Method for determining a navigation map

Abstract

Method for determining a navigation chart (N) for a vehicle (200), comprising: - Received (110), by a vehicle control unit (ECU) (200), from map parts (K), - Determining (120) by the control unit (ECU) of start points (KS) and end points (KE) of the map parts (K), wherein for each of the map parts (K) a start point (KS) and an end point (KE) is determined, - Determine (130), by the control unit (ECU), of corresponding map parts depending on the start points (KS) and end points (KE), - Connect (140), through the control unit (ECU), the corresponding map parts to obtain a navigation map (N), - Operating (150) the vehicle (200) depending on the navigation map (N), - wherein determining (130) includes filling (131) an index table (I), comprising a number (b) of columns and a number (d) of rows.

Description

[0001] The invention relates to a method with the features of the independent method claim, a computer program product with the features of the independent patent claim relating to a computer program product, a computer-readable data carrier with the features of the independent patent claim relating to a computer-readable data carrier, a control unit with the features of the independent patent claim relating to a control unit, and a vehicle with the features of the independent vehicle claim.

[0002] Vehicles and methods for joining map sections are known. These include DE 10 2015 225 472 A1 and DE 10 2022 207 651 A1.

[0003] The current state of the art has disadvantages. For example, known methods are complicated and / or inefficient (regarding storage and / or data handling). Furthermore, map segments and / or data cannot be compressed (sufficiently). It may also be the case that joining map segments is not efficient, not fast enough, and / or cannot be completed within a single calculation cycle.

[0004] It is therefore an object of the present invention to overcome at least one of the disadvantages described above, at least partially. In particular, it is an object of the invention to provide an improved method that is, in particular, faster, more efficient, less memory-intensive, more compressible, more cost-effective and / or safer.

[0005] The foregoing problem is solved by a method with the features of the independent method claim, a computer program product with the features of the independent patent claim relating to a computer program product, a computer-readable data carrier with the features of the independent patent claim relating to a computer-readable data carrier, a control unit with the features of the independent patent claim relating to a control unit, and a vehicle with the features of the independent vehicle claim. Further features and details of the invention will become apparent from the dependent claims, the description, and the drawings.Features and details described in connection with the method according to the invention naturally also apply in connection with the computer program product according to the invention and / or in connection with the computer-readable data carrier according to the invention and / or in connection with the control unit according to the invention and / or in connection with the vehicle according to the invention, and vice versa, so that the disclosure relating to the individual aspects of the invention always refers to each other. In particular, advantages described within the first, second, third, fourth, and / or fifth aspect also apply to the first, second, third, fourth, and / or fifth aspect.

[0006] The above problem is solved according to a first aspect by a method for determining a navigation map for a vehicle, in particular according to the fifth aspect, comprising: - Received by a control unit (especially according to the fourth aspect) of a vehicle, map parts, - Determining, by the control unit, the start and end points of the map sections, whereby a start and an end point are determined for each of the map sections, - Determining, by the control unit, of corresponding map sections depending on the starting and ending points, - Connecting, through the control unit, the corresponding map sections to obtain a navigation map, - Operating the vehicle based on the navigation map.

[0007] The method described in the first aspect can be computer-implemented and / or performed repeatedly and / or continuously. Preferably, the method can be performed during, before, and / or (preferably) during the operation or use of a vehicle and / or control unit, for example, while driving. Alternatively or additionally, the method can be performed at (regular) intervals. It can also be provided that the method is performed and / or performed more frequently depending on an update, data rate, and / or data size transmitted to the control unit. This can prevent (undesired) overloading of the control unit. This can relieve the processing unit and / or control unit of its workload. The control unit can implement the method, for example, by performing the steps mentioned above.This method allows map segments to be processed or connected efficiently and / or more quickly. Furthermore, it can enable the processing of map segments with large data sizes, particularly through the identification of specific segments. This can facilitate the use of a (larger) number of map segments and / or improve vehicle operation, for example, in the context of autonomous and / or automated driving. The algorithmic complexity of the method can be 0(n), which is particularly advantageous compared to a complexity of 0(n). 2 ) (e.g. the brute-force method).

[0008] Map segments can include map fragments and / or sensor data. Alternatively or additionally, the map segments can include a roadway, a lane, lane markings, road edges, and / or parts thereof. The map segments can be designed to depend on the movement of another (or the same) vehicle. For example, a vehicle that previously traveled on the roadway can (subsequently) provide map segments and, in particular, upload them to the internet. The map segments can also include a (traveled) trajectory. If, for example, no lane markings are present, and the driver nevertheless traveled in the "right" lane, a later or subsequent vehicle can use this information within the framework of autonomous and / or automated operation. Thus, such operation can be (or even be) enabled and / or improved.

[0009] Map segments can have at least (preferably exactly) one start point and / or at least (preferably exactly) one end point. In the simplest case, map segments can comprise (so-called) splines. This allows them to be processed, stored, and / or transmitted efficiently and / or with minimal memory usage. A map segment and / or a spline can be defined by a start point and an end point, as well as, in particular, other features that define the intermediate portion. Map segments can therefore be one-dimensional, two-dimensional, and / or three-dimensional. Advantageously, the method can process all and / or different map segments, especially due to the calculated distance to an origin (see below). It can be provided that the map segments have a (common) origin and / or subsequently acquire a common origin or reference point through translation and / or rotation.

[0010] Corresponding map sections can preferably consist of (spatially) related map sections. In particular, directly adjacent and / or neighboring map sections can correspond to each other. Control units and / or vehicle operators can acquire and / or receive a multitude of different map sections. However, their connection and / or linking may (initially) be unknown. One goal can be to connect these and / or corresponding map sections (like a puzzle). In particular, an endpoint of one map section can correspond to a starting point of a (subsequent) map section and / or vice versa.

[0011] A navigation map can be created by connecting corresponding map segments, for example, those that subsequently form a closed trajectory. In other words, a navigation map can be likened to a solved puzzle. A navigation map can (literally) be a map. Alternatively or additionally, a navigation map can include lanes, lane markings, driving lanes, (driving) trajectories, and the like, which are particularly specific to the information contained in the map segments (see above). Accordingly, a navigation map can also alternatively or additionally include a chain of GPS data and / or lane-related position data. A navigation map can (preferably) include swarm data and / or control data. In particular, the navigation map can depict a sequence of driving actions.

[0012] Operation, as defined in the invention, can include controlling and / or regulating the vehicle, particularly by the control unit. This can be carried out within the context of autonomous and / or at least partially automated driving. Operation can be performed based on the (created) navigation map. For example, this can enable autonomous driving, which would otherwise not be possible (without the method).

[0013] Within the scope of the invention, it is provided that the determination includes filling an index table (in particular a hash table) comprising a number of columns and a number of rows.

[0014] The index table(s) allow data to be compressed, efficiently processed, stored, and / or deleted (or overwritten). In particular, the number of rows (also called "depth") can be kept to a minimum to minimize storage space. At the same time, it can be designed to store all (necessary) information about the map segments. It can be implemented that an index table is created for each start and / or end point. Alternatively, start and end points can be entered into a single index table. In this case, each start and end point can be identifiable. The index table can be populated column by column. The index table can be populated and / or read based on a given index.

[0015] Within the scope of the invention, it is conceivable that the number of columns is designed depending on the number of lowest bits, wherein in particular b = 2 n .

[0016] The least significant bits (n) can be used to create compression, concretization, and / or staggering. By using (only) the least significant bits, a specific or desired resolution can be defined, e.g., with the least significant 10 bits, 2^10 = 1024. If, for example, only the least significant 2 bits are used, the result is 2^2 = 4. With a low number of least significant bits, the resolution can be lower, and the storage requirement reduced, or the compression or bundling increased (and vice versa). The number of least significant bits can be set, particularly by the user and / or the control unit. By generating the hash value over the Euclidean distance scaled by the limit t (and choosing a width b with b = 2^n), points at a distance t from another point can either be located at the same index i in the index table or at a directly adjacent index.By increasing or decreasing the width b of the index table, the speed and memory requirements can be varied.

[0017] Within the scope of the invention, it may be provided that the index table is filled using indices, wherein an index (preferably each one) is determined by: - Selecting a start point and / or an end point for one (all) map section(s) from the start points and end points of the map sections, - Calculating a distance, preferably a Euclidean distance, between the starting point and / or endpoint to a global (common) origin, in particular of the map sections (and / or the navigation chart), - Scaling the distance by a limit value to obtain a scaled distance (e_scaled), where in particular escaled=et applies (and / or is calculated) - Calculating an index depending on the scaled distance, - Storing the map part or a reference specific to the map part (e.g., a pointer, etc.) in the index table in a column for which the index is specific, in particular in an i-th column of the index table.

[0018] The limit value can, for example, be t = 0.35m. This means that start points and / or end points within this distance or limit value can preferably be contained within the same column. This may not necessarily result in a unique assignment, which is only possible with a sufficiently large and / or higher resolution (more lowest bits). However, this allows for stronger compression.

[0019] It is also conceivable that when scaling the distance, the limit value represents a maximum permissible distance between adjacent starting points and endpoints, especially between different parts of the map.

[0020] It is also conceivable that calculating an index depending on the scaled distance (e_scaled) involves rounding, in particular bitwise rounding, and / or in particular i = e scaled & (b - 1) = e scaled % b applies and / or is calculated.

[0021] The index can (therefore) be determined depending on the number b of columns in the index table and the scaled distance. The index can preferably be specific to a column of the index table. Preferably, the lowest n bits can be extracted. Rounding advantageously allows for compression and / or a smaller data size. In other words, discrete rings can also be generated within which the start and / or end points are arranged (see also...). Fig. (4 below). After a number n of the lowest bits, the rings or their assignment to an index (or column) repeat. Therefore, each ring can have a specific (identical) width, which preferably corresponds to the limit. The lowest n bits representing the distance of a ring from the origin can thus be used as an "address". Rings that map to the same indices can repeat themselves (repeatedly). Therefore, advantageously, no recalculation is necessary (for a new calculation cycle).

[0022] Within the scope of the invention, it is optionally possible that the determination includes forming a collision vector, wherein the collision vector is filled depending on a storage, wherein in particular the collision vector is filled when the column in which storage is to take place is already full.

[0023] It is possible that the (defined and / or used) depth or number of rows in the index table is (too) small. Consequently, a column may be full even though further entries (especially map parts or pointers to them) are (or should be) entered. To prevent overwriting other information, excess values ​​can be stored in the collision vector. The collision vector can be filled incrementally and / or only as needed. It can thus function as a buffer for insufficient depth. The number of rows can be adjusted depending on the collision vector, particularly depending on its usage or occupancy (filling). Preferably, the depth or number of rows is just large enough that the collision vector is not needed or that only a few entries are stored in it.It may be intended that the collision vector entries are integrated last and / or via a brute-force method when connecting to create a navigation map (in order to find a correct assignment or corresponding map parts).

[0024] Furthermore, the invention may include the determination of corresponding map parts depending on the starting and ending points: - Selecting a starting point (and / or endpoint) of a map section, - Determining a column in the index table that is specific to an index of the selected start point (and / or end point), - Determining (all) adjacent endpoints (and / ) or starting points of adjacent, in particular preceding or subsequent, map sections, wherein in particular their endpoint (and / ) or starting point is stored in the determined column or an adjacent column, - Assigning adjacent map sections depending on the determination, whereby in particular adjacent endpoints correspond to preceding map sections and / or adjacent starting points correspond to subsequent map sections.

[0025] It may be stipulated that a start / end point is adjacent to exactly one, at least two, or more end / start points and / or is connected accordingly. A search for predecessors and successors can be equivalent in this context.

[0026] With regard to the present invention, it is conceivable that connecting the corresponding map parts comprises arranging corresponding and / or adjacent map parts to obtain a navigation map.

[0027] The above problem is solved according to a second aspect by a computer program product according to the invention, comprising instructions which, when the computer program product is executed by a computer, cause it to implement the method according to the first aspect.

[0028] This results in the same advantages with regard to a computer program product according to the invention as have already been described with regard to a method according to the invention.

[0029] The above problem is solved according to a third aspect by a computer-readable data carrier according to the invention, in which instructions are stored which, when executed by a computer, cause it to carry out the method according to the first aspect.

[0030] This results in the same advantages with regard to a computer-readable data carrier according to the invention as have already been described with regard to a method and / or a computer program product according to the invention.

[0031] The above problem is solved according to a fourth aspect by a control unit according to the invention, comprising a computing unit and / or a storage unit in which instructions are stored which, when at least partially executed by the computing unit, carry out a method according to the first aspect.

[0032] This results in the same advantages with regard to a control unit according to the invention as have already been described with regard to a method according to the invention and / or a computer program product according to the invention and / or a computer-readable data carrier according to the invention.

[0033] The above problem is solved according to a fifth aspect by a vehicle according to the invention comprising a control unit according to the fourth aspect.

[0034] This results in the same advantages with regard to a vehicle according to the invention as have already been described with regard to a method according to the invention and / or a computer program product according to the invention and / or a computer-readable data carrier according to the invention and / or a control unit according to the invention.

[0035] Further advantages, features, and details of the invention will become apparent from the following description, in which several exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. The drawings illustrate this by way of example. Fig. 1 a procedure Fig. 2 a vehicle Fig. 3 map sections Fig. 4 map sections Fig. 5 an index table.

[0036] In the following figures, identical reference numerals are used for the same technical features, even for different embodiments.

[0037] Fig. Figure 1 shows a method for determining a navigation chart N for a vehicle 200, comprising: - Received 110, by a vehicle control unit ECU 200, from map parts K, - Determine 120, by the control unit ECU, of start points KS and end points KE of the map parts K, whereby for each of the map parts K a start point KS and an end point KE is determined, - Determine 130, by the control unit ECU, of corresponding map sections depending on the start points KS and end points KE, - Connect 140, through the control unit ECU, the corresponding map parts to obtain a navigation map N, - Operating 150 of the vehicle 200 depending on the navigation map N.

[0038] It is intended that determining 130 includes filling 131 an index table I, comprising a number b of columns and a number d of rows.

[0039] Furthermore, it is conceivable that the number of columns b is designed depending on the number n of lowest bits, where in particular b = 2 n .

[0040] It may be provided that the filling of index table 131 is carried out using indices, where an index i is determined by: - Select 132 a starting point KS and / or an endpoint KE for a map section K from the starting points KS and endpoints KE of the map sections K, - Calculate 133 a distance e, preferably a Euclidean distance e, between the starting point KS and / or endpoint KE to a global origin X, in particular the map parts K, - Scaling 134 of the distance e with a limit t to obtain a scaled distance e_scaled, where in particular escaled=et applies, - Calculate 135 of an index i as a function of the scaled distance e_scaled, - Store 136 of map part K or a reference specific to map part K in index table I in a column for which index i is specific.

[0041] It may be provided that when scaling 134 of the distance e, the limit value t has a maximum permissible distance between adjacent starting points KS and endpoints KE, in particular between different map parts K.

[0042] Furthermore, it is conceivable that calculating 135 an index i as a function of the scaled distance e_scaled involves rounding, in particular bitwise rounding, and / or in particular i = e scaled & (b - 1) = e scaled % b applies.

[0043] It is conceivable that determining 130 includes forming 137 a collision vector, whereby the collision vector is filled depending on a storage 136, wherein in particular a filling of the collision vector takes place when the column in which a storage 136 is to take place is already full.

[0044] It may be provided that determining 130 corresponding map parts depending on the starting points KS and endpoints KE includes: - Select 138.1 a starting point KS or endpoint KE of a map section K, - Determine 138.2 a column of index table I which is specific for an index i of the selected starting point KS or endpoint KE, - Determining 138.3 of adjacent endpoints KE or starting points KS of adjacent, in particular preceding or subsequent, map parts K, wherein in particular their endpoint KE or starting point KS is stored in the determined column or an adjacent column, - Assigning 138.4 of adjacent map parts K depending on the determination 138.3, wherein in particular adjacent endpoints KE correspond to preceding map parts K and / or adjacent starting points KS correspond to subsequent map parts K.

[0045] Furthermore, it may be provided that connecting 140 of the corresponding map parts involves arranging corresponding and / or adjacent map parts K to obtain a navigation chart N.

[0046] Fig. Figure 2 shows a vehicle 200 comprising a control unit (ECU) having a processing unit (CU) and / or a storage unit (MU) in which instructions are stored which, when at least partially executed by the processing unit (CU), implement a procedure according to the first aspect and / or as described above. The vehicle 200 may have a steering system 201 which, preferably during operation 150, can be controlled by the control unit (ECU). For example, depending on the navigation map (N), the vehicle can be controlled autonomously and / or at least partially automatically.

[0047] Fig. Figure 3 shows map sections K with their respective starting points KS and endpoints KE, in particular: - a first map section K1 with a first starting point K1S and a first endpoint K1E, - a second map section K2 with a second starting point K2S and a second endpoint K2E, - a third map section K3 with a third starting point K3S and a third endpoint K3E, - a fourth map section K4 with a fourth starting point K4S and a fourth endpoint K4E, - a fifth map section K5 with a fifth starting point K5S and a fifth endpoint K5E, - a sixth map section K6 with a sixth starting point K6S and a sixth endpoint K6E.

[0048] For illustration, the map sections are represented as straight lines or line segments. An origin X is marked. The first endpoint K1E is considered as an example. A circle with a radius corresponding to the limit t is drawn around this endpoint. All starting points KS, in this case the second starting point K2S and the third starting point K3S, are determined that lie (approximately) within the circle. This allows the second map section K2 and / or the third map section K3 to be identified as corresponding map section(s) K to the first map section K1. The same procedure can be used for the remaining endpoints KE and / or starting points KS. This can be done either from a respective endpoint KE or from a respective starting point.

[0049] Fig. 4 indicates in accordance with Fig. 3. The map sections K are also considered. The procedure can be illustrated (differently) by concentric circles around the origin, in particular at a distance identical to the limit t. The circles repeat (indicated by their outline). Map sections K whose starting point KS and / or endpoint KE lie within a specific circle or circle surface are accordingly (according to the procedure) placed in a corresponding column (see figure). Fig. 5) saved. For illustration, columns S0, S1, S2, S3 are shown accordingly in the circles.

[0050] Fig. Figure 5 shows an index table I with b columns and d rows. A first column S0, a second column S1, a third column S2, and a fourth column S3 are provided. The first column S0 contains no entries, particularly since there are no starting points KS in the circular circumference(s) designated by S0 (in Fig. 4) In the second column S1, the map sections (or references) K1, K3, K2 are entered, especially since their starting points K1S, K3S and K2S are arranged in the corresponding circular outlines (see Fig. 4) In the third column S2, the map sections (or references) K5, K6 are entered, especially since their starting points K5S, K6S are arranged in the corresponding circular outlines (see Fig. 4) In the fourth column S3, the map section (or reference) K4 is entered, particularly since its starting point K4S is located in the corresponding circular area (see Fig. 4) To determine successors, the endpoint K1E of K1 can be used, for example. This lies in a “ring” S0 (see below). Fig. 4) Considering Fig.K5 can therefore be searched for in column S0 and / or the adjacent columns (here S3 and S1). The only possible successor for K2 is K4 (therefore, it can be assumed that K1's only successors are K2 and K3). For K3, the possible successors are K5 and K6. In other words, iterating over all map sections K is possible to find subsequent (and / or preceding) map sections K. Possible predecessors / successors can be located at an index i, (i-1), or (i+1), especially if i is the index of the start / end point. All links or connections can be calculated in a single cycle. This can prevent and / or reduce runtime problems. List of references 110 Receiving map parts 120 Determining start and end points 130 Determining corresponding map parts 131 Filling in an index table 132 Selecting a starting point and / or end point 133 Calculating a distance 134 Scaling the distance 135 Calculating an index 136 Saving the map section 137 Forming a collision vector 138.1 Selecting a starting point or end point 138.2 Determining a column in the index table 138.3 Determining adjacent endpoints or starting points 138.4 Assigning adjacent map parts 140 Connecting the corresponding map parts 150 Operating the vehicle 200 vehicles 201 Steering ECU control unit CU computing unit MU storage unit K map parts K1 first map section K2 second map part K3 third map section K4 fourth map section K5 fifth map section K6 sixth map section KS Starting points of the map sections K1S first starting point (of the first map section) K2S second starting point (of the second map section) K3S third starting point (of the third map section) K4S fourth starting point (of the fourth map section) K5S fifth starting point (of the fifth map section) K6S sixth starting point (of the sixth map section) KE Endpoints of the map sections K1E first endpoint (of the first map section) K2E second endpoint (of the second map section) K3E third endpoint (of the third map section) K4E fourth endpoint (of the fourth map section) K5E fifth endpoint (of the fifth map section) K6E sixth endpoint (of the sixth map section) Index table i Index S0 first column S1 second column S2 third column S3 fourth column b Number of columns in the index table d Number of rows in the index table e (Euclidean) distance e_scaled scaled distance n Number of least significant bits N Navigation map t limit value X Origin

Claims

[1] Method for determining a navigation chart (N) for a vehicle (200), comprising: - Received (110), by a vehicle control unit (ECU) (200), from map parts (K), - Determining (120) by the control unit (ECU) of start points (KS) and end points (KE) of the map parts (K), wherein for each of the map parts (K) a start point (KS) and an end point (KE) is determined, - Determine (130), by the control unit (ECU), of corresponding map parts depending on the start points (KS) and end points (KE), - Connect (140), through the control unit (ECU), the corresponding map parts to obtain a navigation map (N), - Operating (150) the vehicle (200) depending on the navigation map (N), - wherein determining (130) includes filling (131) an index table (I), comprising a number (b) of columns and a number (d) of rows. [2] Method according to claim 1, characterized by , that the number of columns (b) is configured depending on a number (n) of lowest bits, where in particular b = 2 n . [3] Method according to one of the preceding claims 1 or 2, characterized by , that the filling (131) of the index table (I) is carried out using indices, wherein an index (i) is determined by: - Selecting (132) a start point (KS) and / or an end point (KE) for a map part (K) from the start points (KS) and end points (KE) of the map parts (K), - Calculating (133) a distance (e), preferably a Euclidean distance (e), between the starting point (KS) and / or endpoint (KE) to a global origin (X), in particular the map parts (K), - Scaling (134) the distance (e) by a limit (t) to obtain a scaled distance (e_scaled), in particular escaled=et applies, - Calculating (135) an index (i) as a function of the scaled distance (e_scaled), - Storing (136) the map part (K) or a reference specific to the map part (K) in the index table (I) in a column for which the index (i) is specific. [4] Method according to claim 3, characterized by , that when scaling (134) the distance (e) the limit (t) has a maximum allowed distance between adjacent starting points (KS) and endpoints (KE), in particular different map parts (K). [5] Method according to one of the preceding claims 3 or 4, characterized by , that calculating (135) an index (i) as a function of the scaled distance (e_scaled) includes rounding, in particular bitwise rounding, “.” [6] Method according to any one of the preceding claims 3 to 5, characterized by, that the determination (130) includes forming (137) a collision vector, wherein the collision vector is filled depending on a storage (136), wherein in particular the collision vector is filled when the column in which a storage (136) is to take place is already full. [7] Method according to any one of the preceding claims 1 to 6, characterized by , that determining (130) corresponding map parts depending on the starting points (KS) and endpoints (KE) includes: - Selecting (138.1) a starting point (KS) or endpoint (KE) of a map section (K), - Determining (138.2) a column of the index table (I) which is specific for an index (i) of the selected starting point KS or endpoint (KE), - Determining (138.3) adjacent endpoints (KE) or startpoints (KS) of adjacent, in particular preceding or subsequent, map parts (K), wherein in particular their endpoint (KE) or startpoint (KS) is stored in the determined column or an adjacent column, - Assigning (138.4) adjacent map parts (K) depending on the determination (138.3), wherein in particular adjacent endpoints (KE) correspond to preceding map parts (K) and / or adjacent startpoints (KS) correspond to subsequent map parts (K). [8] Method according to any one of the preceding claims, characterized by , that the joining (140) of the corresponding map parts involves arranging corresponding and / or adjacent map parts (K) to obtain a navigation chart (N). [9] Computer program product comprising instructions which, when the computer program product is executed by a computer, cause it to implement the method according to any of the preceding method claims. [10] A computer-readable data carrier in which instructions are stored which, when executed by a computer, cause it to carry out the method according to one of the preceding method claims. [11] Electronic control unit (ECU) comprising a computing unit (CU) and / or a storage unit (MU) in which instructions are stored which, when at least partially executed by the computing unit (CU), perform a method according to one of the preceding method claims. [12] Vehicle (200) comprising a control unit (ECU) according to the preceding claim.

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