the one position is determined based on the scaled factors related to overtaking.

[0039] Thus, for example, the following technical advantages are achieved: The suitability measure can be effectively determined.

[0040] The predetermined scaling interval is, for example, from 0 to 1, where 0 and 1 are included in the interval. In such a case, a suitability measure of 0 means that the one position is not suitable. A suitability measure of 1 means that the one position is suitable. A value of the suitability measure between 0 and 1 thus represents an intermediate level between not suitable and suitable.

[0041] In one embodiment of the method, it is provided that factors related to overtaking are weighted at least in part with their own weighting factors in order to accordingly obtain the weighted factors related to overtaking, and wherein a suitability measure for the one position is obtained based on the weighted factors related to overtaking.

[0042] By providing their own weighting factors, it is possible in an advantageous manner to assign particular importance to one factor or to a plurality of factors in an advantageous manner, or conversely to assign only minor relevance.

[0043] For example, it is provided that the scaled factors related to overtaking are weighted at least in part with their own weighting factors in order to accordingly obtain the weighted scaled factors related to overtaking, and wherein a suitability measure for the one position is obtained based on the weighted scaled factors related to overtaking.

[0044] For example, it is provided that the weighted factors related to overtaking are scaled to a predetermined scaling interval, for example [0, 1], in order to obtain the scaled weighted factors related to overtaking, and wherein a suitability measure for the one position is obtained based on the scaled weighted factors related to overtaking.

[0045] In one embodiment of the method, it is provided that suitability measures are obtained for a plurality of positions of a road, and these suitability measures are entered into a digital road map, and wherein an adjustment calculation is performed based on the suitability measures obtained separately in order to obtain a continuous function that approximates as well as possible the suitability measures obtained separately for the plurality of positions, and wherein the obtained function is entered into the digital road map.

[0046] This thus causes, for example, the following technical advantage: Even for those road positions for which no corresponding suitability measure has been explicitly obtained, it is possible to obtain their own suitability measure based on the continuous function.

[0047] In one embodiment of the invention, it is provided that real-time ambient data is received, which describes the current ambient of the one position, and wherein a suitability measure is obtained based on the real-time ambient data.

[0048] This thus causes, for example, the following technical advantage: It is possible to obtain a suitability measure based on current information, namely the real-time ambient data.

[0049] The real-time ambient data includes, for example, one or more of the following data: weather data, ambient sensor data of an ambient sensor that has detected the ambient of the one position. Such an ambient sensor can be, for example, an ambient sensor of a motor vehicle traveling on the road in the direction of the one position.

[0050] Real-time ambient data includes, for example, traffic data that describes the traffic at a location.

[0051] The device features are similarly derived from the corresponding method features and vice versa. This thus particularly means that the technical functions of the device are similarly derived from the corresponding technical functions of the method and vice versa.

[0052] The method is, for example, a computer-implemented method.

[0053] The device is, for example, programmed to execute a computer program.

[0054] As previously explained, the factors related to overtaking are at least partially weighted with their own weighting factors. This means, for example, that all factors related to overtaking or only some factors related to overtaking or only one factor related to overtaking are weighted with their own weighting factors. Description of the Drawings

[0055] The present invention will be explained in more detail below with reference to preferred embodiments. The drawings show:

[0056] Figure 1 : A flowchart of a method according to a first aspect;

[0057] Figure 2 : A device according to a second aspect;

[0058] Figure 3 : A machine-readable storage medium;

[0059] Figure 4 : A road and

[0060] Figure 5 : The curve of the suitability measure along Figure 4 the road 401. Detailed Description of the Embodiments

[0061] Figure 1 A flowchart of a method for mapping at least one overtaking-suitable position of a road is shown, the method comprising the following steps:

[0062] Determine 101 a plurality of overtaking-related factors of the road,

[0063] Based on the determined overtaking-related factors, determine 103 a suitability measure for at least one position of the road, the suitability measure indicating a measure of the suitability for overtaking at the position,

[0064] Enter 105 the determined suitability measure into a digital road map representing the road.

[0065] Figure 2The apparatus 201 is shown, which is arranged to perform all steps of the method according to the first aspect.

[0066] Figure 3 The machine-readable storage medium 301 is shown, on which a computer program 303 is stored. The computer program 303 comprises instructions which, when executed by a computer, cause the computer to perform the method according to the first aspect.

[0067] The following abbreviations are introduced within the framework of this specification:

[0068] f 适合性量度 represents a suitability measure which indicates a measure regarding the suitability for overtaking at a location on a road.

[0069] f 车道 represents a lane factor.

[0070] f 视距 represents a sight distance factor.

[0071] f 曲率 represents a curvature factor.

[0072] f 速度限制 represents a speed limit factor.

[0073] f 里程 represents a mileage factor.

[0074] f 道路宽度 represents a road width factor.

[0075] f 滑动摩擦系数 represents a coefficient of sliding friction factor.

[0076] f 道路交通危险 represents a road traffic hazard factor.

[0077] f 交通规则 represents an overtaking traffic rule factor.

[0078] The suitability of a location on a road for an overtaking process depends on many different, simultaneously acting factors. The following equation gives an example of how these factors can be combined to calculate the suitability for overtaking at a given location. All factors can for example be scaled to 0 to 1, such that when one factor indicates complete unsuitability for overtaking at that location with a factor of zero, that factor can invalidate all other factors. Different scaling factors can also be set for each individual factor, for example, to increase or decrease the relative importance of that factor.

[0079] f 适合性量度 = f 车道 × f 视距 × f曲率 ×f 速度限制 ×f 里程 ×f 道路宽度

[0080] ×f 滑动摩擦系数 ×f 道路交通危险 ×f 交通规则

[0081] Lanes: The more lanes a road has, the better the location is suited for overtaking, especially when these lanes are provided for traffic in the same direction. It is possible to perform overtaking maneuvers on the oncoming lanes; however, overtaking on lanes with the corresponding driving direction is better.

[0082] f 车道

[0083] ∝ A (number of lanes with the driving direction in the overtaking direction)

[0084] + B (number of lanes with the driving direction opposite to the overtaking direction)

[0085] The factor with respect to the lanes is, for example, proportional to the number A of lanes pointing in the overtaking direction and the number B of lanes pointing in the direction opposite to the overtaking direction, where A is weighted higher than B, for example.

[0086] Visibility: The sight distance is crucial for evaluating the suitability of a location for the overtaking process, especially on rural roads where maneuvers may be performed on the oncoming lanes. For example, not only the sight distance in the horizontal direction is considered, but also the sight distance in the vertical direction. A motor vehicle has a greater sight distance when driving downhill than when driving uphill. The horizontal line of sight may be affected by road bends, for example. However, if map data with appropriate accuracy is available, this factor can be further modified to take into account the influence of surrounding objects, such as walls or trees that may affect the line of sight around medium-difficulty bends.

[0087] f 视距 ∝ sight distance

[0088] For example, the higher the sight distance, the higher the visibility factor.

[0089] Road curvature: The curvature of the road has a great influence on the suitability of a location for the overtaking process. Overtaking maneuvers are often performed at higher speeds, and the stronger the road bends at a location, the more unstable the motor vehicle is when performing such maneuvers at this location. As with visibility, this applies not only to horizontal road bends but also to vertical road bends. An increasing suppression factor is applied to the road curvature function, which depends on the proximity to the bend and the strength of the bend.

[0090]

[0091] The curvature factor is, for example, inversely proportional to the horizontal curvature and the vertical curvature.

[0092] Speed limit: A lower speed limit generally implies a higher risk of the presence of more vulnerable road users, such as pedestrians and cyclists, using the road, and thus implies a greater risk of unexpected danger during an overtaking maneuver.

[0093] f 速度限制 ∝ The maximum speed allowed at the said one location

[0094] Therefore, a low speed limit corresponds, for example, to a low overtaking factor.

[0095] Distance to an intersection (generally a node): An intersection, generally a node, can be a hazard on a seemingly suitable road section for various reasons. A motor vehicle may brake in order to turn across the oncoming lane, or a motor vehicle may emerge from a cross lane causing traffic directions to intersect.

[0096] f 里程 ∝ The mileage of the road from the said one location to the next node of the road

[0097] The smaller the distance to an intersection, generally a node, the less suitable this location is for the overtaking process.

[0098] A node in the sense of this specification is, for example, an intersection, especially a T - intersection, or an entrance or a highway interchange.

[0099] Road width: A wider road enables safer overtaking because less caution is required during overtaking and thus the maneuver can be performed faster.

[0100] f 道路宽度 ∝ Road width

[0101] The wider the road, the better this location is suitable for overtaking.

[0102] Road surface: A better road paving also enables a safer overtaking process because it allows better driving behavior. This is mainly attributed to the different sliding friction coefficients between the motor vehicle tires and different road pavings. New asphalt paving can provide high wheel grip, while an unpaved country road has a very low sliding friction coefficient.

[0103] f 滑动摩擦系数 ∝ Sliding friction coefficient

[0104] The higher the sliding friction coefficient, the more suitable this location is for the overtaking process.

[0105] Road traffic hazards: For example, real-time road hazards (generally speaking, real-time ambient data) can be introduced into the suitability for overtaking. Here, a motor vehicle is wirelessly connected to a real-time data source, for example, which can provide information about the location of hazards on the road, such as oil films, flooding, construction sites or congestion. For example, non-real-time hazards of a built map can be used, such as crossing animals, stop signs and crosswalks.

[0106] f 道路交通危险 ∝ The mileage of the road from the said one location to the road traffic hazard location of the road traffic hazard related to the road

[0107] This factor depends especially on the proximity of the said one location to the road traffic hazard location. The smaller the corresponding mileage, the less suitable the said one location is for the overtaking process. Different road traffic hazards can act on the road traffic hazard factor with different intensities. Therefore, for example, old data about oil spills can act less strongly than crosswalks.

[0108] Traffic rules: The road traffic order can also act on the suitability of a location for the overtaking process. For example, on many roads, being close to a double line means no overtaking is allowed.

[0109] These are examples of a series of factors, which can be combined with each other. The overtaking suitability factor can be calculated at regular intervals along all roads and can be provided, for example, as a map plane, which can be integrated into the motor vehicle safety system. This map plane can be used as one of the inputs required to activate an autonomous overtaking maneuver or preferably be used to provide the driver with information about the suitability of the current location for overtaking and may recommend a safer location further down on the road.

[0110] Therefore, in particular, a solution that can be used offline is provided to calculate the suitability of a location for overtaking, and this suitability can be stored in the motor vehicle in combination with other standard-defined map data. These data can be provided to the driver for use in a way that "allows for safer overtaking decisions".

[0111] For example, the suitability measure can correspond to the lowest factor among the factors. For example, different calculation criteria can be set for multi-lane roads and single-lane roads.

[0112] For example, a motor vehicle connected to real-time ambient data via the cloud can further improve this function by including other data such as weather data or traffic density data.

[0113] For example, real-time ambient data from ambient sensors inside the motor vehicle such as cameras, radars, lidars, etc. can be used.

[0114] Figure 4 The road 401 is shown. The reference numeral 403 indicates the node 403. The merging road 404 merges into the road 401 at the node 403.

[0115] The reference numeral 405 indicates a position on the road 401 where there is a second lane in the same direction, i.e., an additional lane. This second lane or additional lane is identified by the reference numeral 407.

[0116] In addition, the numbers 0 to 9 are marked next to the road 401, where these numbers represent different positions of the road.

[0117] Figure 5 The variation curve of the suitability measure along the road 401 is shown. Specifically, Figure 5 The graph 501 is shown. Some positions of the road 401 are marked on the abscissa 503. The ordinate 505 represents the suitability measure. In this case, 0 represents that the position is not suitable for overtaking. 1 represents that the position is suitable for overtaking.

[0118] Figure 4 It should be described by way of example how the road alignment can be transferred to the suitability measure with respect to overtaking. At first, the road has a high radius of curvature and thus a low overtaking suitability, which corresponds to two factors: visibility and road curvature. Then there is a short straight road section between 1 and 2, but since the distance to the next bend is not that large, the overtaking possibility is not very high. At the exit of the bend at "3", since there is a long straight road section in front, the overtaking possibility first increases slightly, and as the distance to the next bend decreases, the overtaking possibility also decreases. When approaching the bend around "4", the suitability is initially small, but as the sight distance in the direction towards "5" increases and the curvature decreases, the suitability increases again, and then it rapidly decreases again as approaching the intersection. When approaching "7", the overtaking suitability, i.e., the suitability measure, increases slightly, and then the overtaking suitability decreases again at the corner and reaches its maximum value on a two-lane carriageway with a median strip for oncoming traffic.

[0119] The suitability measure is illustrated, for example, by a continuous function such that for each point of the road, the corresponding suitability measure can be calculated.

Claims

1. A method for mapping at least one location of a road (401) suitable for overtaking, comprising the following steps: Calculating (101) a plurality of overtaking-related factors of the road (401), determining (103) a suitability measure for at least one location of the road (401) based on the determined overtaking-related factor, the suitability measure indicating a measure of suitability related to overtaking at the location, The suitability measure determined is entered into a digital road map representing the road (401).

2. The method according to claim 1, wherein: The multiple overtaking-related factors include a lane factor, wherein the number of lanes on the road (401) at the one location in each driving direction is determined, and the lane factor is determined based on the determined number of lanes on the road (401) in each driving direction.

3. The method according to claim 1 or 2, wherein: The plurality of overtaking-related factors include a visibility factor, wherein a visibility, in particular a horizontal visibility or a vertical visibility, is ascertained at the one position, wherein the visibility factor is ascertained based on the ascertained visibility.

4. A method according to any one of the preceding claims, wherein: The plurality of overtaking-related factors include a curvature factor, wherein a curvature of the road (401) at the one location is ascertained, in particular a horizontal curvature or a vertical curvature, wherein the curvature factor is ascertained based on the ascertained curvature.

5. A method according to any one of the preceding claims, wherein: The plurality of overtaking-related factors includes a speed limit factor, wherein a permissible maximum speed at the one position is ascertained, wherein the speed limit factor is ascertained based on the ascertained permissible maximum speed.

6. A method according to any one of the preceding claims, wherein: The plurality of overtaking-related factors include a mileage factor, wherein the mileage of the road (401) from the one position to a next node of the road (401) is determined, and the mileage factor is determined based on the determined mileage.

7. A method according to any one of the preceding claims, wherein: The plurality of overtaking-related factors includes a road width factor, wherein a road width is ascertained at the one location, wherein the road width factor is ascertained based on the ascertained road width.

8. A method according to any one of the preceding claims, wherein: The plurality of overtaking-related factors include a sliding friction coefficient factor, wherein the sliding friction coefficient of a motorway of the road (401) at the one location is ascertained, wherein the sliding friction coefficient factor is ascertained based on the ascertained sliding friction coefficient.

9. A method according to any one of the preceding claims, wherein: The multiple overtaking-related factors include a road traffic risk factor, wherein the distance of the road (401) from the one position to a road traffic risk position of a road traffic risk related to the road (401) is determined, and the road traffic risk factor is determined based on the determined distance.

10. A method according to any one of the preceding claims, wherein: The plurality of overtaking-related factors includes an overtaking traffic regulation factor, wherein an overtaking traffic regulation applicable at the one location is ascertained, wherein the overtaking traffic regulation factor is ascertained based on the applicable overtaking traffic regulation.

11. A method according to any one of the preceding claims, wherein: The overtaking-related factor is scaled to a predetermined scaling interval to determine a scaled overtaking-related factor, wherein the suitability measure of the one position is determined based on the scaled overtaking-related factor.

12. A method according to any one of the preceding claims, wherein: The overtaking-related factor is weighted at least partially with a dedicated weighting factor in order to ascertain a correspondingly weighted overtaking-related factor, wherein the suitability measure of the one position is ascertained based on the weighted overtaking-related factor.

13. A method according to any one of the preceding claims, wherein: Respective suitability measures are obtained for a plurality of locations of the road (401), and the suitability measures are entered into the digital road map, wherein adjustment calculations are performed based on the respectively obtained suitability measures to obtain a continuous function, which approximates the suitability measures respectively obtained for the plurality of locations as well as possible, wherein the obtained function is entered into the digital road map.

14. A method according to any one of the preceding claims, wherein: Real-time surroundings data are received, the real-time surroundings data describing a current surrounding of the one location, wherein the suitability measure is determined based on the real-time surroundings data.

15. Apparatus (201) arranged to carry out all the steps of the method according to any one of the preceding claims.

16. Computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause the computer to implement the method according to any one of claims 1 to 14.

17. A machine-readable storage medium (301) on which a computer program (303) according to claim 16 is stored.

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