Method for generating map information for a navigation map for a large number of motor vehicles using an external electronic computing device

Abstract

The invention relates to a method for generating map information (28) for a navigation map for a plurality of motor vehicles (10, 12, 14) by means of an external electronic computing device (30), comprising the steps of: receiving optical information (32) from a motor vehicle (10, 12, 14) by means of the electronic computing device (30); evaluating the optical information (32) regarding the presence of a traffic sign (18) in the optical information (32) by means of the electronic computing device (30), wherein the presence is confirmed at least by a reverse side (22) of the traffic sign (18); and generating the map information (28) based on the reverse side (22) of the traffic sign (18) by means of the electronic computing device (30). The invention further relates to a computer program product and an electronic computing device (30).

Description

[0001] The following invention relates to a method for generating map information for a navigation map for a plurality of motor vehicles by means of an electronic computing device external to the motor vehicle according to the applicable claim 1. The invention further relates to a corresponding computer program product and an electronic computing device.

[0002] Knowing the current speed limit for a motor vehicle is necessary for various reasons, such as informing the driver, complying with legal requirements, or enabling automated driving functions. The accuracy of this information, meaning that it is correct at any time and in any location, is crucial. This accuracy should be maintained throughout the vehicle's lifespan, for example, through regular map updates.

[0003] The applicable speed limit is currently determined by a vehicle using various methods or combinations thereof. Firstly, there are vehicle camera systems that detect traffic signs and read the applicable speed limit from their front. Additionally, or even exclusively, the information stored in the vehicle's digital road map is also used. A combination of these two sources is advantageous if, for example, a sign is obscured and therefore the camera cannot detect it. Furthermore, supplementary signs, such as time or day-of-week restrictions, cannot be reliably detected by the camera; therefore, this additional information is sometimes taken from the map. Finally, the system can, and often does, evaluate whether a sign is expected at a particular location to facilitate camera detection.

[0004] It is still state of the art to send signs detected by vehicle cameras to a backend in order to use this information in the processing chain for creating the digital road map, for example to update the map attribute of the speed limit.

[0005] DE 10 2017 218 192 A1 relates to a method for verifying the plausibility of a traffic sign recognition by an autonomous vehicle. The method comprises a reading step, in which an information signal and a position signal can be read via an interface to a vehicle device. The information signal represents information about a traffic sign detected by an optical sensor in the vehicle, and the position signal represents the vehicle's current position. The method further comprises a comparison step, in which the detected traffic sign is compared with a sign marked on a stored map at the vehicle's current position, using the information signal and the position signal.Finally, the procedure includes a step of providing a confirmation signal to an interface to the vehicle device if the matching step shows a match between the detected traffic sign and the sign marked on the map at the relevant position of the vehicle.

[0006] The object of the present invention is to provide a method, a computer program product and an electronic computing device by means of which map information regarding the presence of a traffic sign can be robustly recognized.

[0007] This problem is solved by a method, a computer program product, and an electronic computing device according to the independent claims. Advantageous embodiments are specified in the dependent claims.

[0008] One aspect of the invention relates to a method for generating map information for a navigation map for a multitude of motor vehicles using an external electronic computing device. Optical information from a motor vehicle is received by the electronic computing device. This optical information is evaluated by the electronic computing device with regard to the presence of a traffic sign, the presence of which is confirmed at least by the reverse side of the traffic sign. The map information is then generated by the electronic computing device based on the confirmed presence of the traffic sign.

[0009] In particular, the invention provides for, for example, a fusion of camera information and map information. Part of this fusion logic involves the simple question of whether the traffic sign actually exists at a specific location. For example, errors often occur when a traffic sign is located at a street corner and the vehicle turns onto that street, because by the time the front camera can see in that direction, the traffic sign has disappeared from the camera's field of view. A fusion algorithm that, for example, only uses the map information for speed if it has also detected the existence of a sign, would not generate a display in this case because the traffic sign was not seen.

[0010] According to the invention, it can now be provided that, for example, the reverse side of a traffic sign can also be detected by other motor vehicles and this information can be transmitted to the vehicle's external electronic computing device. Based on the detected reverse side of the traffic sign, its presence can then be detected and this information stored in the map data. Thus, for example, a motor vehicle turning a corner can at least be notified of the presence of a traffic sign.

[0011] In particular, the existence of a detected reverse side of a traffic sign can thus be used in a vehicle-generated, data-based map creation or map update chain. This reverse side information can actually contain information, such as the cancellation of a speed limit, or it can simply represent the "gray," uninformative back of the sign. The sensor-based detection in the collecting vehicles can also be trained to recognize these "gray," uninformative sign reverse sides. The processing logic during map creation can also process this information correctly, taking road topology into account. The fusion logic mentioned above can also utilize the resulting existence information in the corresponding map.

[0012] According to an advantageous implementation, the shape of the traffic sign can be taken into account when generating the map information. For example, different traffic signs have different shapes. This information can then also be used when capturing the reverse side of the sign, for example, to identify the type of traffic sign. Thus, not only the existence but also the type of traffic sign can be taken into account.

[0013] Another advantageous design feature involves taking traffic information from the back of the traffic sign into account when generating map information. For example, the back could contain traffic information for a different lane. Thus, traffic information can be present on both sides of the traffic sign. The back of the traffic sign and the traffic information it contains can then be used to identify the traffic sign. This allows for reliable confirmation of the traffic sign's existence.

[0014] Another advantageous design option involves taking into account the blank reverse side of the traffic sign when generating map information. For example, the map back could be gray. While this is essentially information-free, the presence of a gray back can still be used to detect the presence of a traffic sign. Thus, even with blank reverse sides, the presence of a traffic sign can be detected.

[0015] It has also proven advantageous to consider the color of the back of the traffic sign when generating map information. Besides a purely gray back, there are other possible colors for the reverse side of a traffic sign. This allows for the inclusion of corresponding colors on the back. Furthermore, different traffic signs have different colors. For example, if relevant traffic information is stored on both the front and back of the sign, the color of this information can also be used to confirm the presence of the traffic sign.

[0016] It is also advantageous if the presence of a traffic sign at a specific location can be determined and / or confirmed by examining the back of the sign. In particular, the presence of the traffic sign at the corresponding position can be determined from the back, thus enabling, for example, a map update. Furthermore, the presence of a previously identified traffic sign can be confirmed using this information. This allows for a reliable map update.

[0017] In a further advantageous embodiment, traffic flow is taken into account when generating map information. For example, traffic flow can be considered for one-way streets or similar traffic patterns. Furthermore, traffic flow can also be considered for roundabouts. Thus, not only the presence of a traffic sign, but also information regarding its presence based on the traffic flow, can be determined and incorporated.

[0018] Another advantage is that the vehicle's position is received in addition to the visual information and taken into account when generating the map data. In other words, the position of the detecting vehicle is transmitted along with the visual information. Based on this, the position of the traffic sign can now be determined more reliably. This allows for a reliable map update.

[0019] The presented method is, in particular, a computer-implemented method. Therefore, a further aspect of the invention relates to a computer program product with program code means which, when the program code means are executed by the electronic computing device, cause a method according to the preceding aspect to be carried out.

[0020] Furthermore, the invention also relates to a computer-readable storage medium containing at least the computer program product according to the preceding aspect.

[0021] A further aspect of the invention relates to an electronic computing device for generating map information for a navigation map for a multitude of motor vehicles, wherein the electronic computing device is configured to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the electronic computing device.

[0022] The electronic computing device is specifically designed as an external electronic computing device for motor vehicles.

[0023] Advantageous embodiments of the process are to be regarded as advantageous embodiments of the computer program product, the computer-readable storage medium, and the electronic computing device. The electronic computing device, in particular, possesses tangible features to enable the execution of the corresponding process steps.

[0024] A computing unit / electronic computing device can be understood, in particular, as a data processing device containing a processing circuit. The computing unit can therefore process data to perform arithmetic operations. This may also include operations to perform indexed access to a data structure, such as a lookup table (LUT).

[0025] The computing unit may, in particular, contain one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more systems on a chip (SoCs). The computing unit may also contain one or more processors, for example, one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit may also include a physical or virtual array of computers or other units of the aforementioned type.

[0026] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more storage units.

[0027] A storage unit can be volatile data storage, for example as dynamic random access memory (DRAM) or static random access memory (SRAM), or as non-volatile data storage, for example as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or flash EEPROM, ferroelectric random access memory (FRAM), or magnetoresistive random access memory.It can be designed as MRAM (magnetoresistive random access memory) or as phase-change random access memory, PCRAM (phase-change random access memory).

[0028] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, are not only usable in the combinations specified, but also in other combinations or on their own.

[0029] The invention will now be explained in more detail with reference to a preferred embodiment and the drawings. The drawings show: Fig. 1. A first schematic overview of a first traffic situation; and Fig. 2 a second schematic top view of a second traffic situation.

[0030] In the figures, identical or functionally equivalent elements are provided with the same reference symbols.

[0031] Fig. Figure 1 shows a schematic top view of an initial traffic situation. Fig. Figure 1 shows, in particular, a first motor vehicle 10, a second motor vehicle 12, and a third motor vehicle 14. These are located, in particular, at an intersection 16. The second motor vehicle 12 intends to turn right. A traffic sign 18 is shown for the road onto which the second motor vehicle 12 intends to turn. The traffic sign 18 has a front side 20 and a back side 22. The front side 20 displays, in particular, traffic information 24 for the road onto which the motor vehicle 12 is turning, such as a speed limit for the road. The third motor vehicle 14 can, for example, continue straight ahead and thus also be on the part of the road onto which the second motor vehicle 12 intends to turn. Alternatively, the third motor vehicle 14 can also turn right and thus not be on the part of the road onto which the second motor vehicle 12 intends to turn.The first motor vehicle 10 can, for example, drive straight ahead or turn. Crucially, the first motor vehicle 10 must be able to detect at least the reverse side 22 of the traffic sign 18, for example, by means of a camera 26 on the first motor vehicle 10.

[0032] In the inventive method for generating map information 28 for a navigation map for a plurality of motor vehicles 10, 12, 14 by means of an external electronic computing device 30, it is particularly provided that at least one optical information 32, for example from the first motor vehicle 10, is received by means of the electronic computing device 30. The optical information 32 is evaluated with regard to the presence of the traffic sign 18 in the optical information 32, wherein the presence is confirmed in particular by at least one reverse side 22 of the traffic sign 18. The map information 28 is then generated by means of the electronic computing device 30 based on the determined presence of the traffic sign 18 and, for example, transmitted again to the motor vehicles 10, 12, 14.

[0033] In particular, it may be provided that a specific form of the traffic sign 18 is taken into account when generating the map information 28. Furthermore, traffic information 24 on the reverse side 22 of the traffic sign 18 can be taken into account when generating the map information 28. A blank reverse side 22 of the traffic sign 18 can also be taken into account when generating the map information 28. Likewise, the color of the reverse side 22 of the traffic sign 18 can also be taken into account when generating the map information 28.

[0034] In particular, this describes the Fig. 1. In a vehicle-generated, data-based map creation and update chain, the existence of the reverse side 22 is also utilized. This reverse side information can actually contain information, for example, the cancellation of a speed limit, or it can simply be "gray" information, thus representing the uninformative reverse side 22. The sensor-based detection in the collecting vehicles, in particular the first vehicle 10, can also be trained on this "gray" uninformative reverse side 22. The processing logic for map creation can also process this information correctly, in relation to the road topology. The fusion logic mentioned later can also make use of the resulting existence information in the map.

[0035] In the Fig. In the turning situation shown in Figure 1, the traffic sign 18 at the corner is not recognized by the second vehicle 12. A fusion algorithm that uses the existence of traffic sign 18 in the map information of the second vehicle 12 as an input signal would fail in this case, since the fusion logic cannot recognize the second vehicle 12, which, for geometric reasons, cannot detect the front face 20 of traffic sign 18 at the moment of turning. However, the other vehicles 10 and 14, which contribute to or have contributed to map creation within a vehicle-generated, data-based map creation chain, would be able to recognize traffic sign 18 if they had performed the corresponding maneuvers at some point earlier and therefore "seen" traffic sign 18.The third vehicle, 14, sees the front of the sign 20, for example, but might disregard the traffic sign 18 if it turns. Only if the third vehicle, 14, proceeds straight ahead would the front of the sign be correctly perceived. The first vehicle, 10, again does not see the front of the sign 20, only the back of the sign 22, which could, for example, indicate the cancellation of a speed limit or simply be a gray, uninformative sign.

[0036] Fig. Figure 2 shows a second traffic situation in a top view. In the present embodiment, only the first motor vehicle 10 and the second motor vehicle 12 are shown. Furthermore, a one-way street 34 is shown, so that the direction of travel of the third vehicle 14 is clear from the Fig. Since the first vehicle does not exist, the third vehicle, 14, could never detect the front 20. The second vehicle, 12, also cannot detect the front 20 due to the turning maneuver. Therefore, only the first vehicle, 10, remains as the sole source of information regarding the existence of traffic sign 18, because, for example, due to the absence of other vehicles or due to the traffic regulation (in the following example, the one-way street 34), there are no other vehicles that would otherwise travel this path.

[0037] Thus, the Fig. 2. In particular, it is also possible that traffic guidance can be taken into account when generating the map information 28. Furthermore, the position of the motor vehicle, in particular the first motor vehicle 10, can also be received in addition to the optical information 32 and taken into account when generating the map information 28. Reference symbol list 10 first motor vehicle 12 second motor vehicle 14 third motor vehicle 16 Intersection 18 traffic signs 20 Front 22 Back 24 Traffic Information 26 Recording device 28 Map information 30 electronic computing devices 32 optical information 34 One-way street QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2017 218 192 A1

[0005]

Claims

[1] Method for generating map information (28) for a navigation map for a large number of motor vehicles (10, 12, 14) using an external electronic computing device (30), comprising the steps: - Receiving optical information (32) from a motor vehicle (10, 12, 14) by means of the electronic computing device (30); - Evaluating the optical information (32) regarding the presence of a traffic sign (18) in the optical information (32) using the electronic computing device (30), wherein the presence is confirmed at least by a reverse side (22) of the traffic sign (18); and - Generating the map information (28) based on the determined presence of the traffic sign (18) using the electronic computing device (30). [2] Method according to claim 1, characterized by , that a form of the traffic sign (18) is taken into account when generating the map information (28). [3] Method according to claim 1 or 2, characterized by , that traffic information (24) on the back (22) of the traffic sign (18) is taken into account when generating the map information (28). [4] Method according to claim 1 or 2, characterized by , that an information-free reverse side (22) of the traffic sign (18) is taken into account when generating the map information (28). [5] Method according to any one of the preceding claims, characterized by , that the colouring of the reverse side (22) of the traffic sign (18) is taken into account when generating the map information (28). [6] Method according to any one of the preceding claims, characterized by , that the specific reverse side (22) of a traffic sign (18) determines and / or confirms the presence of the traffic sign (18) at a specific location. [7] Method according to any one of the preceding claims, characterized by, that traffic management is taken into account when generating the map information (28). [8] Method according to any one of the preceding claims, characterized by , that a position of the motor vehicle (10,12, 14) is received in addition to the optical information (32) and is taken into account when generating the map information (28). [9] Computer program product comprising program code means which cause an electronic computing device (30) to perform a method according to any one of claims 1 to 8 when the program code means are executed by the electronic computing device (30). [10] Electronic computing device (30) for generating map information (28) for a navigation map for a plurality of motor vehicles (10, 12, 14), wherein the electronic computing device (30) is configured to carry out a method according to one of claims 1 to 8.

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