Method for mapping at least one location on a road suitable for overtaking

Abstract

The invention relates to a method for mapping at least one location of a road suitable for overtaking, comprising the following steps: determining several overtaking-relevant factors of the road, Determining a suitability measure for at least one location on the road, which indicates a measure of suitability regarding overtaking at the location, based on the determined overtaking-relevant factors, Entering the determined suitability measure into a digital road map representing the road. The invention relates to a device, a computer program and a machine-readable storage medium.

Description

The invention relates to a method for mapping at least one location of a road suitable for passing, to a device, to a computer program and to a machine-readable storage medium.Prior ArtLaid-open specification US 2022 / 0324467 A1 discloses a safety system for a vehicle.Laid-open specification JP 2022110001 A discloses a method for autonomous vehicle navigation.The published patent application DE 10 2022 001 253 A1 discloses a method for mapping dangerous road sections.Laid-open specification JP 2006293615 A discloses a device which provides information for assisting a driver of a vehicle during passing. The information required for this is taken from a database. However, it is not explained in detail how this information is determined.Disclosure of the InventionThe object on which the invention is based is to provide a concept for mapping at least one location of a road suitable for passing.This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.According to a first aspect, there is provided a method of mapping at least one location of a road suitable for passing, comprising the following steps:determining a plurality of factors relevant to passing of the road,determining a suitability measure for at least one location of the road, which specifies a measure of suitability relating to passing at the location, based on the determined passing-relevant factors,registering the determined suitability measure in a digital road map representing the road.According to a second aspect, a device is provided which is configured to carry out all steps of the method according to the first aspect.According to a third aspect, a computer program is provided, comprising instructions which, when the computer program is executed by a computer, for example by the apparatus according to the second aspect, cause the computer program to execute a method according to the first aspect.According to a fourth aspect, a machine-readable storage medium is provided on which the computer program according to the third aspect is stored.The invention is based on the knowledge and includes the fact that a plurality of factors relevant to passing through the road are determined, based on which a measure of suitability for at least one location of the road is determined. This suitability measure indicates a suitability relating to passing at the location. In other words, it is specified for the one location how suitable this location is for passing. This information, i.e. the determined suitability measure, is entered into a digital road map which represents the road.Thus, as a result, a digital road map is available which contains information indicating how appropriate the one location of the road is for passing. Based on such information, a motor vehicle, for example, can travel on the road at least in a semi-automated manner. For example, a driver assistance system can use this information in order to give an indication to a driver, for example, when he should pass or that he should not pass.In the context of the description, passing by a road user means passing by a motor vehicle, wherein both road users and motor vehicle are moving or driving on the road.The phrase "at least one(s)" means "one(s) or more.". This means that, if the singular is used for the location, the plural is always to be read along and vice versa. This therefore means in particular that the method provides, for example, for determining a suitability measure in each case for a plurality of locations of the road, the determined suitability measures being entered into the digital road map.The entry of the determined suitability measure into the digital road map comprises, for example, entry of the determined suitability measure into a separate layer of the digital road map. In other words, the digital road map comprises, for example, a plurality of layers, wherein the ascertained suitability measure or the ascertained suitability measures are entered into one of the layers. Thus, the digital road map comprises, for example, a layer in which only the determined fitness measures are contained.In one specific embodiment of the method, it is provided that the multiple overtaking-relevant factors include a lane factor, a number of lanes of the road being ascertained per driving direction at the one location, the lane factor being ascertained based on the ascertained number of lanes of the road per driving direction.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one embodiment of the method, it is provided that the plurality of overtaking-relevant factors comprise a visibility factor, wherein a visibility distance, in particular horizontal visibility distance or vertical visibility distance, is determined at the one location, wherein the visibility factor is determined based on the determined visibility distance.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple factors relevant to passing include a curvature measure factor, a curvature measure, in particular a horizontal or a vertical curvature measure, of the road being ascertained at the one location, the curvature measure factor being ascertained on the basis of the ascertained curvature measure.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple overtaking-relevant factors include a speed limiting factor, a permissible maximum speed being ascertained at the one location, the speed limiting factor being ascertained on the basis of the ascertained permissible maximum speed.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple factors relevant to passing include a route factor, a route of the road being ascertained from the one location to a next node of the road, the route factor being ascertained on the basis of the ascertained route.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple factors relevant to passing include a road width factor, a road width being ascertained at the one location, the road width factor being ascertained on the basis of the ascertained road width.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple factors relevant to passing comprise a coefficient of sliding friction factor, a coefficient of sliding friction of a roadway of the road being ascertained at the one location, the coefficient of sliding friction factor being ascertained on the basis of the coefficient of sliding friction ascertained.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple overtaking-relevant factors include a road traffic risk factor, a route of the road from the one location to a road traffic risk location of a road traffic risk relating to the road, the road traffic risk factor being ascertained on the basis of the ascertained route.This brings about, for example, the technical advantage that a particularly suitable and meaningful overtaking-relevant factor is determined, so that the suitability measure can be determined in a meaningful manner.In one specific embodiment of the method, it is provided that the multiple overtaking-relevant factors include an overtaking traffic regulation factor, overtaking traffic rules applicable at the one location being ascertained, the overtaking traffic regulation factor being ascertained based on the applicable overtaking traffic rules.This brings about, for example, the technical advantage that it is possible to efficiently determine whether or not passing is allowed at the one location at all. For example, the traffic rules may specify that an overtaking prohibition applies at the one location. In such a case, it is provided, for example, that the suitability measure indicates that the one location is not suitable for passing or that passing is prohibited at this location or at this one location. The passing traffic regulation factor is, for example, zero in this example.In one embodiment of the method, it is provided that the overtaking relevant factors are scaled to a predetermined scaling interval in order to determine scaled overtaking relevant factors, wherein the suitability measure for the one location is determined based on the scaled overtaking relevant factors.This brings about, for example, the technical advantage that the suitability measure can be determined efficiently.The predetermined scaling interval is, for example, 0 to 1, wherein 0 and 1 are included in the interval. In such a case, a suitability measure of 0 means that the one location is not suitable. A suitability measure of 1 means that the one location is suitable. Values between 0 and 1 for the suitability measure thus characterize intermediates between not suitable and suitable.In one specific embodiment of the method, it is provided that the overtaking-relevant factors are weighted at least partially with a separate weighting factor in order to ascertain appropriately weighted overtaking-relevant factors, the suitability measure for the one location being ascertained on the basis of the weighted overtaking-relevant factors.By providing own weighting factors, a factor or a special meaning can be advantageously assigned to several factors or, on the contrary, only a subordinate relevance can be given.For example, it is provided that the scaled overtaking relevant factors are at least partially weighted with a weighting factor of their own in order to determine correspondingly weighted scaled overtaking relevant factors, wherein the suitability measure for the one location is determined based on the weighted scaled overtaking relevant factors.For example, it is provided that the weighted overtaking relevant factors are scaled to a predetermined scaling interval, for example [0, 1], in order to transmit scaled weighted overtaking relevant factors, wherein the suitability measure for the one location is determined based on the scaled weighted overtaking relevant factors.In one embodiment of the method, it is provided that a respective suitability measure is determined for a plurality of locations of the road, which are entered into the digital road map, wherein a compensation calculation is carried out on the basis of the respectively determined suitability measures in order to determine a continuous function which approximates the respectively determined suitability measures in the best possible manner for a plurality of locations, wherein the determined function is entered into the digital road map.This has the technical advantage, for example, that a separate suitability measure can be determined on the basis of the continuous function even for those locations of the road for which a respective suitability measure was not explicitly determined.In one specific embodiment of the method, it is provided that real-time environment data are received which describe a current environment of the one location, the suitability measure being ascertained on the basis of the real-time environment data.This has the technical advantage, for example, that the suitability measure can be determined on current information, the real-time environment data.Real-time environment data include, for example, one or more of the following data: weather data, environment sensor data of an environment sensor which has detected the environment of the one location. Such a surroundings sensor may be, for example, the surroundings sensor of a motor vehicle which drives on the road in the direction of one location.Real-time environment data includes, for example, traffic data describing traffic at the one location.Device features are obtained analogously from corresponding method features and vice versa. This therefore means in particular that technical functionalities of the device are analogously obtained from corresponding technical functionalities of the method and vice versa.The method is, for example, a computer-implemented method.The device is, for example, programmatically configured to execute the computer program.It has been described above that the factors relevant to passing are weighted at least partially with a dedicated weighting factor. This means, for example, that all of the factors relevant to passing or only some of the factors relevant to passing or only one of the factors relevant to passing are weighted with a dedicated weighting factor.The invention is explained in more detail below with reference to preferred exemplary embodiments. The following are shown here: FIG. 1 shows a flow diagram of a method according to the first aspect, FIG. 2 shows a device according to the second aspect, FIG. 3 shows a machine-readable storage medium, FIG. 4 shows a road, and FIG. 5 shows a course of a suitability measure along the road 401 of FIG. 4.FIG. 1 shows a flow diagram of a method for mapping at least one location of a road suitable for passing, comprising the following steps:determining 101 a plurality of factors relevant to passing the road,determining 103 a suitability measure for at least one location of the road, which specifies a measure of suitability relating to passing at the location, based on the determined passing-relevant factors,registering 105 the determined suitability measure in a digital road map representing the road.FIG. 2 shows a device 201 which is configured to carry out all steps of the method according to the first aspect.FIG. 3 shows a machine-readable storage medium 301 on which a computer program 303 is stored. The computer program 303 comprises instructions which, when the computer program 303 is executed by a computer, cause the computer to execute a method according to the first aspect.The following abbreviations are introduced within the scope of the description:f Eignungsmaß denotes the suitability measure indicating a measure of suitability concerning passing at a location of a road.f Fahrspur denotes the lane factor.The visibility range refers to the visibility range factor.fKrümmungs measure refers to the curvature measure factor.f speed limit refers to the speed limit factor.f Wegstrecke denotes the distance factor.f Straßenbreite denotes the road width factor.f Gleitreibungskoeffizient denotes the coefficient of sliding friction factor.fStraßenverkehrsgefährdungbezeichnet the road traffic risk factor.fVerkehrs Rule refers to the passing traffic rule factor.The suitability of a road location for passing operations depends on many different factors acting simultaneously. The following equation provides an example of how these factors can be combined to calculate the suitability of a particular location for passing. For example, all factors may be scaled from 0 to 1, so if a factor of zero indicates that passing at the one location is completely improper, it may override all other factors. For example, different scaling factors may also be set for each individual factor to increase or decrease its relative importance.Lanes: The more lanes a road has, the more suitable a location for passing, especially if the lanes are provided for traffic in the same direction. It is possible to carry out an overtaking maneuver on the opposite lane, but it is better to overtaking lanes with a corresponding direction of travel.The factor regarding the lanes is, for example, proportional to the number (A) of lanes pointing in a passing direction and the number (B) of lanes pointing in a direction opposite to the passing direction, where the A is, for example, weighted higher than B.Visibility: The visibility is the key to assessing the suitability of a location for an overtaking procedure, in particular on country roads, where the maneuver can be carried out on an oncoming roadway. The visibility is taken into account, for example, both in the horizontal and in the vertical direction. When the motor vehicle is travelling downhill, it has a greater visibility than when it is travelling towards a dome. Horizontal vision may be affected by road corners, for example. However, if map data is available with reasonable accuracy, this factor may be further modified to account for the effects of surrounding objects, e.g., a wall or trees may interfere with vision around a medium-weight corner.For example, the wider the visibility range, the higher the road curvature visibility factor: the curvature of a road has a great influence on the suitability of a location for passing. Passing maneuvers are often performed at higher speeds, and the stronger the road curvature at a location, the more unstable the motor vehicle is in such a maneuver at that location. As with visibility, this applies to both horizontal and vertical curvatures of the road. The function for road curvatures is used with an increasing suppression factor depending on the vicinity of the curvature and the magnitude of the curvature.The curvature factor is inversely proportional to the horizontal and vertical curvatures, for example.Speed Limit: Lower speed limits generally indicate a higher risk for weaker road users such as pedestrians and cyclists who use the road, and thus a higher risk of unexpected hazards during an overtaking maneuver.Low speeds therefore correspond to a low passability factor, for example.Distance to the intersection (generally node): intersections, generally node points, can pose a risk on apparently suitable road sections for numerous reasons. A motor vehicle could brake to turn over the opposite lane, or a motor vehicle could cross the direction of traffic from an intersecting lane.The smaller the distance from an intersection, generally a node, the less suitable the location is for passing processes.A node in the sense of the description is, for example, an intersection, in particular a T intersection, or an opening or a freeway cross.Road width: Wider roads allow for more safe passing because less caution is required in passing and the maneuver can therefore be performed more quickly.The wider the road, the more suitable a location for passing.Road surface: Better road surfaces also allow for more safe passing processes, since they allow better driving behavior. This is primarily due to the different coefficients of sliding friction between motor vehicle tires and various road surfaces. A new asphalt pavement can provide a high grip, while unpaved field paths have a very low coefficient of sliding friction.The higher the coefficient of sliding friction, the more suitable a location for passing-over processes.Road traffic hazards: For example, real-time road hazards (generally real-time environment data) can be included in the passing capability. In this case, the motor vehicle is wirelessly connected, for example, to a live data source which can provide information about the position of hazards on the road such as oil carpets, flooding, construction sites or jams. For example, mapped non-real-time hazards such as crossing animals, stop signs, and pedestrian crosswalks may be used.This factor depends in particular on the proximity of the one location to the location of the risk of road traffic. The smaller the corresponding distance, the less suitable the location is for passing processes. Different traffic hazards can have different strengths to the road traffic hazard factor. For example, old data about oil pollution may have less impact than pedestrian crossing.Traffic rules: The traffic order can also affect the suitability of a location for passing processes. For example, the proximity to double lines in many roads means an overtaking prohibition.These are examples of a number of factors that can be combined with one another. The factor for the suitability for passing may be calculated at regular intervals along all roads and may be provided, for example, as a map plane that may be incorporated into automotive safety systems that may be used as one of the required inputs to enable autonomous passing maneuvers, or preferably to provide information to an active driver about the suitability of the current location for passing and may recommend more secure locations further down the road.Thus, in particular, a concept is provided which can be used offline to calculate the suitability of a location for passing which can be stored in conjunction with other standard definition map data in a motor vehicle. The data may be provided to the driver in a manner that enables more safe overtaking decisions.For example, the suitability measure may correspond to the lowest factor of the factors. For example, different calculation rules may be provided for multi-lane roads and for single-lane roads.For example, a motor vehicle connected to real-time environment data via the cloud may further improve performance by incorporating additional data such as weather data or traffic density data.For example, real-time environment data from in-vehicle environment sensors such as cameras, radar, lidar, etc. may be usedFIG. 4 shows a road 401. Reference numeral 403 points to a node 403. An emerging road 404 emerges in the road 401 at the node 403.Reference numeral 405 points to a location of the road 401, at which there is a second lane in the same direction, i.e., an additional lane. This second lane or additional lane is identified by reference numeral 407.Furthermore, numerals 0 to 9 are drawn next to the road 401, these numerals standing for different locations of the road.FIG. 5 shows a course of a suitability measure along the road 401. In detail, FIG. 5 shows a graph 501. The locations of the road 401 are drawn on the abscissa 503. The abscissa 505 represents the suitability measure. Here, 0 means that the location is not suitable for passing. 1 indicates that the location is suitable for passing.FIG. 4 is intended to illustrate, by way of example, how road guidance may be transferred to a suitability measure with respect to passing. First, the road has a high radius of curvature and thus a low passability, which corresponds to two factors: visibility and road curvature. Then, there is a short section of straight road between 1 and 2, but since the distance to the next curve is not so large, the passing possibility is not very high. At the exit of the curve at 3, the passing ability initially increases slightly because a long section of straight road is ahead, and as the distance to the next curve decreases, the passing ability also decreases. When approaching the curve by 4, the suitability is initially low, but as the visibility range increases and the curvature in the direction 5 decreases, the suitability increases again before it decreases again rapidly as it approaches the intersection. As the approach goes to 7, the passing capability, i.e. the suitability measure, increases slightly before it decreases again around the corner and reaches its maximum value on the two-lane roadway with roadway splitter for oncoming traffic.The suitability measure is described, for example, by a continuous function, so that the corresponding suitability measure can be calculated for each point of a road.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedUS 2022 / 0324467 A1

[0002] JP 2022110001 A

[0003] DE 10 2022 001 253 A1

[0004] JP 2006293615 A

[0005]

Claims

Method for mapping at least one location of a road (401) suitable for passing, comprising the following steps: determining (101) a plurality of passing-relevant factors of the road (401), determining (103) a suitability measure for at least one location of the road (401) which specifies a measure of suitability relating to passing at the location, based on the determined passing-relevant factors, entering (105) the determined suitability measure into a digital road map representing the road (401).The method of claim 1, wherein the plurality of override related factors comprises a lane factor, wherein a number of lanes of the road (401) per direction of travel is determined at the one location, wherein the lane factor is determined based on the determined number of lanes of the road (401) per direction of travel.Method according to Claim 1 or 2, wherein the plurality of passing-relevant factors comprise a visibility factor, wherein a visibility range, in particular horizontal visibility range or vertical visibility range, is determined at the one location, wherein the visibility factor is determined on the basis of the determined visibility range.Method according to one of the preceding claims, wherein the plurality of overtaking-relevant factors comprise a curvature measure factor, wherein a curvature measure, in particular a horizontal or a vertical curvature measure, of the road (401) is determined at the one location, wherein the curvature measure factor is determined based on the determined curvature measure.The method of any preceding claim, wherein the plurality of override related factors comprises a speed limit factor, wherein a maximum allowed speed is determined at the one location, wherein the speed limit factor is determined based on the determined maximum allowed speed.Method according to one of the preceding claims, wherein the plurality of overtaking-relevant factors comprise a route factor, wherein a route of the road (401) is determined from the one location to a next node of the road (401), wherein the route factor is determined based on the determined route.The method of any preceding claim, wherein the plurality of override related factors comprises a road width factor, wherein a road width is determined at the one location, wherein the road width factor is determined based on the determined road width.The method of any preceding claim, wherein the plurality of override-related factors comprise a coefficient of sliding friction factor, wherein a coefficient of sliding friction of a roadway of the roadway (401) at the one location is determined, wherein the coefficient of sliding friction factor is determined based on the determined coefficient of sliding friction.Method according to one of the preceding claims, wherein the plurality of overtaking-relevant factors comprise a road traffic risk factor, wherein a route of the road (401) from the one location to a road traffic risk location of a road traffic risk relating to the road (401), wherein the road traffic risk factor is determined based on the determined route.The method of any preceding claim, wherein the plurality of passing relevant factors comprises a passing traffic regulation factor, wherein passing traffic rules applicable at the one location are determined, wherein the passing traffic regulation factor is determined based on the applicable passing traffic rules.The method of any preceding claim, wherein the override factors are scaled to a predetermined scaling interval to determine scaled override factors, wherein the suitability measure for the one location is determined based on the scaled override factors.Method according to one of the preceding claims, wherein the overtaking relevant factors are weighted at least partially with a separate weighting factor in order to determine appropriately weighted overtaking relevant factors, wherein the suitability measure for the one location is determined based on the weighted overtaking relevant factors.Method according to one of the preceding claims, wherein a respective suitability measure is determined for a plurality of locations of the road (401), which are entered into the digital road map, wherein a compensation calculation is carried out on the basis of the respectively determined suitability measures in order to determine a continuous function which approximates the respectively determined suitability measures in the best possible manner for a plurality of locations, wherein the determined function is entered into the digital road map.Method according to one of the preceding claims, wherein real-time environment data are received which describe a current environment of the one location, wherein the suitability measure is determined on the basis of the real-time environment data.Device (201) which is configured to carry out all the steps of the method according to one of the preceding claims.A computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause the computer to carry out a method according to any one of claims 1 to 14.A machine readable storage medium (301) having stored thereon the computer program (303) according to claim 16.

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