Method of a control device of a first vehicle, method of a traffic infrastructure element or server, control device for a vehicle, control unit for a traffic infrastructure element or a server and computer program

Abstract

Method (100, 200) of a control device (501) of a first vehicle (500), the method (100, 200) comprising the steps: Receiving (101) object information detected by an environmental sensor (502) and relating to a geo-object (311), Determining (102) the absence of a database entry in a database relating to the geo-object (311) and corresponding to the object information, Creating (103) an information element relating to the geo-object (311) based on the recorded object information, and Transmitting (104, 204) a validation request (S1) relating to the geo-object (311) with the created information element to a traffic infrastructure element (510), wherein the traffic infrastructure element (510) sends a validation order (S2) to a second vehicle (520), and wherein the traffic infrastructure element (510) subsequently sends a validation request (S4) to a server (530).

Description

[0001] The present invention relates to a method for a control device of a first vehicle. The invention further relates to a method for a traffic infrastructure element (roadside unit, RSU for short) or server, a control device for a vehicle, a control unit for a traffic infrastructure element or a server, and a computer program. Technical background

[0002] Navigation using a navigation system and / or a navigation method may be based on incorrect information due to missing or insufficient information in a database underlying the navigation, thus leading to unsatisfactory or insufficient navigation reliability. In particular, incorrect information may be the absence of a piece of information. Over time, information may turn out to be missing, for example, if information about a building constructed since a database update is missing. This may result in a discrepancy between the database information underlying the navigation and the real environment through which a vehicle travels.

[0003] For example, such information relates to so-called points of interest (POIs), i.e. geo-objects that can be located in the vicinity of a busy road. A POI can be, for example, a tourist attraction, a gas station, or a restaurant. The reliability of navigation therefore also depends on information about POIs or geo-objects, which are referred to below as object information. Although many service providers maintain a database with such information, if the information changes, the service provider must update the database. For example, the user or provider must check or periodically check whether the database is up-to-date and, if necessary, carry out an update. The information can also relate to the road and include, for example, information about construction sites.

[0004] A database underlying the navigation system can either be hosted decentrally by the vehicle or its control unit and updated via updates. Alternatively, a database can be hosted centrally by a server that can be connected to the control unit via a communication interface for data transfer to transmit navigation-relevant data.

[0005] A vehicle typically has one or more environmental sensors. These environmental sensors can collect information about the vehicle's surroundings. The information collected by an environmental sensor can be used to update a database underlying a navigation system. However, the information collected by a vehicle or its environmental sensor is often not reliable enough to enable reliable database updates.

[0006] DE 102014217847 A1 describes a driver assistance system for updating a digital map, which determines a deviation between the relative position of a landmark detected by the vehicle's internal environment sensor device and the relative position obtainable from the digital map. This deviation can be verified through communication between neighboring vehicles and then used to update the digital map. This can reduce data traffic between the vehicles and the backend.

[0007] DE 102018207658 A1 proposes a method for processing sensor data (SD) generated by at least one sensor system (radar, LiDAR, video, US) for an ego vehicle. A request is sent via first radio signals requesting verification of at least part of the sensor data.

[0008] A response to the request is then received via second radio signals with a verification result. Depending on the verification result, authorization is granted for the ego vehicle to respond to at least one further request from another vehicle or infrastructure.

[0009] DE 102016008175 A1 discloses a method for updating an electronic map, comprising detecting at least one first object by means of a sensor device of a motor vehicle and associating a position of the motor vehicle detected by means of a position detection device of the motor vehicle (6) with the detected first object, generating a first object data set, which represents the detected first object and the position associated with the first object, by means of an evaluation device of the motor vehicle, deriving a second object data set, which represents a second object external to the vehicle that is different from the detected first object,from the first object data set and updating the electronic map by adding map data corresponding to the second object data set to the map or by removing map data contradicting the second object data set from the map by means of a computing device in order to improve the updating of the electronic map. Object of the invention

[0010] The invention is based on the object of enriching the state of the art and creating a basis for reliably updating a database underlying a navigation system. Description of the invention

[0011] The object of the invention is achieved by a method of a control device of a first vehicle. The object of the invention is also achieved by a method of a traffic infrastructure element, by a control device for a vehicle, by a control unit for a traffic infrastructure element, and by a computer program.

[0012] A first aspect of the invention relates to a method for a control device of a first vehicle. The method comprises the following steps: receiving object information relating to a geo-object detected by an environmental sensor; determining the absence of a database entry relating to the geo-object and corresponding to the object information in a database; creating an information element relating to the geo-object based on the detected object information; and transmitting a validation request relating to the geo-object containing the created information element to a traffic infrastructure element (RSU) and / or a second vehicle.

[0013] The process steps can also be performed in a different order than the one specified. Also preferably, an information element relating to a geo-object is created based on recorded object information after receiving the object information, and the missing database entry is subsequently determined.

[0014] To receive object information, the control device, or the on-board unit (OBU), is connected to the environmental sensor via a data connection. The present invention uses data acquired by the environmental sensor, in particular real-time data, to improve the database underlying a navigation system. The vehicle's environmental sensor, which is present in most vehicles anyway, is used for this purpose. Based on the object information received by the control device, a conclusion is drawn as to whether the database entry relating to the geo-object and corresponding to the object information is missing in the database, for example by recognizing on the basis of the acquired object information that there is no database entry relating to the geo-object in the database, or that the entry is incorrect.To ensure that the database is not adjusted solely on the basis of the object information detected by the vehicle's environmental sensor, but rather that the database is adjusted reliably, the control device transmits a validation request to the traffic infrastructure element and / or the second vehicle. The validation request is preferably received and evaluated by the traffic infrastructure element and / or the second vehicle, and, if necessary, is answered after successful validation in order to update or adjust the database.

[0015] The second vehicle is preferably a vehicle that also has a control device configured to carry out the method according to the invention. To enable the validation request to be transmitted from the first vehicle to the second vehicle, the control devices of the vehicles each comprise a communication interface, in particular a vehicle-to-vehicle (V2V) or car-to-car (C2C) interface, in particular via WLAN, DSRC, LTE, or 5G.

[0016] The traffic infrastructure element is preferably a roadside unit (RSU) or roadside equipment (RSE). In order to enable the validation request to be transmitted from the first vehicle to the traffic infrastructure element, a data connection is established between the vehicle and the traffic infrastructure element using a car-to-roadside (C2R) or car-to-infrastructure (C2I) interface. The traffic infrastructure element (RSU) preferably includes database entries relating to geoobjects in the vicinity of the traffic infrastructure element. Alternatively or additionally, the traffic infrastructure element (RSU) preferably establishes an internet connection with an external server that centrally manages the database.

[0017] Furthermore, the method preferably comprises the following steps: receiving a validation message relating to the geo-object from the traffic infrastructure element (RSU) and / or the second vehicle, and adapting the database based on the information element relating to the geo-object. With these method steps, the database of the first vehicle is adapted based on validated object information relating to the geo-object. The validation message thus implies a corresponding adaptation of the database, for example in that the validation message confirms the object information relating to the geo-object corresponding to the information element of the validation request. Likewise preferably, the validation message comprises an information element relating to the geo-object that corresponds to and / or corresponds to the information element transmitted by the first vehicle with the validation request.Preferably, an information element received with the validation message is based on the information element transmitted with the validation request, i.e., it was created based on at least part of the information contained therein. Alternatively or additionally, an information element of the validation message comprises a variable for validating the object information corresponding to the information element of the validation message. The database is then preferably adapted based on the information element transmitted with the validation request if the variable indicates the validation of the object information.

[0018] Preferably, the absence of the database entry relating to the geo-object and corresponding to the object information is determined based on a user input and / or based on an automated comparison of the database and object information. If a user detects a geo-object in the vicinity of their vehicle, but a corresponding database entry relating to the geo-object is missing, i.e., the navigation system does not display any information about the geo-object to the user, the user can transmit a corresponding command to the control device by inputting a command that indicates the absence of the database entry relating to the geo-object and corresponding to the object information. A user in this case is, for example, a driver or passenger of the vehicle.Alternatively or additionally, the absence is determined based on an automated comparison of the database and the object information received by the control unit and recorded by the environmental sensor. For example, the presence and / or properties of the geo-object are inferred based on the recorded object information, which is used for comparison with the database and to determine the absence of a database entry corresponding to the recorded object information.

[0019] Furthermore, the at least one environmental sensor preferably comprises a camera, and the object information is determined by segmenting and analyzing image data captured by the camera. The control device thus receives object information created by analyzing image data captured by a camera. The object information preferably includes detailed information about the presence and / or properties of the geo-object. By segmenting the captured image data, for example, road signs can be recognized as such, wherein the road signs preferably include traffic information, and their analysis provides information about the location of the vehicle and / or the location of a captured geo-object.Particularly preferred is sensor fusion with data from additional sensors such as LIDAR, RADAR, and IR to increase the accuracy and reliability of the acquired object information and / or to acquire further object information, for example, spatially resolved object information. The evaluation of the image data, in particular segmentation and analysis, and the data from the additional sensors is preferably supported by machine learning.

[0020] Likewise, object information relating to the geo-object is preferably determined based on sensor-supported detection of the geo-object or a geo-object reference relating to the geo-object. If the geo-object is detected, the geo-object is within the detection range of the environmental sensor and is detected directly. Alternatively or additionally, object information is available in the form of a reference to a geo-object, for example in the form of a sign that indicates the distance to a specific geo-object. By detecting object information, for example on a sign or billboard as a geo-object reference, the location of the geo-object and / or a property thereof, such as the name or type of the geo-object, can be detected. Coordinate information of the geo-object is preferably determined from position information of the vehicle and an indication of a relative distance between the geo-object reference and the geo-object.

[0021] The method preferably comprises the following steps: determining geographical position information of the first vehicle, determining coordinate information of the geo-object taking into account the determined position information and the acquired object information, and determining the absence of the database entry based on the coordinate information. To determine the geographical position information of the first vehicle, the control device has a position sensor or is connected to a position sensor of the vehicle for receiving the geographical position information. Likewise, the position information of the first vehicle is preferably determined using the traffic infrastructure element. The traffic infrastructure element (RSU) is stationary, whereby the position information of the first vehicle can be sufficiently determined when passing the traffic infrastructure element.

[0022] The acquired object information preferably includes information on the position of the geo-object relative to the vehicle. The coordinate information of the geo-object can thus be determined from the position information of the vehicle and the acquired object information. The absence of the database entry is preferably determined if there is no database entry with corresponding coordinate information and / or no database entry regarding a further characterized geo-object with the corresponding coordinate information. The presence of the database entry is preferably checked with a specific radius around the determined coordinate information.

[0023] In the method according to the invention, the validation request is preferably sent to the traffic infrastructure element (RSU) for further transmission and authorization by a server. This enables the server, as the authority managing the database, to manage the database. Alternatively, the validation request is transmitted directly from the first vehicle to the server. This occurs, for example, via a mobile radio interface of the vehicle, via which an internet connection is established with the server. The validation response from the server, which is required in any case, is sent either to the traffic infrastructure element (RSU) and then to a second vehicle or directly from the cloud to a second vehicle. Each newly recorded geo-object by the vehicle sensor that is not contained in the navigation database must be checked and accepted before being entered into the database.For this purpose, the transport infrastructure element (RSU) acts as a relay station that can temporarily store validation requests and retrieve the corresponding responses from the server.

[0024] Another aspect of the invention relates to a method of a traffic infrastructure element or server. The method comprises the following steps: Receiving a first validation request relating to a geo-object with a first information element relating to the geo-object from a first vehicle, receiving a second validation request relating to the geo-object from a second vehicle, transmitting a validation message relating to the geo-object to the first vehicle and / or the second vehicle based on the received validation requests. The method is preferably carried out by a traffic infrastructure element (RSU) that is directly connectable to the first vehicle and / or the second vehicle for communication for data exchange via V2X, either directly (PC5) or via 5G mobile radio (C-V2X). The method is also preferably carried out by a server that communicates directly with the first vehicle and / or the second vehicle, for example via mobile radio.Alternatively, the server can be connected to the traffic infrastructure element and the traffic infrastructure element can be connected to the first vehicle and / or second vehicle.

[0025] If the transport infrastructure element or the server receives the two validation requests that contain a comparable information element relating to the geo-object, the transport infrastructure element and / or the server can validate the object information relating to the geo-object in the information element and transmit a corresponding validation message. The object information relating to the geo-object is particularly preferably validated when a plurality of more than two vehicles transmit comparable information elements relating to the geo-object to the transport infrastructure element or the server by means of validation requests. This can further increase the reliability of the method, as more vehicles can contribute to greater accuracy of the validated object information.According to this embodiment, validation preferably occurs when the transport infrastructure element and / or server receives a predetermined number of corresponding validation requests within a predetermined time period. Particularly preferably, the predetermined time period is triggered by the receipt of the first validation request.

[0026] The method preferably also comprises the following method steps: transmitting a validation request relating to the geo-object, including the first information element relating to the geo-object, to the second vehicle in response to receiving the first validation request; receiving the second validation request from the second vehicle in response to the validation request. According to this embodiment, the validation of object information relating to the geo-object is triggered by another vehicle, in that the traffic infrastructure element or the server transmits a corresponding validation request to the second vehicle based on the validation request from the first vehicle.Alternatively, the validation request includes an information element that is different from but corresponding to the first information element, for example, an information element that contains only a subset of the data of the first information element in order to reduce the amount of transmitted data. The second vehicle is preferably selected by the traffic infrastructure element or the server according to its position and / or direction of travel to ensure that the second vehicle passes the position of the geo-object according to the first information element and can thus detect it with its environmental sensors.

[0027] Particularly preferably, the second validation request comprises a second information element relating to the geo-object in order to enable a comparison with the first information element relating to the geo-object in the first validation request of the first vehicle. Alternatively, the second validation request comprises a variable for validating (confirming) or falsifying the first information element. Likewise preferably, the validation message comprises a validated information element created from received information elements. In other words, the validation message preferably comprises an information element created from information from various information elements received from vehicles.

[0028] In a preferred embodiment, the method further comprises the following method steps: transmitting a validation request based on the first information element to the server, and receiving an authorization of the validated information element from the server. The server is thus enabled to authorize the information element and initiate a change to the database. If the method is executed, for example, by a control unit of a server, the control unit can validate the information element and send it with a corresponding validation request to a part of the server that manages the database. The information element is thus authorized, and a change to the database is initiated. Finally, the server informs the traffic infrastructure element and / or individual vehicles about the validated information element.Optionally, the method further comprises the following method steps: comparing the first validation request and the second validation request, determining a validated information element relating to the geo-object based on the comparison. The validated information element is thus based on the first information element. The comparison serves to determine whether the object information contained in the information elements and relating to the geo-object is valid. If the method is executed by a transport infrastructure element and a comparison with and / or an adjustment of a central database of the server is to be carried out, the transport infrastructure element validates the information element and transmits it to a server with a corresponding validation request.

[0029] Preferably, an information element relating to the geo-object comprises geographical coordinates of the geo-object and at least one of class information, operator information, environmental information, and name information of the geo-object in order to comprehensively characterize the geo-object. The class information preferably includes whether the geo-object is a restaurant, a gas station, a shop, a rest area, a public facility, a public restroom, or another POI. The operator information preferably includes information about who the operator of the geo-object is. The information element further preferably comprises the street name of the geo-object, which can contribute to improving the determination of coordinate information of the geo-object.

[0030] A further aspect of the invention relates to a control device (on-board unit OBU) for a vehicle having an environmental sensor, wherein the control device (OBU) is configured to receive object information detected by the environmental sensor and relating to a geo-object. The control device (OBU) has a communication interface for establishing a data communication connection with a traffic infrastructure element (RSU), server and / or another vehicle. The control device (OBU) is configured to carry out the described method for a control device for a vehicle. The control device (OBU) is preferably configured to carry out the preferred steps of the inventive method of a vehicle described above in order to achieve the associated advantages.

[0031] A further aspect of the invention relates to a control unit for a traffic infrastructure element (RSU) or a server, each comprising a communication device for establishing a data communication connection with a vehicle. The control unit is configured to carry out the described method for a traffic infrastructure element or a server. The control unit is preferably configured to execute the above-described preferred steps of the inventive method of a traffic infrastructure element or a server in order to achieve the associated advantages.

[0032] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a control unit of a traffic infrastructure element or a server, cause the control unit to carry out the described method for a traffic infrastructure element or a server, or comprising instructions which, when the program is executed by a control device of a vehicle, cause the control device of a vehicle to carry out the described method for a control device of a vehicle. Description of the characters

[0033] Embodiments of the invention are explained in more detail below with reference to the drawings. In the drawings: Fig. 1 shows an embodiment of a method for a control device of a first vehicle and a method for a control unit of a traffic infrastructure element; Fig. 2an implementation of a method of a first vehicle; Fig. 3an alternative embodiment of a method for a control device of a first vehicle and a method for a control unit of a traffic infrastructure element; Fig. 4 a scenario illustrating an application of an embodiment of the method according to the invention of a vehicle in a bird's eye view and according to the detection range of an optical environmental sensor of the vehicle; Fig. 5 shows a further scenario illustrating an application of an embodiment of the method according to the invention of a vehicle in a bird's eye view and according to the detection range of an optical environmental sensor of the vehicle; and Fig. 6 a schematic representation of a first vehicle, a traffic infrastructure element, a server and a second vehicle.

[0034] Fig. 1 shows an implementation of a method 100 for a control device 501 of a first vehicle 500 and a method 150 for a control unit 511 of a traffic infrastructure element 510.

[0035] In the embodiment shown, the first vehicle 500, a second vehicle 520, the traffic infrastructure element 510 and a server 530 are schematically shown. The first vehicle 500 is schematically shown in Fig. 6 and includes a Fig. 1 not shown control device 501 and an environmental sensor 502. The traffic infrastructure element 510 is shown schematically in Fig. 6 and includes a Fig. 1 not shown control unit 511. The first vehicle 500 and the second vehicle 520 each comprise a communication interface 502 and the traffic infrastructure element 510 and the server 530 each comprise a communication device 513, 533 in order to be able to carry out the method steps shown in the methods 100, 200 and in particular to be able to transmit and / or receive data. Fig. 1 are illustrated as method steps of the first vehicle 500, the second vehicle 520, the traffic infrastructure element 510 and the server 530, even if the method steps are executed by respective components thereof.

[0036] The environmental sensor 502 of the vehicle 500 detects object information relating to the geo-object 311 and transmits this information via a corresponding interface to the control device 501 (not shown). Fig. 1). The at least one environmental sensor 502 comprises a camera, and the object information is determined by segmenting and analyzing image data captured by the camera. Object information concerning the geo-object 311 is determined based on sensor-supported detection of the geo-object 311 (see Fig. 4) or a geoobject reference 411 concerning geoobject 311 (see Fig. 5) was determined.

[0037] In the first step of the procedure 100 according to Fig. 1, object information detected by an environmental sensor 502 and relating to a geo-object 311 is received 101 by the control device 501 of the first vehicle 500.

[0038] Subsequently, geographic position information of the first vehicle 500 is determined 112. The position information of the first vehicle 500 is determined by a position sensor of the first vehicle 500. Alternatively or additionally, the position information is determined by determining the spatially nearest traffic infrastructure element 510 whose position information is known. The object information includes information about the position of the geo-object 311 relative to the vehicle 500. Taking into account the determined position information of the first vehicle 500 and the acquired object information, coordinate information of the geo-object 311 is determined.

[0039] Subsequently, the absence of a database entry relating to geo-object 311 and corresponding to the object information is determined 102 in a database. The absence of the database entry relating to geo-object 311 and corresponding to the object information is determined 102 based on the coordinate information of geo-object 311. The absence of the database entry relating to geo-object 311 and corresponding to the object information is triggered based on a user input and / or an automated comparison of the database and object information. The determination that there is no database entry for a specific geo-object 311 leads to the conclusion that the database entry relating to geo-object 311 and corresponding to the object information is absent. The database is stored in whole or in part in a memory of the first vehicle 500 and is used for navigation of the first vehicle 500.Alternatively, the database is stored in whole or in part on a server 530 and the memory of the vehicle 500 contains only a part of the database relating to the environment of the vehicle 500.

[0040] If the absence of a database entry relating to geo-object 311 and corresponding to the object information is determined in step 102, an information element relating to geo-object 311 is created 103 based on the acquired object information. The information element relating to geo-object 311 includes geographical coordinates of geo-object 311 and at least one of class information, operator information, environmental information, and name information of geo-object 311. After the information element has been created 103, a validation request S1 relating to geo-object 311 is transmitted 104 with the created information element to a traffic infrastructure element 510. The validation request S1 is sent to the traffic infrastructure element 510 for further transmission to and authorization 113 by a server 530.

[0041] In order to adapt 111 the database based on the information element of the validation request S1 relating to the geo-object 311, a validation message S6 relating to the geo-object 311 is received 110 from the traffic infrastructure element 510. Based on the validation message S6, the database of the first vehicle 500 is adapted 111. Thus, an updated database can be used as the basis for navigation of the first vehicle 500.

[0042] The previously described method steps are reflected in corresponding method steps of the traffic infrastructure element 510, whereby in the implementation shown, additional method steps are carried out to improve the reliability of the validation of the object information.

[0043] In the control unit 511 of the traffic infrastructure element 510, a comparison 107 of the first validation request S1 and the second validation request S2 takes place. In particular, the information elements of the validation requests S1, S2 are compared with each other and / or the object information corresponding to the information elements of the validation requests S1, S2 are compared with object information from a database that can be retrieved and / or addressed by the traffic infrastructure element 510. The information elements comprise object information that is available in a format accessible to the comparison 107. For example, coordinate information of the geo-object 311 or information about properties of the geo-object 311 is compared during the comparison 107. Based on the comparison 107, a validated information element relating to the geo-object 311 is determined.The validated information element may concern matching object information that corresponds to the information elements of the validation requests S1, S3.

[0044] Subsequently, a validation request S4 with the validated information element is transmitted 108 to the server 530. The server 530 performs an authorization 113 so that the database can be changed. During authorization 113, for example, a comparison is made in the server 530 between the validated information element of the validation request S4 and further validation requests transmitted, for example, by other traffic infrastructure elements. With the authorization 113, a change to a central database is initiated in and / or by the server. The traffic infrastructure element 510 then receives 109 an authorization S5 of the validated information element from the server 530. Based on the authorization S5, the traffic infrastructure element 510 creates a validation message S6.The validation message S6 relating to the geo-object 311 is transmitted 110 to the first vehicle 500 based on the received validation requests S1, S3. The validation message S6 includes a validated and authorized information element created based on the received information elements.

[0045] Fig. 2 shows an implementation of a method 200 for a first vehicle 500.

[0046] In the embodiment shown, the first vehicle 500 and a second vehicle 520 are shown schematically. The first vehicle 500 is shown with reference to Fig. 6. The second vehicle 520 is optionally identical to the first vehicle 500 with regard to the described features of the first vehicle 500. The description of the method steps of the method 200 according to Fig. 2 is carried out with reference to the method steps of the method 100 according to Fig. 1, wherein, in particular with regard to details of method steps 101, 102, 103, 112, 111 occurring in both methods 100, 200, reference is made to the description of the method 100 according to Fig. 1 is taken.

[0047] The environmental sensor 502 of the vehicle 500 detects object information relating to the geo-object 311 and transmits this information via a corresponding interface to the control device 501 (not shown). Fig. 2). Object information concerning the geo-object 311 is determined using sensor-based detection of the geo-object 311 (see Fig. 4) or a geoobject reference 411 concerning geoobject 311 (see Fig. 5) was determined.

[0048] In the first step of procedure 200 according to Fig. 2, object information detected by an environmental sensor 502 and relating to a geo-object 311 is received 101 by the first vehicle 500 or its control device 501.

[0049] Subsequently, geographical position information of the first vehicle 500 is determined 112. Taking into account the determined position information and the acquired object information, coordinate information of the geo-object 311 is determined.

[0050] Subsequently, the absence of a database entry relating to geo-object 311 and corresponding to the object information is determined 102 in a database. The absence of the database entry is optionally determined 102 based on the coordinate information of geo-object 311. The absence of the database entry relating to geo-object 311 and corresponding to the object information is triggered based on a user input and / or based on an automated comparison of the database and object information.

[0051] If the absence of a database entry relating to geo-object 311 and corresponding to the object information is detected, an information element relating to geo-object 311 is created 103 based on the acquired object information. After the information element is created 103, a validation request S1 relating to geo-object 311 is transmitted 204 with the created information element to the second vehicle 520.

[0052] The second vehicle 520 can validate the information element of the validation request S1. The validation by the second vehicle 520 can, for example, take place solely by the second vehicle 520 if the second vehicle 520 already has validated object information relating to the geo-object 311. Before the second vehicle 520 transmits a validation message S6 to the first vehicle 500, the second vehicle 520 optionally runs through the Fig. 1 or Fig. 3 explained procedure 100.

[0053] In order to accomplish an adaptation 111 of the database based on the information element relating to the geo-object 311, the validation message S6 relating to the geo-object 311 is received 210 from the second vehicle 520. In addition, the adaptation 111 can only take place once the information element of the validation request S1 has been validated by several vehicles, which also transmit a validation message S6 to the first vehicle 500 (not shown).

[0054] First, in the method 150 of the traffic infrastructure element 510, the first validation request S1 relating to the geo-object 311 is received 104 by the first vehicle 500, along with the first information element relating to the geo-object 311. This corresponds to the transmission 104 of the first validation request S1 explained with reference to the method 100 of the control device 501 of the first vehicle 500. The first validation request S1 is stored in the traffic infrastructure element 510 in order to create a validation order S2 for transmission to another vehicle 520 or a validation request S4 for transmission to a server 230, as explained further below.

[0055] In the embodiment shown, a validation order S2 relating to the geo-object 311, containing the first information element relating to the geo-object 311, is transmitted 105 to the second vehicle 520 in response to the receipt 104 of the first validation request S1. For this purpose, the traffic infrastructure element 510 sends the validation order S2 directly to the second vehicle 520 if a direct data connection can be established between the traffic infrastructure element 510 and the second vehicle 520. Alternatively or additionally, the traffic infrastructure element 510 causes another traffic infrastructure element or another vehicle to indirectly transmit the validation order S2 to the second vehicle 520. The indirect transmission of the validation order S2 to the second vehicle 520 can also take place via mobile radio.

[0056] In the same way as receiving 104 the first validation request S1, a second validation request S3 concerning the geo-object 311 is received 106 from the second vehicle 520. The second validation request S3 includes a second information element concerning the geo-object 311. Alternatively, the validation request S3 can include an information element validating the first information element of the first validation request S1 in order to effectively configure a possible data transfer. In the embodiment shown, the second validation request S3 is received 106 by the second vehicle 520 in response to the validation request S2.

[0057] Fig. 3 shows an alternative embodiment of a method 100 for a control device 501 of a first vehicle 500 and a method 150 for a control unit 511 of a traffic infrastructure element 510.

[0058] The description of the method steps of the method 100 for the control device 501 of the first vehicle 500 and of the method 150 for the control unit 511 of the traffic infrastructure element 510 is made with reference to the method steps of the method 100 according to Fig. 1, where only the differences between the procedures are described.

[0059] In the implementation form, the related to Fig. 1, the steps of comparison 107 and determining a validated information element relating to the geo-object 311 are unnecessary. For example, the server 530 includes a validated database entry in a database relating to the geo-object 311 and corresponding to the object information.

[0060] For this purpose, the traffic infrastructure element 510 acts as a relay station that can temporarily store validation requests S1 and retrieve the corresponding responses from the server. The first vehicle 500 transmits the validation requests S1 with the information element relating to the geo-object 311 to the traffic infrastructure element 510 in step 104. In order for the traffic infrastructure element 510 to retrieve a corresponding response from the server 530, a validation request S4 based on the first information element is transmitted 108 to the server 530, an authorization 113 is performed by a server 530, and the traffic infrastructure element 510 receives an authorization S5 of the validated information element from the server 530 in step 109.In order to adapt 111 the database based on the information element of the validation request S1 relating to the geo-object 311, a validation message S6 relating to the geo-object 311 is received 110 from the traffic infrastructure element 510.

[0061] Fig. 4 and Fig. 5 each show a scenario for illustrating an application of an embodiment of the method 100, 200 according to the invention of a vehicle 500 in a bird's eye view ( Fig. 4A and Fig. 5A) and according to the detection range 310, 410 of an optical environmental sensor 502 of the vehicle 500 or of a user of the vehicle 500 ( Fig. 4B and Fig. 5B).

[0062] Fig. Figure 4A shows a bird's-eye view of a scenario. The first vehicle 500, as shown in relation to Fig. 6, is traveling on a road 313. The direction of travel of the first vehicle 500 is schematically represented by a triangle in the first vehicle 500. The environmental sensor 502 is an imaging sensor and is configured to capture image data in a detection area 310, wherein the detection area 310 is represented in this illustration by dashed lines arranged at an angle to the environmental sensor 502, between which the detection area 310 is arranged. The environmental sensor 502 is arranged such that the detection area 310 is arranged in front of the first vehicle 500 in the direction of travel. The detection area 310 thus also at least partially encompasses a field of view perceivable by a driver and / or occupants of the first vehicle 500.

[0063] When driving on the road 313, the environmental sensor 502 detects a geo-object 311 and thus determines object information relating to the geo-object using sensor-based detection of the geo-object 311. In the Fig. In the scenario shown in Figure 4A, the object information includes information about the type of geo-object 311, for example, that geo-object 311 is a specific building and / or has specific dimensions. The object information includes information about the relative position of geo-object 311 with respect to vehicle 500, in particular information about the distance between vehicle 500 and geo-object 500 and / or information about how geo-object 311 is positioned relative to road 313, here, for example, to the right of road 313.

[0064] After the first vehicle 500 has detected the geo-object 311, the first vehicle 500 passes a traffic infrastructure element 510. When passing the traffic infrastructure element 510, the first vehicle 500 passes through the Fig. 1 explained method 100. The traffic infrastructure element 510 accordingly passes through the process related to Fig. 1. If no traffic infrastructure element 510 is in the immediate vicinity of the recognized geo-object 311, the first vehicle 500 can temporarily store the information on the recognized geo-object 311 until the next traffic infrastructure element 511.

[0065] Fig. Figure 4B shows the scenario according to Fig. 4A according to the detection area 310 of the optical environment sensor 502 of the vehicle 500. Fig. 4B thus shows the detection area 310 of the optical environmental sensor 502 or a field of view of a driver and / or occupant of the first vehicle 500.

[0066] Fig. 5A and Fig. 5B show a different scenario and are discussed with reference to Fig. 4A and Fig. 4B, where only the differences between the Fig. 5A and Fig. 5B to the Fig. 4A and Fig. 4B. When driving on a road 413, the environmental sensor 502 detects a geo-object reference 411 relating to a geo-object 311 and thus determines object information relating to the geo-object 311 based on sensor-supported detection of the geo-object reference 411 relating to the geo-object 311. For example, the geo-object reference 411 can be an advertisement for or a reference to a location that can be found at a certain distance relative to the geo-object reference 411. Object information can thus be determined based on the geo-object reference 411, in particular regarding coordinate information of the geo-object 311 and other properties of the geo-object 311.

[0067] In the Fig. 4A, Fig. 4B, Fig. 5A and Fig. 5B, two-dimensional image data are captured as in Fig. 4B and Fig. 5B. Two-dimensional objects are recognized and assigned to real objects, in particular the traffic information 312, 412, the geo-object 311 (in Fig. 4B), and the geoobject reference 411 (in Fig. 5B). The object information obtained from the objects is processed into information elements of a V2X message.

[0068] Fig. 6 shows a schematic representation of a first vehicle 500, a traffic infrastructure element 510, a server 530 and a second vehicle 520.

[0069] The first vehicle 500 comprises a control device 501 and an environmental sensor 502. The control device 501 is configured to receive object information detected by the environmental sensor 502 and relating to a geo-object 311. The control device 501 may have a memory (not shown) or be connected to a memory in which a database containing information required for navigation of the vehicle 500 is stored. The control device 501 has a communication interface 503 for establishing a data communication connection with a traffic infrastructure element 510, server 530 and / or another vehicle 520. The data communication connections are in Fig. 6 by dashed lines. The control device 501 is configured to carry out one or more of the methods 100, 200 as described with reference to Fig. 1, Fig. 2 and Fig. 3 explained.

[0070] The second vehicle 520 is preferably a vehicle that also has a control device 501 (not shown) that is configured to carry out the method 100, 200 according to the invention. Preferably, the second vehicle 520 is Fig. 6 shown features of the first vehicle 500 are identical.

[0071] In order for the validation request S1 to be transmitted from the first vehicle 500 to the second vehicle 520 as in the method 200 according to Fig. 2, the control devices 501 of the vehicles 500, 520 each comprise a communication interface 503, in particular a vehicle-to-vehicle, V2V, or car-to-car, C2C interface, in particular via WLAN, DSRC, LTE or 5G.

[0072] The traffic infrastructure element 510 comprises a control unit 511. The server 530 comprises a control unit 531. The control units 511, 531 are each connected or connectable to a communication device 513, 533 for establishing a data communication connection with a vehicle 500, 520. The control units 511, 531 are each configured to carry out the method 150 as described with reference to Fig. 1 and Fig. 3 explained.

[0073] The traffic infrastructure element 510 is a roadside unit (RSU) or roadside equipment (RSE). In particular, so that the validation request S1 can be transmitted from the first vehicle 500 to the traffic infrastructure element 510, a data connection can be established between the first vehicle 500 and the traffic infrastructure element 510 via the communication device 513 using a car-to-roadside (C2R) or car-to-infrastructure (C2I) interface, or more generally, a vehicle-to-everything (V2X) interface, in particular via WLAN, DSRC, LTE, or 5G.

[0074] Generally, information elements are formatted as a Vehicle-to-Everything, V2X message to facilitate communication between first vehicle 500, traffic infrastructure element 510, server 530, and / or second vehicle 520.

[0075] The traffic infrastructure element 510 is configured to establish an internet connection with the server 530, as shown by the dotted line. The first vehicle 500 is configured to establish a communication connection with the server 530, for example, via mobile radio. List of reference symbols 100 methods of a control device 101 Receiving object information 102 Determining the absence 103 Creating an information element 104 Transmitting a validation request, Receiving a validation request 105 Submitting a validation request 106 Receiving a second validation request 107 Compare 108 Submitting a validation request 109 Receiving an authorization 110 Receiving a validation message, Transmitting a validation message 111 Customizing a database 112 Determining geographical position information 113 Authorize 150 Procedures of a transport infrastructure element or server 200 Methods of a control device 204 Submitting a validation request 210 Receiving a validation message 310 detection range 311 geoobject 312 Traffic information 313 Street 410 detection range 411 Geoobject note 412 Traffic information 413 Street 500 first vehicle 501 control device 502 Environmental sensor 503 Communication interface 510 Transport infrastructure element 511 control unit 513 Communication device 520 second vehicle 530 servers 531 control unit 533 Communication device S1 Validation Request S2 Validation order S3 second validation request S4 Validation request S5 Authorization S6 Validation message

Claims

[1] Method (100, 200) of a control device (501) of a first vehicle (500), the method (100, 200) comprising the steps: Receiving (101) object information detected by an environmental sensor (502) and relating to a geo-object (311), Determining (102) the absence of a database entry in a database relating to the geo-object (311) and corresponding to the object information, Creating (103) an information element relating to the geo-object (311) based on the recorded object information, and Transmitting (104, 204) a validation request (S1) relating to the geo-object (311) with the created information element to a traffic infrastructure element (510), wherein the traffic infrastructure element (510) sends a validation order (S2) to a second vehicle (520), and wherein the traffic infrastructure element (510) subsequently sends a validation request (S4) to a server (530). [2] The method of claim 1, further comprising: Receiving (110, 210) a validation message (S6) concerning the geo-object (311) from the transport infrastructure element (510) and Adapting (111) the database based on the information element relating to the geo-object (311). [3] Method according to claim 1 or 2, wherein the absence of the database entry relating to the geo-object (311) and corresponding to the object information is determined (102) on the basis of a user input and / or on the basis of an automated comparison of the database and the object information. [4] Method according to one of the preceding claims, wherein the at least one environmental sensor (502) comprises a camera and the object information is determined by segmentation and analysis of image data captured by the camera. [5] Method according to claim 4, wherein object information relating to the geo-object (311) is determined on the basis of sensor-supported detection of the geo-object (311) or a geo-object indication (411) relating to the geo-object (311). [6] Method according to one of the preceding claims, further comprising: Determining (112) geographical position information of the first vehicle (500), Determining coordinate information of the geo-object (311) taking into account the determined position information and the recorded object information, Determining (102) the absence of the database entry based on the coordinate information. [7] Method (150) of a traffic infrastructure element (510), the method comprising the steps: Receiving (104) a first validation request (S1) relating to a geo-object (311) with a first information element relating to the geo-object (311) from a first vehicle (500), Receiving (106) a second validation request (S3) concerning the geo-object (311) from a second vehicle (520), Transmitting (108) a validation request (S4) based on the first information element to a server (530), Receiving (109) an authorization (S5) of a validated information element relating to the geo-object (311) from the server (530), Transmitting (110) a validation message (S6) relating to the geo-object (311) to the first vehicle (500) and / or the second vehicle (520) based on the received validation requests (S1, S3). [8] The method according to claim 7, further comprising the steps of: Transmitting (105) a validation order (S2) relating to the geo-object (311) with the first information element relating to the geo-object (311) to the second vehicle (520) in response to receiving (104) the first validation request (S1), Receiving (106) the second validation request (S3) from the second vehicle (520) in response to the validation order (S2). [9] Method according to claim 7 or 8, wherein the second validation request (S3) comprises a second information element relating to the geo-object (311) and / or the validation message (S6) comprises the validated information element created on the basis of received information elements. [10] Method according to one of the preceding claims, wherein an information element relating to the geo-object (311) comprises geographical coordinates of the geo-object (311) and at least one of class information, operator information, environment information and name information of the geo-object (311). [11] Control device (501) for a vehicle (500, 520) comprising an environmental sensor (502), wherein the control device (501) is configured to receive object information detected by means of the environmental sensor (502) and relating to a geo-object (311), and the control device (501) has a communication interface (503) for establishing a data communication connection with a traffic infrastructure element (510), server (530) and / or further vehicle (500, 520), wherein the control device (501) is configured to carry out the method (100, 200) according to one of claims 1 to 6. [12] Control unit (511, 531) for a traffic infrastructure element (510) with a communication device (513, 533) for establishing a data communication connection with a vehicle (500, 520), wherein the control unit (511, 531) is configured to carry out the method according to one of claims 7 to 10 (150). [13] Computer program, comprising instructions which, when the program is executed by a control unit (511, 531) of a traffic infrastructure element (510), cause it to carry out the method (150) according to one of claims 7 to 10, or comprising instructions which, when the program is executed by a control device (501) of a vehicle (500), cause it to carry out the method (100, 200) according to one of claims 1 to 6.

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