PROCEDURE FOR VALIDATING CARD UPDATES

Description

[0001] The invention relates to a method for validating the currency of at least one digital card, in particular by means of a control unit, a control device, a computer program and a machine-readable storage medium. State of the art

[0002] Methods for crowd-based mapping of roads accessible to vehicles are already known. In these methods, measurement data from vehicle sensors is transmitted to a server via a communication link. The server collects the transmitted measurement data from the vehicle sensors and generates maps for relevant road segments from the data of multiple vehicles.

[0003] Such maps can be used, for example, for automated driving, allowing automated vehicles to determine their position within the map and use it for automated navigation. This vehicle localization can be based on landmarks on the map.

[0004] To ensure high accuracy and reliability of localization, potential changes in the vehicle's surroundings must be detected early and robustly on the map. Current methods for detecting such changes rely on the analysis of satellite images and are associated with increased effort.

[0005] DE 10 2017 211 613 A1 discloses a method for verifying digital maps for highly automated vehicles, avoiding sensor-specific limitations. In one step, a vehicle position is determined using GPS and located within a map. Subsequently, at least one actual feature property of a feature in the vicinity of the vehicle position is determined and compared with a target feature property of the feature to determine difference values. Further prior art is known from DE 10 2010 012 877 and US 9,494,438A1 B1. Disclosure of the invention

[0006] The object underlying the invention can be seen as proposing a method which can detect changes in a drivable vehicle environment compared to a map in a technically simple way.

[0007] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0008] According to one aspect of the invention, a method for validating the currency of at least one digital map is provided. The method can preferably be carried out by a vehicle-integrated and / or vehicle-external control unit.

[0009] In one step, at least one digital map is received or accessed. Measurement data about the vehicle's surroundings is received. This data is received primarily from vehicle sensors, which may include radar sensors, LiDAR sensors, GNSS sensors, camera sensors, and the like.

[0010] A vehicle's position is determined within at least one digital map based on landmarks. For this purpose, landmarks can be extracted from the measurement data of the vehicle sensors and detected within the at least one digital map.

[0011] In a further step, data from a driver assistance function is received.

[0012] For example, the control unit can receive information such as lane clearance, distance to lane markings, distance to neighboring road users, and similar data. The data from the driver assistance function can, in particular, be a result of the driver assistance function itself.

[0013] To validate the accuracy of at least one digital map, a comparison is made between the vehicle's position within the map and the data from the driver assistance functions. A positive validation of the map's accuracy is determined if both the vehicle's position in a localization map and the data from the driver assistance functions indicate a drivable position.

[0014] According to a further aspect of the invention, a control unit is provided, wherein the control unit is configured to execute the method. The control unit can, for example, be an external vehicle control unit or an external vehicle server unit, such as a cloud system. The control unit is preferably able to receive measurement data from the vehicle sensors of at least one vehicle. Alternatively or additionally, the control unit can be an internal vehicle control unit that can receive and evaluate measurement data from the vehicle sensors.

[0015] Furthermore, according to one aspect of the invention, a computer program is provided which includes instructions that, when executed by a computer or control unit, cause it to execute the method according to the invention. According to another aspect of the invention, a machine-readable storage medium is provided on which the computer program according to the invention is stored.

[0016] The control unit can, for example, be installed in a vehicle or communicate with a vehicle via a communication link. The vehicle can then be operated in an assisted, semi-automated, highly automated, and / or fully automated or driverless manner, in accordance with the BASt standard.

[0017] The driver assistance function can access the measurement data from the vehicle sensors or have its own sensors for collecting measurement data. According to the invention, a lane keeping assistant is used as the driver assistance function, but an emergency braking assistant, distance control assistant, and the like can also be used. The method enables the detection of deviations or...

[0018] Discrepancies between digital maps and real-world vehicle environments are addressed. Detecting such deviations using localization and / or planning maps alone can be complex, as this detection is typically based on uncertain localization estimates. The method according to the invention, however, utilizes the vehicle's localization estimate as well as information from driver assistance functions and fuses these parallel data sets to detect changes in localization and / or planning maps. Alternatively or additionally, the maps can be based on measurement data from LiDAR sensors, radar sensors, camera sensors, and the like.

[0019] This allows for validation of the so-called HAD map currency at the time of vehicle localization using driver assistance functions. This enables a decision to be made locally within the vehicle at the time of localization as to whether a map update is required.

[0020] Depending on whether the validation is successful or unsuccessful, the vehicle can either continue its journey or must no longer rely on the card in use. For example, if the validation of at least one card fails, the automated driving mode can be terminated and vehicle control handed over to a driver.

[0021] Depending on the validation result, further actions may be performed or initiated as part of the process. Such actions may include, for example, noting the discrepancy between the map and the actual vehicle environment, sending a report of the failed validation, initiating a remapping process on the vehicle side, initiating a remapping process externally, performing a map update, and the like. In particular, the process can confirm the currency of a digital map or determine that a digital map is not up to date.

[0022] This method improves the quality of digital maps, particularly for automated driving. By controlling the transmission of measurement data from vehicle sensors, map updates can be reduced to only the necessary areas. This allows for targeted acceleration of map creation and a reduction in the time required to provide current maps. Furthermore, the transmission of mapping-relevant information can be controlled based on the situation, thereby reducing the amount of data to be transmitted.

[0023] Furthermore, the method according to the invention can increase the reliability of HAD cards and thus also the trustworthiness of the localization.

[0024] According to one embodiment, the validity of the digital map is confirmed when the determined vehicle position within the digital map matches the data from the driver assistance functions. This establishes a consensus between the digital map and the vehicle's real-world environment. The at least one digital map can be successfully validated if, for example, both the position in a localization map and the results of the driver assistance functions can determine a drivable position for the vehicle. In such a case, a planning map parallel to the localization map can also be validated. This information can then be used both locally (within the vehicle) and externally. In particular, the positive validation of the digital map can trigger onboard use of the digital map within the vehicle and / or a data upload.

[0025] Furthermore, the amount of data transmitted by the control unit to an external server unit can be reduced, since the measurement data from the vehicle sensors is only transmitted to the external server unit when needed or in the event of a negative validation of at least one digital map.

[0026] This also reduces the scope and frequency of such sensor data transmission. Thus, data transmission between the control unit and the external server unit can be prevented if the digital map is still correct and therefore no map update is required.

[0027] According to another embodiment, the validation of the digital map's accuracy fails if a discrepancy is detected between the vehicle's position as determined on the digital map and the data from the driver assistance function. This can indicate a conflict between the at least one digital map and the vehicle's surroundings. Such a case occurs, for example, when a driver assistance function designed as a lane keeping assistant provides continuous lane guidance, while a localization service detects a lane departure or is unable to determine a valid position. This can occur particularly in construction zones, for example, when traffic is diverted onto the opposite lane or onto the hard shoulder.

[0028] If such a discrepancy is detected by the control unit, the vehicle may no longer rely on the digital map, which means that the safety of an automated driving mode of the vehicle can no longer be guaranteed.

[0029] If a change is detected in a digital map designed as a localization map, it can be concluded with a high degree of probability that a planning map for the same location has also changed and a new one is required for the relevant area.

[0030] According to another embodiment, an external server unit is notified after a discrepancy is detected between the determined vehicle position within the digital map and the data from the driver assistance function. This allows the external server unit, which, for example, receives measurement data from a large number of vehicles and creates digital maps from this data, to be notified or warned.

[0031] This allows a remapping of the relevant area of ​​the vehicle's surroundings to be triggered. Furthermore, the vehicle's surroundings, which are no longer correctly stored in the digital map, can be marked as invalid and / or outdated for all vehicles.

[0032] In another embodiment, a map update and / or remapping is initiated after a discrepancy is detected between the determined vehicle position within the digital map and the data from the driver assistance function. Information about the detected discrepancy can thus be transmitted to the external server unit via a wireless communication link. Based on this transmitted information, the external server unit can selectively retrieve measurement data from vehicles in the area and thereby correct the outdated position on the digital map. This allows for situation-dependent map updates, which can be initiated as needed.

[0033] According to another embodiment, the deviation between the determined vehicle position within the digital map and the data of the driver assistance function is evaluated and / or categorized. This allows the severity of the deviation to be determined. The severity or degree of the deviation can be determined, for example, based on its impact on vehicles and on an automated operating mode by the control unit. In particular, deviations, such as those at guideposts or the edge of the road, can be classified as minor. Other deviations, such as changed lane guidance, closed lanes, and the like, can be classified as serious. Such categorization of the determined deviations can further reduce the amount of data transmitted, since only serious deviations are reported to the external server unit.

[0034] In another embodiment, the detected deviation is stored in a memory unit that can be connected to the control unit. This allows deviations classified as minor to be initially recorded internally within the vehicle, as these have no direct or only a minor impact on traffic. If the vehicle passes through the area again with the same minor deviation between the digital map and the vehicle's surroundings, and the deviation persists, the control unit can send a message to the external server. This allows minor deviations to be continuously monitored, enabling early detection of changes in the deviation's impact on vehicles and allowing these changes to be taken into account during map updates.

[0035] In the following, preferred embodiments of the invention are explained in more detail with reference to highly simplified schematic representations.

[0036] Here, they show Fig. 1 is a schematic representation of a vehicle arrangement to illustrate a method according to one embodiment, and Fig. 2 is a schematic flowchart to illustrate the method.

[0037] In the Figure 1 Figure 1 shows a schematic representation of a vehicle arrangement 1 to illustrate a method 2 according to one embodiment. The vehicle arrangement 1 comprises at least one vehicle 4 which drives along a vehicle environment U in an automated driving mode.

[0038] The vehicle 4 has an in-vehicle control unit 6, which is configured to execute the procedure 2. For this purpose, the control unit 6 can access a machine-readable storage medium 8 on which at least one computer program is stored. The control unit 6 can preferably execute the computer program stored on the machine-readable storage medium 8.

[0039] Furthermore, the vehicle 4 has vehicle sensors 10. These vehicle sensors 10 can consist of, for example, one or more LiDAR sensors, radar sensors, camera sensors, GNSS sensors, and the like. In particular, the vehicle sensors 10 can collect measurement data about the vehicle's surroundings U. The acquired measurement data can be transmitted to the control unit 6 and evaluated by the control unit 6.

[0040] The measurement data from the vehicle's sensors 10 can also be accessed by a driver assistance function 11 or a driver assistance system of the vehicle 4. The driver assistance function 11 can, for example, be a lane keeping assistant, which checks whether the vehicle 4 is within a drivable lane. The driver assistance function 11 can, for example, detect lane markings and / or road surfaces to determine whether the vehicle's surroundings U are drivable.

[0041] The control unit 6 can send data to an external server unit 14 or receive data from the external server unit 14 via a communication link 12.

[0042] For example, the control unit 6 can receive digital maps and / or map updates from the external server unit 14. Furthermore, the control unit 6 can send the received measurement data from the vehicle sensors 10 to the external server unit 14.

[0043] The Figure 2 shows a schematic flowchart to illustrate procedure 2.

[0044] In one step of procedure 2, measurement data from the vehicle sensors 10 are first recorded by a mapping vehicle or a mapping fleet and transmitted to a mapping service 15. The vehicle 4 can also be designed as a mapping vehicle or be used as such.

[0045] From the received measurement data, for example, the external server unit can create 14 localization maps. 16. The localization map can preferably be implemented as a digital map and made available to vehicles for localization purposes.

[0046] While driving, a localization service receives the digital map designed as a localization map 17. The localization service continuously determines the position of the vehicle 4 on the localization map 18. In addition to the localization map, measurement data from the vehicle's sensors 10 can be received 13 and used for this purpose. Parallel to the determination of the vehicle's position 18, a situation analysis is performed based on the vehicle's available driver assistance functions 4. For example, lane keeping assist, emergency braking assist, adaptive cruise control, traffic sign recognition, and the like can be used as such driver assistance functions. Based on the results of the driver assistance functions, the vehicle 4 can be guided in a lane 19.

[0047] The two processes 18 and 19 are then compared 20. A consensus or positive validation of the map's accuracy can be determined if both the vehicle position in the localization map and the results of the driver assistance functions can identify a drivable position. In this case, the planning map is confirmed 21.

[0048] A discrepancy or negative validation can be detected, for example, by the control unit 6 if the lane keeping assist system provides continuous lane guidance while the localization service detects a lane departure or cannot determine a valid position. Such a situation can occur particularly in construction zones, such as when diverting traffic onto the opposite carriageway. A change or deviation in the digital map can be detected. This information can then be transmitted locally by the control unit 6 and / or to a so-called mapping service, for example, the external server unit 14.

[0049] After the results of the situation analysis of the driver assistance function or a driver assistance system are continuously compared with the localization map, the detection of a match can serve to end an update phase 23.

Claims

1. Method (2) for validating an up-to-dateness of at least one digital map, in particular by means of a control unit (6), wherein - the at least one digital map is received or retrieved (17), - measurement data about vehicle surroundings (U) from a vehicle sensor system are received (13), - landmarks are extracted from the measurement data and detected within the at least one digital map, - a vehicle position within the at least one digital map is determined (18) on the basis of the detected landmarks within the vehicle surroundings (U), - data of a driving assistance function (11) are received (19), wherein the data of the driver assistance function (11) are results of the driver assistance function (11), wherein a lane keeping assistant is used as the driver assistance function (11), - in order to validate the up-to-dateness of the at least one digital map, a comparison between the determined vehicle position within the at least one digital map and the results of the driving assistance function (11) is carried out (20), characterized in that a positive validation of the up-to-dateness of the map is determined if both the vehicle position in the digital map configured as a localization map and the results of the driver assistance functions determine a navigable position in a corresponding manner.

2. Method according to Claim 1, wherein the up-to-dateness of the digital map is confirmed (21) if the determined vehicle position within the digital map corresponds to the data of the driving assistance function (11).

3. Method according to Claim 1 or 2, wherein the validation of the up-to-dateness of the digital map has a negative outcome (22) if a deviation between the determined vehicle position within the digital map and the data of the driving assistance function (11) is ascertained.

4. Method according to Claim 3, wherein after a deviation between the determined vehicle position within the digital map and the data of the driving assistance function (11) has been ascertained, an external server unit (14) is notified via a communication connection (12).

5. Method according to Claim 3 or 4, wherein after a deviation between the determined vehicle position within the digital map and the data of the driving assistance function (11) has been ascertained, map updating and / or remapping are / is initiated.

6. Method according to any of Claims 3 to 5, wherein the deviation between the determined vehicle position within the digital map and the data of the driving assistance function (11) is assessed and / or categorized.

7. Method according to any of Claims 3 to 6, wherein the ascertained deviation is stored in a memory (8) connectable to the control unit (6).

8. Control unit (6), wherein the control unit (6) is designed to carry out the method (2) according to any of Claims 1 to 7.

9. Computer program comprising instructions which, when the computer program is executed by a computer or a control unit (6), cause same to carry out the method according to any of Claims 1 to 7.

10. Machine-readable storage medium (8) on which the computer program according to Claim 9 is stored.