Method for embedding local sensor data into a map

Description

[0001] The invention relates to a method for embedding sensor data, in particular local data on lateral distances of a vehicle, into a map, in particular into a geographical overview map. Furthermore, the invention relates to a system for implementing the method according to the invention, comprising a motor vehicle configured to perform method steps of the method according to the invention and a network server configured to perform method steps of the method according to the invention.

[0002] Today's vehicles already feature a multitude of assistance systems that provide computer-based support to the driver in a wide variety of driving situations. Such assistance systems can utilize sensors to collect a wide range of measurement data that far exceeds human sensory capabilities. Furthermore, the speed of these assistance systems significantly exceeds human reaction times. Well-known driver assistance systems include lane departure warning systems, pedestrian detection brake assist systems, and adaptive cruise control, especially for traffic jams.

[0003] Through the application of such assistance systems, the driver's autonomy regarding their driving decisions is increasingly transferred to the vehicle or to the control units operating within it. The ultimate goal of these developments is an autonomous vehicle that can maneuver completely without human intervention. As a projection of driver assistance systems, automated driving leads to fully automated passenger transport. Furthermore, automated driving is particularly useful in parking maneuvers, where the precise knowledge of the vehicle's surroundings enabled by sensors and the highly precise execution of automated maneuvers are particularly advantageous.

[0004] To date, automatic parking of a vehicle has primarily relied on vehicle sensors that detect distances. Based on these measured distances, both the size of parking positions and the vehicle's degrees of freedom for maneuvering can be determined. For example, common parking assistants require the driver to drive past an empty parking space at least once to determine the size of the empty parking space. Based on this measured size, they then perform an automatic parking maneuver into the space.

[0005] It is also known from the prior art to make the information on free parking spaces collected by a vehicle available to other vehicles. For example, after leaving a parking space, vehicles transmit their last parking position as a GPS coordinate with a timestamp to a network server, whereupon the network server reports this position as a free parking space to other vehicles for a specific period of time.

[0006] DE 10 2017 204 455 A1 also discloses a method for collecting information on available parking spaces. This method involves detecting parked vehicles using a vehicle's sensor device. The position of the detected parked vehicles is then entered into a map as a possible parking position, possibly after verifying the legality of the parking position. This map is made available to vehicles searching for parking spaces, making it easier for them to find one. A similar method, but for detecting the orientation of parking spaces, is also described in DE 10 2009 029 553 A1.Depth information on the vehicle's lateral distances is detected using a distance sensor device and, by comparing it with predefined values, for example, the average vehicle width and length, is assigned to either a transverse or longitudinal parking space oriented to the roadway. According to both of the aforementioned methods, detected parking space (orientation) information is assigned to a map based solely on the current GPS coordinates of the detecting vehicle.

[0007] The disadvantage is that assigning the sensor values ​​recorded by a vehicle to an overview map based solely on GPS coordinates is not sufficiently accurate to make the enriched map data useful for a parking assistant. For example, the enriched map data requires an accuracy of approximately 50 cm to enable precise assignment of specific vehicle types and parking spaces. This is not possible with data linked solely based on GPS coordinates.

[0008] The publication by ROGERS JOHN G ET AL: "Mapping with a ground robot in GPS denied and degraded environments", 2015 AMERICAN CONTROL CONFERENCE (ACC), IEEE discloses a method for the inverse transformation of sensor values ​​to sensor values ​​associated with GPS positions for the localization of a robot in the partial absence of GPS, but without any connection to road traffic situations or overview maps.

[0009] US 2018 / 0364349 A1 discloses the creation of local reference data, in particular depth data, for embedding in digital map data, which is intended to improve the localization of the vehicle using the digital map data. In addition to comparing its current GPS coordinates with the map, the vehicle further compares currently acquired local reference data, in particular depth data, with the depth data embedded in the map to verify its position on the map. DE 102016212629 A1 discloses a method and a device for the automated or semi-automated parking of a motor vehicle, wherein the motor vehicle is configured to detect parking spaces while traveling along a path, offer them to a user, and, after selecting the parking space, maneuver into them automatically or semi-automatically.

[0010] It is therefore the object of the invention to overcome or at least reduce the disadvantages of the prior art and to provide a method for embedding sensor data in map data, wherein the method enables a precise assignment of the sensor values ​​recorded locally by a vehicle to a geographical overview map.

[0011] This problem is solved by the subject matter of the independent patent claims. Preferred developments are the subject matter of the dependent claims.

[0012] A first aspect of the invention relates to a method for embedding sensor data in a map, particularly preferably ultrasound data acquired by a motor vehicle in a geographical map. The method according to the invention thus aims to make the sensor data acquired locally with reference to a vehicle available to other vehicles or users by embedding it in an overview map. The method steps required for this according to the invention are described in detail below.

[0013] In one method step of the method according to the invention, the vehicle's own motion is determined in a local reference system of the motor vehicle. In other words, the vehicle's own motion is determined as a time series of positions relative to one another. The vehicle's own motion thus describes the relative change in position of the motor vehicle in space, preferably in Cartesian coordinates. However, an absolute classification of the vehicle's own motion in space is not necessary for this. If, for example, the direction and speed of the vehicle are known at a certain point in time, the change in position and thus the relative position of the vehicle to a later vehicle can be determined. Thus, information on the direction and speed of the vehicle, at least insofar as this is available for a plurality of points in time, can already be representative of the vehicle's own motion.The vehicle's own motion thus represents a trajectory of the vehicle in the local reference system, but is referred to as vehicle's own motion for conceptual differentiation.

[0014] In the method according to the invention, at least one GPS position of the motor vehicle, preferably a plurality of GPS positions of the motor vehicle, is further transformed into the local reference system of the motor vehicle. This particularly includes the transformation of a plurality of GPS coordinates into relative positions in the local reference system of the motor vehicle. An absolute spatial classification of the transformed GPS positions is not required, however, but is provided by linking the transformed GPS coordinates with the original GPS coordinates. Preferably, each of the at least one GPS position is assigned a Cartesian coordinate of the local reference system, in particular a local Euclidean reference system. In the method according to the invention, the transformation of the GPS coordinates can take place before or after determining the vehicle's own motion in the vehicle's local reference system.

[0015] The transformation or embedding of GPS coordinates into the local reference system, preferably a local Euclidean coordinate system, advantageously enables comparison with the vehicle's own motion. Embedding or transformation is achieved by linearizing the relationship between a three-dimensional position and geographical coordinates. This translates longitude and latitude into local coordinates, at least into x, y, and, if applicable, z values.

[0016] The method according to the invention further comprises linking the vehicle's own motion with the at least one GPS position to form a vehicle trajectory in the local reference system of the motor vehicle. In other words, the vehicle's own motion and the GPS coordinates in the local reference system are superimposed or fitted to one another to determine a vehicle trajectory in the local reference system that represents the vehicle's own motion and has the smallest distances to the transformed GPS coordinates. Preferably, the GPS coordinates transformed into the local reference system, particularly preferably the Cartesian coordinates of at least one GPS position, form a component of the vehicle trajectory.

[0017] Linking the vehicle's own motion, which may, for example, also include changes in altitude, with the transformed GPS coordinates originally referenced to the Earth's surface in the form of coordinates, preferably comprises a geometric rotation and / or compression of the vehicle's own motion in the local reference system to overlay it with the GPS coordinates transformed into the local reference system. Methods for overlaying (matching / fitting) a trajectory in a coordinate system to a plurality of reference points (transformed GPS coordinates) are known to those skilled in the art.

[0018] The method according to the invention further links local sensor data with the vehicle trajectory. The local sensor data are always recorded by the vehicle itself and thus always follow the vehicle's own motion in the local reference system. The local sensor data comprise lateral distance values ​​recorded by at least one distance sensor of the motor vehicle. The measured distance values ​​are always related to a position of the sensor in the vehicle, which moves in accordance with the vehicle's own motion in the local reference system. By linking the vehicle's own motion with the GPS coordinates to form the vehicle trajectory, the method according to the invention advantageously offers the possibility of relating the sensor data to a trajectory fitted to the transformed GPS coordinates.The linking of the local sensor data with the vehicle trajectory thus advantageously enables the generation of localized sensor values ​​in the local reference system of the motor vehicle, whereby the localized sensor values ​​are now related to the transformed GPS coordinates.

[0019] In the method according to the invention, the localized sensor values ​​are further reverse-transformed by transforming the transformed GPS coordinates back to regular GPS coordinates. The mathematical operation for transforming the transformed GPS coordinates to regular GPS coordinates preferably corresponds to the inverse of the operation for transforming the GPS coordinates into the local reference system. The mathematical operation for transforming the transformed GPS coordinates to regular GPS coordinates is applied in the same way to the remaining coordinates of the vehicle trajectory in order to represent all points of the vehicle trajectory in high-resolution GPS coordinates. Since each point of the vehicle trajectory was linked to local sensor values, the local sensor values ​​are now linked to high-resolution GPS coordinates.Such a dataset of locally globalized sensor values ​​is advantageously suited to embed the local sensor values ​​in a geographical map.

[0020] In a preferred embodiment of the method according to the invention, the local sensor data is recorded by at least one first sensor of a motor vehicle in the local reference system of the motor vehicle and relative to the motor vehicle. The first sensors are designed to record environmental data describing the surroundings of the vehicle. The local sensor data are lateral distance values ​​of the motor vehicle recorded by at least one distance sensor, in particular an ultrasonic sensor. These distance values ​​define the lateral distance of the motor vehicle from surrounding objects. This allows, for example, free parking spaces on the side of the road next to the vehicle to be precisely recorded. By precisely embedding these distance values ​​in a geographical map, this information is also made available to other users or vehicles.Due to the high precision of the embedding, a received vehicle can decide, for example based on its size, whether the parking space shown on the map is sufficient.

[0021] In an alternative embodiment of the method according to the invention for embedding local sensor data in a map, this method comprises the following method steps. First, at least one GPS position of the motor vehicle is determined. Likewise, the vehicle's own motion in a local reference system of the motor vehicle is determined. These steps therefore do not differ from the previously described variant of the method according to the invention. Furthermore, according to this embodiment, local sensor data are linked to the vehicle's own motion to form localized sensor values ​​in the local reference system of the motor vehicle, also as described above.

[0022] In contrast to the previously described method, however, the vehicle's own motion is now transformed into geographical coordinates. This transformation is preferably the inverse of the previously described transformation of geographical coordinates into the local reference system. Furthermore, according to this embodiment, the transformed vehicle's own motion is linked to the at least one GPS position to form a vehicle trajectory in geographical coordinates. In other words, according to this embodiment, the local and global motion in the geographical coordinate space are linked. This vehicle trajectory determined in this way is in turn linked to the localized sensor values ​​in order to determine globalized sensor values ​​assigned to GPS positions. The embodiment described here thus represents a partially inverted sequence of the method according to the invention.For reasons of clarity, preferred embodiments are described below only with reference to the first embodiment, but apply equally to the partially inverted embodiment of the method described here.

[0023] In a preferred embodiment of the method according to the invention, the vehicle's own motion is determined based on measured values ​​from at least one second sensor of the motor vehicle. The second sensors are designed to capture vehicle data describing a state of the vehicle. In a particularly preferred embodiment, the second sensors comprise wheel speed sensors, and the vehicle's own motion is determined in the local reference system by reconstructing the vehicle's own motion based on the wheel speeds measured for a vehicle axle.

[0024] Particularly preferred is to determine the vehicle's own motion by converting the measured wheel speeds ν r and ν l into rotational speeds of the rear wheels in meters per second. To determine the rotational speed, a measured tire circumference γ r , γ l is preferably used, which in practice can differ significantly from the actual tire circumference. Correction factors can be used to compensate for this discrepancy. With additional information about the length b of a rear axle, the local trajectory of the vehicle's own motion can be integrated. Using the Euler method, the corresponding equations for integrating the trajectory are as follows: ϕ x + t = ϕ x + Δ t γ l v l − γ l v r b x t + 1 = x t + Δ t γ l v l + γ l v r 2 cos ϕ t y t + 1 = y t + Δ t γ l v l + γ l v r 2 sin ϕ t

[0025] The vehicle's own motion determined in this way is determined for an unknown coordinate system, in particular because the initial position and initial orientation of the vehicle's own motion in space are unknown. In a preferred embodiment of the method according to the invention, these factors are determined during the linking of the vehicle's own motion with the transformed GPS coordinates. Particularly preferably, an initial GPS position at a time t 0 is used as the starting point for the development of the local vehicle's own motion of X 0 =X(t 0 ), and the initial orientation of the vehicle's own motion is determined such that the vehicle's own motion follows the GPS motion on average, i.e. intersects or closely passes the transformed GPS coordinates. Such an approach is sufficient for completely flat geometries. To take differences in altitude into account, a compression of the vehicle's own motion may be necessary.Furthermore, when linking the vehicle's own motion determined using the above equations with the GPS coordinates in the local reference system, the distance of the GPS sensor to the vehicle's rear axle must be taken into account.

[0026] According to the invention, the local sensor values ​​are each provided with a time stamp. In a likewise preferred embodiment, the GPS coordinates and the data relating to the vehicle's own movement are each provided with a time stamp. Linking the Cartesian coordinates of a GPS position with the vehicle's own movement is thus preferably carried out using at least one time stamp. Likewise, linking at least one local sensor value with the vehicle's own movement is preferably carried out using a time stamp. Thus, the local sensor values ​​can also be assigned to the vehicle's trajectory based on the time stamp.

[0027] A further aspect of the invention relates to a network server comprising a second communication module configured for data communication with a plurality of motor vehicles and a second control unit. The network server further comprises a second control unit configured to communicate with the first communication module of at least one motor vehicle by means of a second communication module. The control unit is further configured to carry out the steps of the network server in the method according to the invention and is in particular configured to receive local sensor data, vehicle movement data, and at least one GPS position from at least one motor vehicle, each provided with a time stamp, wherein the local sensor data comprises lateral distance values ​​detected by means of at least one distance sensor of the motor vehicle.

[0028] The control unit of the network server is further configured to assign Cartesian coordinates of a local reference system of the motor vehicle to the at least one GPS position. The local reference system of the motor vehicle is, for example, an unknown reference system or coordinate system with a fixed metric but without a fixed origin. The assignment is performed in particular by converting the geographical coordinates into Cartesian coordinates and distances. The control unit is further configured to reconstruct the vehicle's own motion in the local reference system of the motor vehicle based on the vehicle motion data. The reconstruction is preferably performed using line-train methods and corresponding equations of motion, as explained above using the example of wheel speeds and Euler equations.The control unit is further configured to link the thus determined vehicle movement with the at least one transformed GPS position to form a vehicle trajectory. The control unit of the network server is further configured to link the local sensor data with the vehicle trajectory to form localized sensor values. Linking is preferably performed as explained above, particularly preferably using timestamps. The control unit is further configured to retransform the localized sensor values ​​into sensor values ​​assigned to GPS positions (globalized sensor values) and to embed the globalized sensor values ​​in a map.

[0029] In an alternative embodiment, the control unit of the network server is alternatively or additionally configured to link the local sensor data with Cartesian coordinates of the vehicle movement data determined in a local reference system of the motor vehicle to form localized sensor data, to transform the Cartesian coordinates of the vehicle movement data into GPS positions, to link the transformed vehicle movement of the motor vehicle with at least one GPS position to form a vehicle trajectory in geographical coordinates, and to transform the localized sensor data into global sensor data using the vehicle trajectory. As already described with reference to the method according to the invention, this embodiment is configured to carry out a partially inverse implementation of the method according to the invention, which represents a simple adaptation for those skilled in the art.

[0030] According to the invention, the control unit of the network server is further configured to embed the globalized sensor values ​​thus obtained in a geographical map. This map thus contains only GPS coordinates and sensor values ​​associated with the GPS coordinates, for example, regarding lateral distances from a lane, or contains information already derived from them, for example, regarding available parking spaces. Advantageously, local sensor values ​​of a vehicle no longer need to be forwarded in the context of additional sensor data, for example, regarding the odometry of the detecting vehicle. This optimizes data transmission and better protects user privacy.

[0031] In an alternative preferred embodiment, the map with the embedded globalized sensor values ​​or the globalized sensor values ​​are generated by a vehicle itself. In this case, the server receives the map or the globalized sensor values ​​and transmits them to other vehicles. Generating the map in the network server has the advantageous effect that the local sensor values ​​can be used by a plurality of vehicles to generate the map with embedded information. Furthermore, preferred embodiments of the control unit of the network server correspond to the preferred embodiments explained with reference to the method according to the invention.

[0032] A further aspect of the invention relates to a method of a network server of a motor vehicle, which has at least one memory, a second communication module configured to communicate with a first communication module of at least one motor vehicle, and the second control unit, wherein the method comprises at least the following steps: receiving local sensor data, vehicle movement data, and at least one GPS position from a motor vehicle, each provided with a time stamp, wherein the local sensor data comprises lateral distance values ​​detected by at least one distance sensor of the motor vehicle, assigning the at least one GPS position to Cartesian coordinates of a local reference system of the motor vehicle, reconstructing a vehicle's own movement of the motor vehicle in the local reference system of the motor vehicle based on the vehicle movement data,Linking the vehicle's own motion and at least one transformed GPS position to a vehicle trajectory, linking the local sensor data with the vehicle trajectory to localized sensor values, back-transforming the localized sensor values ​​to globalized sensor values ​​assigned to GPS positions, and embedding the globalized sensor data in a map.

[0033] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a network server, cause the computer to carry out the steps of the network server in the method according to the invention, in particular the steps: receiving local sensor data, each provided with a time stamp, vehicle movement data and at least one GPS position from a motor vehicle, assigning the at least one GPS position to Cartesian coordinates of a local reference system of the motor vehicle, reconstructing a vehicle's own movement of the motor vehicle in the local reference system of the motor vehicle based on the vehicle movement data, linking the vehicle's own movement and at least one transformed GPS position to a vehicle trajectory, linking the local sensor data to the vehicle trajectory to localized sensor values,Back-transformation of the localized sensor values ​​to globalized sensor values ​​assigned to GPS positions and embedding the globalized sensor values ​​in a map.

[0034] A further aspect of the invention relates to a motor vehicle, in particular a passenger car with a combustion engine, electric motor, or hybrid engine, configured to perform the steps of a motor vehicle in the method according to the invention. For this purpose, the motor vehicle has at least one first sensor configured to acquire environmental data and at least one second sensor configured to acquire vehicle data.

[0035] The at least one first sensor is designed to detect sensor signals relating to the vehicle's surroundings and comprises at least one distance sensor configured to detect lateral distance values. The at least one second sensor is designed to detect sensor signals relating to the vehicle itself. The communication module is designed to receive information potentially relating to the motor vehicle and / or its surroundings via a communication network. An environmental signal received by the at least one first sensor preferably enables the motor vehicle to obtain information about its surroundings and preferably displays a large number of environmental information items.A status signal received by means of the at least one second sensor preferably enables the motor vehicle to obtain information about its own status and, for this purpose, preferably displays a plurality of status information items of the motor vehicle.

[0036] The motor vehicle according to the invention further comprises a first communication module configured for communication with a network server and GPS satellites. Furthermore, the communication module can be configured for communication with other devices, such as other vehicles or a smart infrastructure. The communication module preferably comprises a radio, mobile radio, WLAN, and / or Bluetooth transceiver or alternative wireless communication devices.

[0037] The motor vehicle further comprises a first control unit configured to communicate with the at least one first sensor for acquiring environmental data of a motor vehicle, with the at least one second sensor for acquiring status data of the motor vehicle, and with the first communication module of the motor vehicle. The control unit is further configured to carry out the steps of the motor vehicle in the method according to the invention. The first control unit is designed, in particular, to receive a map with sensor values ​​assigned to GPS positions from the network server by means of the first communication module and to carry out at least one automatic driving maneuver based on the received map with sensor values ​​assigned to GPS positions. According to this embodiment, the globalized sensor values ​​or at least the map with the globalized sensor values ​​were generated by the server.

[0038] According to such an embodiment, the control unit is nevertheless preferably configured to acquire local sensor data in the local reference system of the motor vehicle relative to the motor vehicle by means of at least one first sensor, to acquire vehicle movement data characterizing the motor vehicle's own movement in the local reference system by means of at least one second sensor, and to acquire at least one GPS position of the motor vehicle by means of the first communication module. Furthermore, the control unit is configured to transmit the local sensor data, the vehicle movement data, and the at least one GPS position to a network server, wherein the local sensor data, the vehicle movement data, and the at least one GPS position are preferably each provided with a time stamp. Likewise, the transmission preferably takes place in a common data structure.

[0039] According to the invention, the sensor data recorded and transmitted by a vehicle relate to lateral distance values, which were recorded, for example, using an ultrasonic sensor. Also preferably, the map received by a vehicle contains embedded globalized sensor values, preferably from a plurality of vehicles, relating to lateral distance values, or the map contains information on free parking spaces along streets derived from such distance values ​​and embedded in the map.

[0040] In a particularly preferred embodiment, the motor vehicle according to the invention further comprises a driving system configured for automatic driving of the motor vehicle. The driving system of the motor vehicle according to the invention is preferably configured to carry out at least one automatic driving maneuver / automatic drive of the vehicle. Particularly preferably, the driving system is designed for fully automatic guidance of the motor vehicle and can control the longitudinal guidance and the lateral guidance of the motor vehicle. Furthermore, the driving system can preferably access the at least one first sensor and / or the at least one second sensor to determine status information and / or environmental information of the motor vehicle. These first and second sensors can thus preferably be used by the driving system and by the control unit.

[0041] Particularly preferably, the vehicle's control unit is configured to use the driving system to perform at least one automatic driving maneuver using the received map with globalized sensor values ​​or information derived therefrom. Particularly preferably, the automatic driving maneuver comprises performing an automatic drive to a parking space or automatically parking into a parking space.

[0042] In a likewise preferred embodiment, the control unit of the motor vehicle itself is configured to generate the globalized sensor values. In other words, the motor vehicle according to the invention is configured solely to carry out the method according to the invention.According to this embodiment, the control unit of the motor vehicle is particularly designed to assign Cartesian coordinates of the local reference system of the motor vehicle to at least one GPS position, to reconstruct an inherent movement of the motor vehicle in the local reference system of the motor vehicle using the vehicle movement data and to link it to the at least one transformed GPS position to form a vehicle trajectory, to link the local sensor data, comprising lateral distance values ​​detected by means of at least one distance sensor of the motor vehicle, to the vehicle trajectory to form localized sensor values, to transform the localized sensor values ​​back into globalized sensor values ​​assigned to GPS positions, and to embed the globalized sensor values ​​in a map.Furthermore, preferred embodiments of the motor vehicle correspond to the preferred embodiments explained above with reference to the method according to the invention.

[0043] Today's common motor vehicles already have a multitude of sensors, which, as primary sensors, continuously detect various environmental information, such as lateral distances to parked cars. Furthermore, today's vehicles also have secondary sensors for detecting status information, such as wheel speeds or the like. Modern vehicles are also equipped with powerful communication modules that enable the transmission of information via a variety of channels. The method according to the invention applies these existing sensors and the communication module to a new, advantageous use.

[0044] A further aspect of the invention relates to a method of a control unit of a motor vehicle, which has at least one first sensor configured to acquire environmental data, at least one second sensor configured to acquire status data of the motor vehicle and a communication module, a driving system configured for automatic driving of the motor vehicle, and the control unit, wherein the method comprises at least the following steps: receiving a map with sensor values ​​assigned to GPS positions by means of the first communication module from the network server and carrying out at least one automatic driving maneuver based on the received map with sensor values ​​assigned to GPS positions.

[0045] Alternatively or additionally, the method comprises the steps of: detecting local sensor data in the local reference system of the motor vehicle relative to the motor vehicle by means of at least one first sensor, detecting vehicle movement data characterizing a movement of the motor vehicle in the local reference system by means of at least one second sensor, detecting at least one GPS position of the motor vehicle by means of the first communication module, transmitting the local sensor data, the vehicle movement data and the at least one GPS position to a network server, preferably in a common data structure and preferably together with respective time stamps.

[0046] Alternatively or additionally, the method comprises the steps of: assigning Cartesian coordinates of the local reference system of the motor vehicle to at least one GPS position of the motor vehicle, reconstructing a vehicle's own movement of the motor vehicle based on the vehicle movement data in the local reference system of the motor vehicle, linking the vehicle's own movement with the Cartesian coordinates of the at least one transformed GPS position to form a vehicle trajectory, linking the local sensor data, comprising lateral distance values ​​detected by means of at least one distance sensor of the motor vehicle, with the vehicle trajectory to form localized sensor values, back-transforming the localized sensor values ​​to (globalized) sensor values ​​assigned to GPS positions and embedding the globalized sensor values ​​in a map.

[0047] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a motor vehicle, cause the computer to carry out the steps of the control unit of the motor vehicle in the method according to the invention.

[0048] A further aspect of the present invention relates to a system comprising a motor vehicle according to the invention as described above and a network server according to the invention as described above. Preferred embodiments of the system correspond to the preferred embodiments explained with reference to the motor vehicle and the server, or to the preferred implementations of the methods.

[0049] The method steps of the method according to the invention can be implemented by electrical or electronic components or parts (hardware), by firmware (ASIC), or by executing a suitable program (software). Likewise, the method according to the invention is preferably realized or implemented by a combination of hardware, firmware, and / or software. For example, individual components for performing individual method steps are designed as a separate integrated circuit or arranged on a common integrated circuit. Furthermore, individual components configured to perform individual method steps are preferably arranged on a (flexible) printed circuit board (FPCB / PCB), a tape carrier package (TCP), or another substrate.

[0050] The individual method steps of the method according to the invention are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when executing one or more computer programs. The computing devices are preferably designed to cooperate with other components, for example a communications module, as well as one or more sensors or cameras, in order to implement the functionalities described herein. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory, or the like.

[0051] It will also be apparent to those skilled in the art that the functionalities of multiple computers (data processing devices) may be combined or combined in a single device, or that the functionality of a particular data processing device may be distributed among a plurality of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

[0052] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.

[0053] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Figure 1 shows a schematic representation of a system according to the invention comprising a motor vehicle according to the invention and a mobile network server according to the invention according to one embodiment; and Figure 2 shows a schematic sequence of the steps of a method according to the invention according to one embodiment.

[0054] Figure 1shows a schematic representation, in particular a block diagram, of an exemplary motor vehicle 10, in particular a two-track motor vehicle with an internal combustion engine, electric motor, or hybrid engine. The motor vehicle 10 comprises a plurality of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, 13 are configured to capture environmental data of the motor vehicle 10 and include, in particular, a camera for capturing an image of the environment immediately surrounding the motor vehicle 10 and distance sensors, in particular ultrasonic sensors or LIDAR, for detecting lateral distances to objects surrounding the motor vehicle 10. The first sensors 11, 12, 13 transmit the environmental signals they capture to a first control unit 40 of the motor vehicle 10.

[0055] The motor vehicle 10 further comprises a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The second sensors 51, 52, 53 are sensors for determining status data relating to the motor vehicle 10 itself, such as current position and movement information of the motor vehicle. The second sensors 51, 52, 53 are therefore in particular speed sensors, acceleration sensors, inclination sensors, sensors for measuring the immersion depth of a shock absorber, and wheel speed sensors. The second sensors 51, 52, 53 transmit the status signals they detect to the first control unit 40 of the motor vehicle 10. Furthermore, the second sensors 51, 52, 53 transmit their measurement results directly to the driving system 30 of the motor vehicle 10.

[0056] The motor vehicle 10 further comprises a first communication module 20 with a memory 21 and one or more transponders or transceivers 22. The transponders 22 are radio, WLAN, GPS, or Bluetooth transceivers, or the like. The transponder 22 communicates with the internal memory 21 of the first communication module 20, for example, via a suitable data bus. Using the transponder 22, for example, the current position of the motor vehicle 10 can be determined by communicating with a GPS satellite 61 and stored in the internal memory 21. The first communication module 20 also communicates with the first control unit 40. Furthermore, the first communication module 20 is configured to communicate with a mobile network server 70, in particular a backend server of a vehicle manufacturer or fleet operator.The communication takes place with a second communication module 90 of the network server 70. Preferably, the first communication module 20 communicates via an LTE mobile network.

[0057] The motor vehicle 10 further comprises the driving system 30, which is configured for fully automatic driving operation, in particular for longitudinal and lateral guidance, of the motor vehicle 10. The driving system 30 has a navigation module 32, which is configured to calculate routes between a starting point and a destination point and to determine the maneuvers to be performed by the motor vehicle 10 along this route. Furthermore, the driving system 30 comprises an internal memory 31, for example for map material, which communicates with the navigation module 32, for example via a suitable data bus. The driving system 30 also communicates with the control unit 40 and receives trajectory information received from the network server 70 by the control unit 40 via the first communication module 20. The navigation module 32 is preferably configured to determine a route of the motor vehicle 10 based on this trajectory information.

[0058] At least some of the second sensors 51, 52, 53 of the motor vehicle transmit their measurement results directly to the driving system 30. These data transmitted directly to the driving system 30 are, in particular, current position and movement information of the motor vehicle 10. These are preferably recorded by speed sensors, acceleration sensors, inclination sensors, etc.

[0059] The motor vehicle 10 further comprises a first control unit 40, which is configured to carry out the steps of the motor vehicle 10 in the method according to the invention. For this purpose, the first control unit 40 has an internal memory 41 and a CPU 42, which communicate with each other, for example, via a suitable data bus. Furthermore, the first control unit is in communication with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20, and the driving system 30, for example, via one or more respective CAN connections, one or more respective SPI connections, or other suitable data connections.

[0060] The network server 70 has a second control unit 80, which is configured to carry out the steps of the network server 70 in the method according to the invention. For this purpose, the second control unit 80 has an internal memory 81 and a CPU 82, which communicate with each other, for example, via a suitable data bus. The network server 70 further has a second communication module 90. The second communication module 90 has a memory 92 and one or more transponders or transceivers 91. The transponders 91 are radio, WLAN, GPS or Bluetooth transceivers or the like. The transponder 91 communicates with the internal memory 92 of the second communication module 90, for example, via a suitable data bus. The second communication module 90 is preferably configured to communicate via an LTE mobile network.

[0061] Figure 2shows a schematic sequence of process steps (A), (B), (C), (D) and (E) of a process according to the invention according to one embodiment, wherein the process steps do not necessarily have to be carried out in the specified order.

[0062] In step (A) of the method, the GPS positions of a motor vehicle are transformed into an unknown Euclidean coordinate system. The GPS positions were recorded by the motor vehicle at times t 1 , t 2 , t 3 and the like and relate to the earth's surface as information about geographical latitude and longitude. The GPS positions are transformed into an unknown Euclidean coordinate system under the assumption that this is a flat (even) section of the earth's surface by linearizing the GPS coordinates and generating x and y coordinates. In particular, a first GPS position recorded at time t 1 is defined as the starting point, and relative distances Δx and Δy of the further GPS positions are determined. The Euclidean coordinate system is assumed to be the vehicle's local reference system.

[0063] In method step (B), the vehicle's own motion is reconstructed in an unknown Euclidean coordinate system as the vehicle's local reference system. The vehicle's local reference system does not necessarily correspond to the coordinate system from step (A). However, an identical metric is preferably used. The vehicle's own motion is reconstructed, for example, using wheel speed values ​​of a right wheel and a left wheel, which are connected via a vehicle axis of length b, using Euler equations, as stated above. The vehicle's own motion is a trajectory of the vehicle, which in particular also includes the times t 1 , t 2 , t 3 and, in addition, a large number of intermediate times ti. The vehicle's own motion describes the temporal sequence of the changes in position and orientation of the motor vehicle, but as a trajectory is not absolutely oriented in space.

[0064] In method step (C), the vehicle's own motion is linked to the GPS positions transformed into the vehicle's local reference system. This is shown in simplified form in Figure 3 as a rotation of the vehicle's own motion onto the trajectory spanned by the GPS positions. Furthermore, the links can also include compressions or expansions of the vehicle's own motion, for example, to account for altitude variations of the vehicle's own motion. Furthermore, the linking can include adapting the metric of the reference systems used in steps (A) and (B). The linking is carried out, in particular, using the timestamps t1 ... ti ... t2 ... ti ... t3 ... ti.

[0065] In step (D) of the method, the linking of local measured values ​​with the determined vehicle trajectory is shown. The local measured values ​​are always recorded relative to the motor vehicle, in particular relative to a corresponding sensor. For example, the lateral distance values ​​indicated in step (D) are recorded with reference to an ultrasonic sensor of the motor vehicle. The local sensor values ​​are also linked to corresponding time stamps of the sensor recording. The linking is thus preferably carried out by locating the sensor position along the determined linked vehicle trajectory for each time t1 and by assigning the sensor values ​​recorded at time t1 to the thus determined sensor position. As in the Figure 2(D)As shown, lateral distance measurements result in a driving path following the determined vehicle trajectory, whereby variations (not shown) in the lateral boundary lines of the driving path can indicate free parking spaces.

[0066] Finally, in process step (E), the GPS positions and the local sensor values ​​now linked to them are transformed back into the geographical or cartographic representation using latitude and longitude information. The back transformation preferably corresponds to the inverse of the initial transformation from the GPS positions to the unknown Euclidean coordinate system. Step (E) thus generates globalized sensor values, i.e., sensor values ​​linked to the GPS positions (in latitude and longitude information). These globalized sensor values ​​are suitable for transmission via a data connection with low data consumption and anonymized data, and are therefore particularly suitable for creating a map with embedded information based on the globalized sensor values ​​of several vehicles, in particular regarding available parking spaces and the respective sizes of the parking spaces. List of reference symbols

[0067] 10Motor vehicle 11First sensor 12Second sensor 13Third sensor 20Communication module 21Memory 22Transponder 30Driving system 31Memory 32Navigation module 40Control unit 41Memory 42CPU 51Fourth sensor 52Fifth sensor 53Sixth sensor 61Satellite 70Network server 80Control unit 81Memory 82CPU 90Communication module 91Transponder 92Memory 100System

Claims

1. Method for embedding sensor data into a map, comprising the method steps of: determining a vehicle movement of a motor vehicle (10) in a local reference system of the motor vehicle (10); transforming at least one GPS position of the motor vehicle (10) into the local reference system of the motor vehicle (10); linking the vehicle movement of the motor vehicle (10) with the at least one GPS position based on at least one time stamp to form a vehicle trajectory in the local reference system of the motor vehicle (10); linking local sensor data, comprising lateral distance values which are detected by means of at least one distance sensor of the motor vehicle (10) and are each provided with a time stamp, with the vehicle trajectory to form localized sensor values in the local reference system of the motor vehicle (10); transforming the localized sensor values back into globalized sensor values concerning lateral distance values, which are assigned to GPS positions; and embedding the globalized sensor values and the information derived therefrom regarding free parking spaces and the sizes of free parking spaces into the map.

2. Method for embedding sensor data into a map, comprising the method steps of: determining at least one GPS position of a motor vehicle (10); determining a vehicle movement of the motor vehicle (10) in a local reference system of the motor vehicle (10) and linking local sensor data, comprising lateral distance values which are detected by means of at least one distance sensor of the motor vehicle (10) and are each provided with a time stamp, with the vehicle movement to form localized sensor values in the local reference system of the motor vehicle (10); transforming the vehicle movement into geographical coordinates; linking the transformed vehicle movement of the motor vehicle (10) with the at least one GPS position based on at least one time stamp to form a vehicle trajectory in geographical coordinates; determining globalized sensor values concerning lateral distance values, which are assigned to GPS positions, based on the vehicle trajectory and the localized sensor values; and embedding the globalized sensor values and the information derived therefrom regarding free parking spaces and the sizes of free parking spaces into the map.

3. Method according to either of the preceding claims, wherein the lateral distance values are detected by means of at least one ultrasonic sensor of the motor vehicle (10).

4. Method according to any of the preceding claims, wherein the vehicle movement is determined based on measured values from at least one second sensor (51, 52, 53) of the motor vehicle (10).

5. Method according to any of the preceding claims, wherein Cartesian coordinates of the local reference system are assigned to each of the at least one GPS position.

6. Method according to any of the preceding claims, wherein the Cartesian coordinates of at least one GPS position are part of the vehicle trajectory.

7. Network server (70) having a second communication module (90) designed for data communication with a plurality of motor vehicles (10); and a control unit (80), wherein the control unit (80) is designed to: receive local sensor data, vehicle movement data and at least one GPS position from a motor vehicle (10), which are each provided with a time stamp, wherein the local sensor data comprise lateral distance values detected by means of at least one distance sensor of the motor vehicle (10), assign Cartesian coordinates of a local reference system of the motor vehicle (10) to the at least one GPS position, reconstruct a vehicle movement of the motor vehicle (10) in the local reference system of the motor vehicle (10) based on the vehicle movement data, and to link said movement with the at least one transformed GPS position based on the time stamp to form a vehicle trajectory, link the local sensor data with the vehicle trajectory to form localized sensor values, transform the localized sensor values back into globalized sensor values concerning lateral distance values, which are assigned to GPS positions, and embed the globalized sensor values and the information derived therefrom regarding free parking spaces and the sizes of the free parking spaces into a map.

8. Network server (70) having a second communication module (90) designed for data communication with a plurality of motor vehicles (10); and a control unit (80), wherein the control unit (80) is designed to: receive local sensor data, vehicle movement data and at least one GPS position from a motor vehicle (10), which are each provided with a time stamp, wherein the local sensor data comprise lateral distance values detected by means of at least one distance sensor of the motor vehicle (10), link the local sensor data with Cartesian coordinates of the vehicle movement data, which are determined in a local reference system of the motor vehicle (10), to form localized sensor values, transform the Cartesian coordinates of the vehicle movement data into GPS positions, link the transformed vehicle movement of the motor vehicle (10) with at least one GPS position, based on at least one time stamp, to form a vehicle trajectory in geographical coordinates; transform the localized sensor values into global sensor values concerning lateral distance values by means of the vehicle trajectory; and embed the globalized sensor values and the information derived therefrom regarding free parking spaces and the sizes of the free parking spaces into a map.

9. Motor vehicle (10) having at least one first sensor (11, 12, 13) designed to capture local sensor data, the motor vehicle comprising at least one distance sensor designed to capture lateral distance values which are each provided with a time stamp; at least one second sensor (51, 52, 53) designed to capture vehicle movement data; a first communication module (20) designed to communicate with a network server (70) and GPS satellites (61); a driving system (30) designed to automatically drive the motor vehicle, and a control unit (40), wherein the control unit (40) is designed to: receive a map having sensor values assigned to GPS positions from the network server (70) by means of the first communication module (20), and carry out at least one automatic driving maneuver based on the received map having sensor values assigned to GPS positions, wherein the control unit is further designed to: assign Cartesian coordinates of the local reference system of the motor vehicle to at least one GPS position, reconstruct a vehicle movement of the motor vehicle in the local reference system of the motor vehicle based on the vehicle movement data, and to link said movement with the at least one transformed GPS position, based on at least one time stamp, to form a vehicle trajectory, link the local sensor data with the vehicle trajectory to form localized sensor values, transform the localized sensor values back into globalized sensor values concerning lateral distance values, which are assigned to GPS positions, and embed the globalized sensor values and the information derived therefrom regarding free parking spaces and the sizes of the free parking spaces into a map.

10. System (100) consisting of a network server (70) according to claim 7 or 8 and a motor vehicle (10) according to claim 9.

11. Computer program comprising instructions which, when the program is executed by a control unit (80) of a network server (70), cause the latter to carry out the steps specified in claims 7 and 8.

12. Computer program comprising instructions which, when the program is executed by a control unit (40) of a motor vehicle (10), cause the latter to carry out the steps specified in claim 9.