METHOD AND CENTRAL SYSTEM FOR PROVIDING HIGHLY ACCURATE MAP DATA TO A MOTOR VEHICLE

Description

Technical area

[0001] The invention relates to systems in which map data is transmitted from a central unit to a vehicle upon request in order to execute certain driving functions in the vehicle. Furthermore, the present invention relates to measures for updating the map data using vehicle data acquired by vehicles. Technical background

[0002] For the operation of navigation systems, motor vehicles are equipped with map memories for storing map data. The map data represents a digital representation of a route network and may also contain additional information, such as speed limits and the like.

[0003] However, partially or fully automated control of motor vehicles requires map data with a level of accuracy and timeliness that exceeds the accuracy and timeliness of the vehicle map data conventionally provided in the vehicle. Furthermore, information about route environments, such as peripheral buildings and construction sites, is necessary, which is currently not sufficiently available in the vehicle map data. Therefore, systems for partially or fully automated driving provide for retrieving such control map data from a central system with which the vehicle is in communication.

[0004] In order to provide the central system with sufficiently up-to-date and accurate control map data, the routes of the route network have previously been traveled with special measuring vehicles, and the required data has been recorded in order to correct or update the control map data available there. Therefore, one approach involves updating the control map data required for partially or fully automated driving using fleet data, i.e., vehicle data recorded from a large number of motor vehicles and transmitted to the central system. This then updates the control map data, which is made available to the motor vehicles upon request. Therefore, a large volume of vehicle data must be processed in the central system, which is usually done by a network of individual, specialized computers.

[0005] Until now, the recorded vehicle data was further processed in update computers. The update computer loads the map data matching the current vehicle position from the storage computer, updates it with the information from the vehicle data, and transmits the updated map data back to the relevant storage computer. This approach has the disadvantage that transmitting the control map data from the storage computers requires a high bandwidth. As a result, the processing speed for meaningful semantic processing of the vehicle data is reduced due to the volume of data and the necessary access to the control map data. This limits the overall performance for given computing and storage capacities.

[0006] The document US 2014 / 0278055 A1 discloses a system for updating road maps with a processor, a database for storing the road maps, a map matching module for matching a number of GPS tracks with a number of roads, a first segment module configured to process the GPS tracks that match a subset of the number of roads, a second segment module configured to process the GPS tracks that do not match any of the number of roads, and a map update module configured to update a number of roads depending on the suggested changes presented by the first segment module and the second segment module.

[0007] The document US 2016 / 0028824 A1 discloses a method for receiving telematics sensor data from a first vehicle to a first server and transmitting, by the processor of the first server, at least a portion of the telematics sensor data from the remote first server to the remote second server, wherein the remote second server is configured to execute an autonomous driving application using the received telematics sensor data, wherein the autonomous driving application is configured to output an autonomous driving service result, wherein the autonomous driving service result is transmitted from the remote second server to the second vehicle.

[0008] The document US 2016 / 102988A1 discloses a method for generating a route to a destination, comprising the steps of: retrieving first map partition data for a first area from a remote computer, wherein the first map partition data is encoded with information for generating directions of travel; then determining whether the remote computer is accessible; if the remote computer is accessible, retrieving second map partition data for a second area from the remote computer, wherein the second map partition data is encoded with information for generating directions of travel; then determining whether the remote computer is accessible; if it is determined that the remote computer is not accessible, compiling map data representing a geographic region, wherein the map data is a compilation of the first map partition data and the second map partition data;and generating a route to a destination using the map data.;

[0009] The document DE102008053531A1 discloses an evaluation module for evaluating data from a digital map for a vehicle, comprising: a computing unit for receiving data from the digital map and for performing the evaluation of the data based on map-specific quality information and / or on the basis of measurement data from an environmental sensor system of the vehicle; and an interface for transferring the evaluation to a driver assistance system and / or a safety system of the vehicle, which uses the data from the digital map based on the evaluation.

[0010] It is therefore the object of the present invention to provide a method for operating a central system which serves to provide updated map data, with which a more efficient processing of the vehicle data is possible. Disclosure of the invention

[0011] This object is achieved by the method for operating a central system for providing updated map data according to independent claim 1 and by the central system according to independent claim 5.

[0012] Further embodiments are specified in the dependent claims.

[0013] According to a first exemplary aspect of the disclosure, a method for providing map data by a central system to a motor vehicle is provided, comprising the following steps: Capturing vehicle data from moving motor vehicles and transmitting it to a process computing device of the central system, wherein the vehicle data is provided with a corresponding position stamp that indicates a current vehicle position associated with the respective vehicle data; retrieving a driving situation from a storage computing device depending on the vehicle position associated with the vehicle data by the process computing device; selecting at least one analysis algorithm for the driving situation; transmitting the analysis algorithm or a corresponding indication together with the vehicle data to the storage computing device; executing the analysis algorithm based on the vehicle data in the storage computing device in order to update the map data.

[0014] Furthermore, according to the present invention, one of several memory computers of the memory computing device is selected depending on the vehicle position and / or the driving situation, and the analysis algorithm is executed based on the vehicle data in the selected memory computer.

[0015] One idea of ​​the above method for operating a central system for providing updated map data is to identify, in a process computing device in which the vehicle data including the respective vehicle positions (geoposition) of the detecting motor vehicles is used, the one of several memory computers of a memory computing device which stores the map area associated with the vehicle position, and to transmit to this one or more topology-dependent algorithms or algorithm identification data together with the vehicle data, so that the updating of the map data at the relevant vehicle position can be carried out in the relevant memory computer depending on the route topology prevailing there.

[0016] In this way, the processing of vehicle data can be carried out in a distributed manner within the cluster of memory computers, without the need to transfer the map data between the process computing device and the memory computing device. This allows the map data to be updated with minimal computing capacity requirements.

[0017] Furthermore, the driving situation in the storage computing device can be determined in advance for each possible vehicle position by a classification method, or the driving situation in the storage computing device can be determined by a classification method depending on the vehicle position immediately before the driving situation is retrieved by the process computing device.

[0018] It can be provided that the vehicle data are pre-processed before being transmitted to the storage computing device either in the process computing device or in the motor vehicle depending on the current driving situation.

[0019] In particular, a distribution of the preprocessing of the vehicle data between a control system of the respective motor vehicle and the process computing device can be carried out dynamically depending on the driving situation.

[0020] According to a further exemplary aspect of the disclosure, a central system for providing map data to a motor vehicle is provided, comprising: a process computing device which is designed ∘ to record vehicle data from moving motor vehicles, wherein the vehicle data is provided with a corresponding position stamp which indicates a current vehicle position assigned to the respective vehicle data, ∘ to retrieve a driving situation from a storage computing device depending on the vehicle position assigned to the vehicle data; ∘ to select at least one analysis algorithm for the driving situation; ∘ to transmit the analysis algorithm or a corresponding indication together with the vehicle data to a storage computing device; the storage computing device which is designed to execute the analysis algorithm based on the vehicle data in order to update the map data. Brief description of the drawings

[0021] Embodiments are explained in more detail below with reference to the attached drawings. They show: Figure 1 shows a schematic representation of a central system including communication with a motor vehicle; and Figure 2 shows a flowchart illustrating a method for operating the central system. Description of embodiments

[0022] Figure 1 shows a schematic representation of a central system 1 for providing highly accurate, up-to-date map data to motor vehicles in operation. The highly accurate, up-to-date map data is used to implement and / or support vehicle functions for partially or fully automated driving.

[0023] The provision is carried out via a data communication connection 3 to the motor vehicles, one of which is shown as an example. The data communication connection 3 can comprise a data connection known per se, in particular a packet-based data connection.

[0024] Furthermore, the motor vehicle 2 has a control system 21 coupled to a communication device 22 for receiving data from the central system 1 via the data communication connection 3 or for sending data to the central system 1. The control system 21 is provided for executing one or more vehicle functions that require highly accurate map data and can request this from the central system 1 via the communication device 22.

[0025] Furthermore, the control system 21 can be connected to a vehicle sensor system 23, with which vehicle data can be acquired. Vehicle data can include operating data of the motor vehicle, such as speed, yaw rate, steering angle, or the like, as well as environmental data, which can include a camera image of the surroundings, radar data, LiDAR data, and weather data, such as temperature, humidity, weather conditions, and the like.

[0026] Furthermore, a position determination unit 24 is provided, with which a vehicle position (geoposition or GPS position) of the motor vehicle 2 can be determined in a conventional manner, so that the recorded vehicle data can be assigned to the corresponding vehicle position. In this way, the vehicle data each receive a time and position stamp.

[0027] The central system 1 has a process computing device 11, which comprises one or more process computers 111. The process computing device 11 receives the vehicle data provided with a time and position stamp from the motor vehicle.

[0028] Furthermore, the central system 1 comprises a storage computing device 12, which generally comprises a plurality of storage computers 121, each of which serves to store partial route networks in the form of partial map data, each of which depicts a geographical area section.

[0029] For this purpose, the storage computers 121 have access to a map memory 122, from which partial map data of the area section statically or dynamically assigned to the respective storage computer can be read out.

[0030] The process computing device 11 is connected to the storage computing device 12 to transmit vehicle data together with the time and position stamp, so that the storage computing device 12 selects one of the storage computers 121 to process the vehicle data based on the vehicle position of the vehicle data indicated by the position stamp or based on a known load distribution algorithm. The process computing device 11 also transmits an analysis algorithm for the current vehicle situation corresponding to a driving situation identified by the storage computer 121 for the relevant vehicle position and transmits the vehicle data together with the update algorithm associated with the driving situation.In this way, the vehicle data, the analysis algorithm for the respective driving situation, and the partial map data to be updated are available in the memory computer 121 assigned to the vehicle position, so that the partial map data can be updated in the relevant memory computer 121. This relieves the load on the process computing device 11.

[0031] The driving situation indicates the route topology in front of or in which a motor vehicle is located at its current position and, if applicable, the current direction of travel. The driving situation can be determined by classifying route topologies and, for example, indicate intersections, entrances or exits to routes, lanes for different directions of travel at route junctions, traffic flow control through signage or signaling systems, and the like.

[0032] In Figure 2a flowchart is shown to illustrate the method for updating the map data in the central system 1.

[0033] In step S1, vehicle data from moving vehicles are transmitted to the process computing device 11 with corresponding time and position stamps.

[0034] In the process computing device 11, in step S2, the vehicle data associated with a vehicle position from one or more vehicles are collected, so that vehicle data for one or more motor vehicles are available for a specific vehicle position.

[0035] In step S3, the vehicle position associated with the vehicle data to be processed is transmitted to the memory computing device 12, where the memory computer 121 that is to update the partial map data for the partial route network in which the vehicle position is located is identified or determined. In the memory computing device, a categorization of the driving situation prevailing at the current vehicle position can be performed in advance or during runtime.

[0036] In step S4, the selected storage computer 121 transmits information about the driving situation associated with the vehicle position to the process computing device 11.

[0037] In step S5, the process computing device 11 selects one or more update algorithms for the driving situation based on the information on the driving situation and transmits these in a subsequent step S6, together with the vehicle data associated with this vehicle position, to the relevant memory computer 121 of the memory computing device 12. Instead of transmitting the update algorithms, algorithm identification information can also be transmitted so that the relevant memory computer 121 can retrieve or receive the required analysis algorithm from other sources.

[0038] In the process computing device 11, the received vehicle data can be processed depending on the driving situation assigned to the vehicle position and transmitted in step S4. Alternatively or additionally, information about the type of processing of the vehicle data or information about a driving situation can be transmitted to the relevant motor vehicle 2, so that the vehicle data can be processed decentrally there before transmission to the central system. Alternatively, the vehicle data can be processed automatically based on the driving situation detected by the vehicle 2, i.e., by the control system 21, so that the vehicle data are processed accordingly.

[0039] Examples of updating map data may include, for example, evaluating camera data in a driving situation indicating a motorway exit to identify speed limit signs and assigning different speed limits to the further course of the motorway and the branching exit. In this way, it may be provided that, as vehicle data related to the "motorway exit" driving situation, only the camera information indicating the speed limit signs is evaluated for the relevant analysis algorithm. The identification of speed limit signs can be performed in the motor vehicle or in the process computing device 11.

[0040] Alternatively, for example, in a driving situation that is identified as a road intersection with traffic lights, traffic lights detected by evaluating the camera images can be assigned to different lanes of the road intersection.

[0041] According to a further embodiment, it can be provided that a distribution of the processing of the vehicle data between the control system 21 of the respective vehicle and the process computing device 11 can take place dynamically depending on the driving situation and the processing of the vehicle data can be carried out according to a retrievable processing algorithm. List of reference symbols

[0042] 1Central system 2Motor vehicle 3Data communication connection 21Control system 22Communication device 23Vehicle sensors 24Position determination unit 11Process computing device 111Process computer 12Memory computing device 121Memory computer 122Card memory

Claims

1. Method for providing map data by way of a central system (1) to a motor vehicle (2), wherein the central system (1) has a process computing device (11) comprising one or more process computers (111), and a memory computing device (12) comprising a plurality of memory computers (121), each serving to store partial route networks in the form of partial map data, each representing a geographical area section, comprising the following steps: - capturing (S1) vehicle data from moving motor vehicles (2) and transmitting them to a process computing device (11) of the central system (1), wherein the vehicle data are provided with a corresponding position stamp, which delivers a current vehicle position assigned to the respective vehicle data, - retrieving (S4) a driving situation from a memory computing device (12) depending on the vehicle position assigned to the vehicle data by way of the process computing device (11), wherein the driving situation indicates the route topology before or in which a motor vehicle is located at the current vehicle position; - selecting (S5) at least one analysis algorithm according to the driving situation; - transmitting (S5) the analysis algorithm or a corresponding indication together with the vehicle data to the memory computing device (12), wherein one of a plurality of memory computers (121) of the memory computing device (12) is selected depending on the vehicle position and / or the driving situation; - implementing the analysis algorithm on the basis of the vehicle data in the selected memory computer (121) of the memory computing device (12) in order to update the map data (S6).

2. Method according to Claim 1, wherein the driving situation in the memory computing device (12) is determined beforehand by a classification method for each possible vehicle position or wherein the driving situation in the memory computing device (12) is determined by a classification method depending on the vehicle position directly before the driving situation is retrieved by the process computing device (11).

3. Method according to either of Claims 1 and 2, wherein the vehicle data before transmission to the memory computing device (12) are preprocessed either in the process computing device (11) or in that motor vehicle (2) depending on the present driving situation.

4. Method according to Claim 3, wherein a distribution of the preprocessing of the vehicle data between a control system (21) of the respective motor vehicle (2) and the process computing device (11) is carried out dynamically depending on the driving situation.

5. Central system (1) for providing map data to a motor vehicle (2), comprising: - a process computing device (11) comprising one or more process computers (111) and designed o to capture vehicle data from moving motor vehicles (2), wherein the vehicle data are provided with a corresponding position stamp, which delivers a current vehicle position assigned to the respective vehicle data, ∘ to retrieve a driving situation from a memory computing device (11) depending on the vehicle position assigned to the vehicle data; ∘ to select at least one analysis algorithm according to the driving situation; ∘ to transmit the analysis algorithm or a corresponding indication together with the vehicle data to a memory computing device (12), wherein one of a plurality of memory computers (121) of the memory computing device (12) is selected depending on the vehicle position and / or the driving situation; - the memory computing device (12) comprising a plurality of memory computers (121), each serving to store partial route networks in the form of partial map data, each representing a geographical area section, wherein the memory computing device (12) is designed to implement the analysis algorithm on the basis of the vehicle data in the selected memory computer (121) in order to update the map data.