Method and apparatus for creating a digital map

Abstract

Method (300) and device for creating (330) a digital map, wherein map data values ​​representing a base map are retrieved, the base map comprising information on traffic routes with one or more lanes and environmental features, wherein this information represents at least one lane configuration, wherein the environmental features represent geographical objects that can be detected by means of an environmental sensor of a vehicle, wherein areas are determined which enable automated driving, depending on the lane configuration and depending on the environmental features, and method (400) for operating (430) an automated vehicle, wherein a driving strategy is determined depending on the current position, based on a digital map, wherein the driving strategy comprises a trajectory to an area which enables automated driving, wherein the automated vehicle,depending on the driving strategy.

Description

[0001] The present invention relates, inter alia, to a method for creating a digital map, wherein the digital map is created by supplementing a base map with the areas that enable automated driving, and to a method for operating an automated vehicle depending on the driving strategy, wherein the driving strategy for the automated vehicle was created depending on a current position, based on a digital map. Disclosure of the invention

[0002] The method for creating a digital map comprises a step of retrieving map data values ​​representing a base map, wherein the base map comprises information on traffic routes with one or more lanes and environmental features, wherein this information represents at least one configuration of the lanes, wherein the environmental features represent geographical objects that can be detected by an environmental sensor system of a vehicle. The method further comprises a step of determining areas that enable automated driving, depending on the configuration of the lanes and the environmental features, a step of creating the digital map by supplementing the base map with the previously determined areas, and a step of providing the digital map for operating the automated vehicle.

[0003] A digital map is a map that is present in the form of (map) data values ​​on a storage medium. The map is designed, for example, to include one or more map layers, with one map layer showing, for example, a bird's-eye view map (route and position of roads, buildings, landscape features, etc.). This corresponds, for example, to a map of a navigation system. Another map layer includes, for example, a radar map, with environmental features included in the radar map being stored with a radar signature. Another map layer includes, for example, a lidar map, with environmental features included in the lidar map being stored with a lidar signature.

[0004] In one embodiment, the map is designed as a high-precision map. The high-precision map is particularly designed to be suitable for the navigation of an automated vehicle. This means, for example, that the high-precision map is designed to determine a highly accurate position of the automated vehicle by comparing stored environmental features with acquired sensor data values ​​of the automated vehicle. For this purpose, the high-precision map includes, for example, these environmental features with highly accurate position information (coordinates).

[0005] A highly accurate position is defined as one that is so precise within a given coordinate system, for example, WGS84 coordinates, that this position does not exceed a maximum permissible uncertainty. The maximum uncertainty can depend, for example, on the environment. Furthermore, the maximum uncertainty can depend, for example, on whether a vehicle is operated manually or is partially, highly, or fully automated (corresponding to one of the SAE levels 1 to 5). In principle, the maximum uncertainty is so low that, in particular, safe operation of the automated vehicle is guaranteed. For fully automated operation of the automated vehicle, the maximum uncertainty is, for example, on the order of approximately 10 centimeters.

[0006] Creating a digital map means, for example, integrating environmental features encompassed by the environmental data values ​​into a base map according to their position and / or removing or adjusting environmental features already included in the base map. A base map in this context refers specifically to a digital map (as described above).

[0007] Retrieving map data values ​​means, for example, that an existing base map is (downloaded) in the form of data values ​​from a storage medium or loaded into a buffer or working memory for processing (here: creating a digital map).

[0008] Environmental sensors are defined as at least one video sensor, at least one radar sensor, at least one lidar sensor, at least one ultrasound sensor, and / or at least one other sensor designed to capture the environment of a vehicle in the form of sensor data. In one possible embodiment, the environmental sensors may include, for example, a processing unit (processor, RAM, hard drive) with suitable software and / or be connected to such a processing unit.

[0009] An environmental feature here is understood to be, for example, an infrastructure feature (lane markings, crash barriers, etc.) and / or a traffic sign (street signs, traffic lights, etc.) and / or a structural feature (buildings, bridges, tunnels, etc.) and / or another feature that can be detected by means of an environmental sensor system.

[0010] A traffic route, for example, is a single-lane or multi-lane road. An area that allows automated driving is defined as a section of the traffic route and a strip to the left and / or right of the traffic route. The width of the strip depends, for example, on the specific design of the surroundings and / or the sensor range of the individual vehicles. Typically, this strip includes environmental features such as traffic signs, etc.

[0011] A vehicle is understood to mean, for example, a manually operated vehicle (SAE Level 0) or an automated vehicle according to one of the SAE Levels 1 to 5 (see standard SAE J3016).

[0012] (Automated) operation of the (automated) vehicle is understood, for example, to mean the execution of lateral and / or longitudinal control (depending on the SAE level or the design of the [automated] vehicle). In one possible embodiment, operation also includes, for example, the execution of safety-relevant functions ("arming" an airbag, fastening seat belts, etc.) and / or other (driver assistance) functions.

[0013] Providing the digital card means that the digital card can be requested and / or received by a vehicle, in particular an automated vehicle.

[0014] The method described here advantageously solves the problem of providing a method for creating a digital map, wherein this map is particularly designed to enable the operation of an automated vehicle. This problem is solved by the method according to the invention by defining areas that can be traversed by automated driving, depending on the design of the lanes and the environmental characteristics. The advantage here is that lane-accurate localization of a vehicle (even during a lane change) is possible without the need for constant absolute localization of the vehicle within this area, since the vehicle can orient itself using the lanes. This even allows the operation of an automated vehicle when only limited environmental perception by the vehicle's sensors is possible within this area.These areas are particularly characterized by the fact that the existing environmental sensors can reliably detect the lanes and thus, for example, clearly determine which lane – if there are several for the same direction of travel – the vehicle is actually in. Furthermore, these areas can be characterized by the fact that a minimum set of environmental features can be reliably detected within these areas, thus enabling safe – especially automated – vehicle operation.

[0015] Preferably, the information on the traffic routes includes a width of the respective lane and / or a total width of the traffic route and / or a design, in particular properties of road markings, of the respective lane.

[0016] Properties of road markings include, for example, whether the road markings are designed as a solid or dashed line or in another form.

[0017] Preferably, the method additionally comprises a step of retrieving sensor information, wherein the sensor information represents at least detection areas of different sensor types, and the determination of the areas takes place depending on the detection areas in relation to the spatial arrangement of the lanes.

[0018] This means that, depending on the sensor type (video, radar, etc.), different areas (here: detection areas) can be detected and thus – for example, depending on the design of the sensor types used in a vehicle – different areas can also be determined – within the meaning of the present invention. For example, depending on the sensor type, certain areas can be detected with varying degrees of detail or at different distances from the vehicle, with varying degrees of accuracy or reliability.

[0019] The device, in particular a computing unit, is configured to perform all steps of the process for creating a digital map. A computing unit can be, for example, a server, a server network, or a cloud.

[0020] The device or computing unit comprises a processor, RAM, a storage medium, and suitable software for executing the method according to one of the method claims. Furthermore, the device comprises an interface for transmitting and receiving data values ​​via a wired and / or wireless connection, for example, with corresponding vehicle devices (control units, communication devices, environmental sensors, navigation systems, etc.) and / or other vehicle-external devices (servers, cloud, etc.).

[0021] Furthermore, a computer program is claimed, comprising instructions which, when executed by a computer, cause the computer to execute a method according to one of the method claims for creating a digital map. In one embodiment, the computer program corresponds to the software comprised by the second device.

[0022] Furthermore, a machine-readable storage medium on which the computer program is stored is required.

[0023] The method according to the invention for operating an automated vehicle comprises a step of determining a current position of the automated vehicle by means of a satellite-based positioning method, a step of determining a driving strategy for the automated vehicle, depending on the current position, based on a digital map which was created according to one of the claims of the method for creating a digital map (see above), wherein the driving strategy comprises a trajectory to an area which enables automated driving, and a step of operating the automated vehicle, depending on the driving strategy.

[0024] A current position is understood to be a position within a given coordinate system, for example WGS84 coordinates, which can be determined using a suitable location system (for example a navigation system for vehicles and / or a smartphone connected to the vehicle).

[0025] Operating an automated vehicle, particularly depending on the driving strategy, is understood to mean, for example, executing lateral and / or longitudinal control of the automated vehicle, with the lateral and / or longitudinal control being performed such that the automated vehicle moves along a trajectory. In one possible embodiment, operation also includes, for example, executing safety-relevant functions ("arming" an airbag, fastening the seat belts, etc.) and / or other (driver assistance) functions.

[0026] A trajectory is understood, for example, in relation to a map, as a line followed by the automated vehicle. In one embodiment, this line refers, for example, to a fixed point on the automated vehicle. In another possible embodiment, a trajectory is understood, for example, as a path through which the automated vehicle travels.

[0027] Advantageous further developments of the invention are specified in the subclaims and listed in the description. Drawings

[0028] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. They show: Fig. 1 an embodiment of the method according to the invention for creating a digital map in the form of a flow chart; and Fig. 2 an embodiment of the inventive method for operating an automated vehicle in the form of a flowchart. Embodiments of the invention

[0029] Fig. Figure 1 shows an embodiment of a method 300 for creating 320 a digital map which represents at least one area along a traffic route.

[0030] In step 301, procedure 300 starts.

[0031] In step 310, map data values ​​representing a base map are retrieved, wherein the base map comprises information on traffic routes with one or more lanes and environmental features, wherein this information represents at least one configuration of the lanes, wherein the environmental features represent geographical objects that can be detected by means of an environmental sensor system of a vehicle.

[0032] In step 320, areas are determined which allow automated driving, depending on the design of the lanes and depending on the environmental characteristics.

[0033] In step 330, the digital map is determined by adding the previously determined areas to the base map.

[0034] In step 340, the digital map for operating the automated vehicle is provided.

[0035] In step 350, the method 300 ends.

[0036] Fig. Figure 2 shows an embodiment of a method 400 for operating 430 an automated vehicle.

[0037] In step 401, the method 400 starts.

[0038] In step 410, the current position of the automated vehicle is determined using a satellite-based positioning method.

[0039] In step 420, a driving strategy for the automated vehicle is determined, depending on the current position, based on a digital map which was created according to a procedure 300 for creating 330 a digital map, wherein the driving strategy includes a trajectory to an area which enables automated driving.

[0040] In step 430, the automated vehicle is operated depending on the driving strategy.

[0041] In step 440, the method 400 ends.

Claims

[1] A method (300) for creating (330) a digital map, comprising: - retrieving (310) map data values ​​representing a base map, wherein the base map comprises information on traffic routes with one or more lanes and environmental features, wherein this information represents at least one configuration of the lanes, wherein the environmental features represent geographical objects that can be detected by means of an environmental sensor system of a vehicle; - determining (320) areas which enable automated driving, depending on the design of the lanes and depending on the environmental features; - creating (330) the digital map by adding the previously determined areas to the base map; and - Providing (340) the digital card for operating the automated vehicle. [2] Method (300) according to claim 1, characterized bythat the information on the traffic routes includes a width of the respective lane and / or a total width of the traffic route and / or a design, in particular properties of road markings, of the respective lane. [3] Method (300) according to claim 1, characterized by that the method additionally comprises a step of retrieving sensor information, wherein the sensor information represents at least detection areas of different sensor types, and the determination of the areas takes place depending on the detection areas in relation to the spatial arrangement of the lanes. [4] Device, in particular a computing unit, which is configured to carry out all steps of the method (300) according to one of claims 1 to 3. [5] Computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out a method (300) according to one of claims 1 to 3. [6] A machine-readable storage medium on which the computer program according to claim 5 is stored. [7] A method (400) for operating (430) an automated vehicle, comprising: - determining (410) a current position of the automated vehicle by means of a satellite-based positioning method; - determining (420) a driving strategy for the automated vehicle, depending on the current position, based on a digital map created according to one of claims 1 to 3, wherein the driving strategy comprises a trajectory to an area that allows automated driving; and - Operating (430) the automated vehicle depending on the driving strategy.

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