Transferring locations between different map data

Abstract

Improved techniques are presented for relating a location relative to a first map data set to a second map data set. A method for referencing second map data for a route of a vehicle relative to first map data includes: - determining a first location on the route with respect to a first map data 125; - assigning lanes in which the vehicles 105 will travel at a first location; - providing first locations each having an assigned lane; - determining a second location for each of the first locations and each of the assigned lanes; Includes:

Description

[Technical Field]

[0001] The present invention relates to the transfer of positions between different map data, and more particularly to the transfer of positions between systems onboard motor vehicles that use different map data. [Background technology]

[0002] The motor vehicle includes first and second systems each processing location-related information, where the first system can include, for example, a driver assistance system capable of assisting or controlling functions of the motor vehicle, and the second system can include a navigation system configured for route planning between a current location and a predetermined destination location, where the first system is based on first map data and the second system is based on second map data.

[0003] The first system is capable of identifying and providing a planned position of the motor vehicle with respect to the first map data. The first and second map data may differ significantly from each other and / or from reality, so that the first position received without modification may be off-path or even on another path when referring to the second map data.

[0004] For the transfer of positions between the first and second map data, it has been proposed to refer to objects in a map-independent format that does not presuppose map data. However, such an approach is very computationally intensive and unsuitable for processing a large number of positions, especially in real time. Other proposals involve centrally managed referencing formats such as the Traffic Message Channel (TMC). However, such formats use a relatively coarse grid and can only be used for large roads or important traffic junctions.

[0005] The location can be in terms of absolute geographic coordinates. However, available map data, which also use absolute geographic coordinates, typically have errors in the indicated location that range up to about 20 meters. In addition, the location of an object can only be determined with limited accuracy from a motor vehicle. Summary of the Invention [Problem to be solved by the invention]

[0006] The problem underlying the present invention is to provide an improved technique for relating a location relative to a first map data set to a second map data set. [Means for solving the problem]

[0007] This problem is solved by the present invention using the features of the independent claims. The dependent claims present preferred embodiments.

[0008] A method of referencing second map data for a route of a vehicle relative to first map data includes the steps of identifying a first location on the route for the first map data, assigning lanes for the vehicle to travel on at the first location, providing the first location with the assigned lanes, and identifying a second location for the first location and the assigned lanes.

[0009] By handing over the combination of the location and the lane assigned to the location in which the vehicle is located, the location of the route can be easily associated with or reference to the second map data. The method can be performed with any suitable first and second map data.

[0010] The map data may use, for example, different map systems, different geoids, or different measurement systems. Thus, lane-accurate position transfer from the first map data to the second map data may be realized. By relative representation of lateral positions, in particular, the transfer from the first position to the second position may be performed in such a way that the respective traveled lanes are accurately depicted. Such a transfer is also referred to herein as lane-accurate.

[0011] Preferably, each lane is associated with a roadway that includes the lane. Typically, a vehicle can be assumed to always be on the roadway. For example, lanes on a roadway can be counted from right to left or left to right, so that the lanes can be displayed relative to the roadway. Therefore, lanes associated with a roadway according to the first map data can be easily converted to lanes associated with a roadway according to the second map data.

[0012] It is further preferred that the route includes a reference location, at which a first position relative to the first map data and a second position relative to the second map data are known.

[0013] In this way, it is possible to determine the absolute deviation of the reference position according to the first map data from the reference position according to the second map data, which deviation can be applied to positions within a predetermined range around the reference position, and thus the planned route of the vehicle can be easily and quickly transferred from the first map data to the second map data.

[0014] The reference position may include in particular the current position of the vehicle. The position may be determined using one or more positioning systems installed in the vehicle. The measurements of the positioning systems may be based on determining the actual position of the vehicle with respect to different map data. Preferably, the route is a planned route extending forward in the direction of travel from the current position of the vehicle.

[0015] In one embodiment, the first location is contained in a polyline. A polyline may represent a series of interconnected locations, allowing a location to be expressed relative to a preceding or subsequent location. This can reduce the data to be transmitted and simplify location processing.

[0016] It is further preferred that the sequence of predetermined first positions includes a change of lane driven in. Using the method proposed herein, such driving maneuvers can be easily transferred from the first map data to the second map data.

[0017] The position can be expressed by its distance from a reference position along the travel path and by an indication of the lane used. A lane change maneuver can, for example, include an indication that a change from the second lane of the traveled path to the third lane should be made from the right along the traveled path in about 50 m, starting from the current position of the vehicle as a reference position.

[0018] If a lane is not defined by the first map in the area of ​​the first location, a display of the undefined lane can be assigned to the first location. The undefined lane can appear, for example, in the area of ​​an intersection or during a turning process. The shape of the curve described by the first location in the area can be adjusted accordingly between the second location before the area. Thus, the route can also represent the actual progression of the second map data.

[0019] If the second map data does not include lane information within the range of the second location, it is possible to identify the lateral position of the second location relative to the boundaries of the roadway being traveled. For example, if the vehicle is traveling on the second lane from the right in the first map data and the roadway has four lanes according to the first map data, the roadway according to the second map data is divided into four equal-width portions that can be considered as lanes, thereby making it possible to identify the lateral (transverse) position of the vehicle in the second map data.

[0020] The traveled lane can be determined by the second map data as a range between one and two widths laterally from the right edge of the roadway. The vehicle can therefore be located in different "virtual" lanes with respect to the second map data. In this case, it does not matter whether lanes are depicted on the roadway.

[0021] Generally, it is preferable that the first map data have a higher level of detail and / or a higher level of accuracy than the second map data. For example, the first map data may be included in a driver assistance system and / or the second map data may be included in a navigation system. The driver assistance system may be able to reliably identify the lane in which the vehicle is traveling. In the manner described above, this reliability or accuracy may be facilitated as a basis for displaying the second map data.

[0022] An apparatus for referencing second map data for a vehicle route relative to first map data includes a first map storage device for the first map data, a second map storage device for the second map data, and a processing device, wherein the processing device is configured to identify a first location on the route relative to the first map data, assign lanes for the vehicle to travel on at the first location, provide the first location with the respective assigned lanes, and identify a second location relative to the first location and the respective assigned lanes.

[0023] The processing device can be configured to partially or completely execute the methods described herein. To this end, the processing device can be configured electronically and can include, for example, a programmable microcomputer or microcontroller. The methods can be in the form of a computer program product having program code means. The computer program product can also be stored on a computer-readable data medium. Features or advantages of the methods can also apply to the device, and vice versa.

[0024] The vehicle comprises the apparatus described herein. The vehicle preferably comprises a motor vehicle, in particular a motorized two-wheeler, a passenger car, a commercial vehicle (truck) or a public bus (bus).

[0025] The invention will now be described in more detail with reference to the accompanying drawings. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a diagram showing a device mounted on a vehicle. [Figure 2] FIG. 1 shows a flowchart of a method. [Figure 3] FIG. 1 illustrates an exemplary route for a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0027] 1 illustrates an apparatus 100 mounted on a vehicle 105. The vehicle 105 is illustratively illustrated as a passenger car, but in other embodiments may include other types of vehicles. The apparatus 100 includes a processing unit 110, a first map storage device 115, and a second map storage device 120. The map storage devices 115 and 120 are each configured to store map data. Here, the first map storage device 115 stores first map data 125, and the second map storage device 120 stores second map data 130.

[0028] The first map data 125 is illustratively high definition (HD) and can be used by a first system 135, including, for example, a driver assist function, automatic or autonomous control of the vehicle 105. The second map data 130 is illustratively single definition (SD) and can be used by a second system 140, including, for example, a navigation system.

[0029] The map data 125, 130 may be used for different purposes and may be optimized with respect to correspondingly different criteria. For example, the first map data 125 may be optimized, among other things, with respect to lanes containing drivable roads or with respect to classification of roads into, for example, local roads, suburban roads, and highways. The second map data 130 may be optimized with respect to timeliness, traffic regulations, or traffic flow information. Thus, the driving operations of the vehicle 105 may be better represented with respect to the first map data 125, while advantageous route determination may be easier with respect to the second map data 130.

[0030] To determine the geographical position of the vehicle 105, a positioning device 145 may be provided. The illustrated positioning device 145 is configured as a receiver for a Global Navigation Satellite System (GNSS), such as GPS, Glonass, or Galileo. A further exemplary possibility for determining the position of the vehicle 105 is shown in the illustration of FIG. 1 by a camera 150, which is configured to detect (identify) landmarks in the surroundings of the vehicle 105. The geographical positions of the landmarks may be determined based on the first or second map data 125, 130. For multiple landmarks, the position of the vehicle 105 may be determined.

[0031] For the transmission of a route between the first system 135 and the second system 140, it is proposed to convert the route into a sequence of positions relative to the first map data 125. The positions can then be enriched with information that more precisely identifies the lateral and / or longitudinal position with respect to the first map data 125 and can be transmitted to the second map data.

[0032] The longitudinal position indication may include a distance from a predetermined position along the traveled roadway, the lateral position may be relative to a numbered lane of the roadway, and additional information can be evaluated based on the conveyed position relative to the second map data 130.

[0033] 2 shows a flow chart of a method 200 for reference to second map data 130 of a route relative to first map data 125. The method 200 can be performed using an apparatus 100, in particular, on board a vehicle 105.

[0034] In step 205, the geographical location of the vehicle 105 can be determined, also called ego-position, and is relative to a given point in time.

[0035] In step 210, a planned route for the vehicle 105 can be identified (determined). The route can be set, for example, by the first system 135, and can detail predetermined driving maneuvers, such as turning maneuvers, for the vehicle 105. Typically, the route extends over a predetermined section whose length is limited, for example, to about 1 km, about 500 m, about 200 m, or about 100 m.

[0036] In step 215, it is possible to set first locations relating to the first map data 125 and representing the route. The number of first locations is not limited, but the number should be at least as many first locations as are specified so that the operations performed by the route can be unambiguously and completely represented.

[0037] In step 220, a polyline can be formed in which the first locations are connected to one another at the root in that order, in other words, the polyline can include a series of first locations.

[0038] In step 225, for each first position on the polyline, it is possible to identify the lane in which the vehicle 105 is traveling or should travel. Information about the lanes included in the traveled path can be identified based on the first map data 125. The lateral position of the vehicle 105 on the path can be expressed as an integer representing the lane in which it is traveling.

[0039] In addition, the first locations can be reinforced by the distance from each other first location. In a particularly preferred embodiment, a reference location is identified to which the location of the route in the longitudinal direction of the path is related.

[0040] The first positions, each augmented with additional information, can be provided to the second system 140 in step 225 either absolutely or in the form of a sequence, for example as a polyline.

[0041] In step 235, the first position of the route can be associated with the second map data 130. For this purpose, information that augments the first position can be evaluated and associated with the second map data 130. Thus, for example, the lateral position of the vehicle 105 can again be determined with respect to the known number of lanes of the traveled road. The longitudinal position along the road can be determined with respect to a predetermined reference position. In particular, the vehicle position detected in step 205 with respect to the second map data 130 is used as the reference position.

[0042] An exemplary route 300 to be traveled by a vehicle 105 is shown in Figure 3. The route 300 illustrates a turning maneuver at an intersection 305. In Figure 3, a first travel path 310 extends vertically and a second travel path 315 extends horizontally. The first travel path 310 has three lanes 320 per direction of travel, while the second travel path 315 illustratively includes only two lanes 320 per direction of travel.

[0043] The vehicle 105 is at the lower edge of the illustration in FIG. 3 with an upward driving direction in the center lane 320 of the first travel path 310. For easy reference, an exemplary scale 325 representing 50-meter increments along the first travel path 310 is shown adjacent to the right of the first travel path 310. The route 300 includes several first locations 330, which are exemplary circles in FIG. 3. The current location of the vehicle 105 in the illustration in FIG. 3 can be identified as a reference location 335. The reference location 335 can be identified for both the first map data 125 and the second map data 130.

[0044] Route 300 is set up so that vehicle 105 travels approximately 50 meters in the center lane 320 of first roadway 310, then changes to the adjacent lane on the left and continues straight to the stop line. In this case, if traffic permits, vehicle 105 makes a bowed left turn and continues traveling in the right lane of second roadway 315.

[0045] The first location 330 can be supplemented with longitudinal and / or lateral information, respectively. In the intersection area where the travel paths 310, 315 intersect with each other, the lane 320 is not defined. Here, the first location 330 can be supplemented with information that the lane 320 is no longer definable or is not included in the first map data 125.

[0046] The reinforced first position 330 of the route 300 can be transmitted to the second system 140 and back-referenced there against the second map data 130. Additional longitudinal and lateral information can be evaluated based on the reference position 335. The route can then be expressed with respect to the second map data 130. The predetermined route 300 can then be output, for example, to a map display mounted on the vehicle 105. [Explanation of symbols]

[0047] 100 devices 105 vehicles 110 Processing equipment 115 First map storage device 120 Second map storage device 125 First Map Data 130 Second map data 135 First System 140 Second System 145 Locating device 150 cameras 200 ways 205 Vehicle position detection 210 Identifying the planned route 215 Setting the first position 220 Polyline Creation 225 Identifying the lanes in which each vehicle is driven 230 Providing location in assigned lane 235 Second Location Identification 300 routes 305 Intersection 310 First Track 315 Second Track 320 lanes 325 scale 330 First Position 335 Reference position

Claims

1. 1. A method (200) for referencing a route (300) of a vehicle (105) relative to first map data (125) relative to second map data (130), the method (200) comprising: - determining (215) a first position (330) on said route (300) for said first map data (125); - assigning (225) the lanes (320) in which said vehicles (105) will travel respectively at said first positions (330); - providing (230) said first locations (330) each having an assigned lane (320); - determining (235) a second location (330) for said first location (330) and each assigned lane (320); A method (200) comprising:

2. 2. The method (200) of claim 1, wherein the lane (320) relates to a roadway (310, 325) that includes the lane (320).

3. 3. The method (200) of claim 1 or 2, wherein the route (300) includes a reference position (335), for which a first position (330) relative to the first map data (125) and a second position (330) relative to the second map data (130) are known.

4. 4. The method (200) of claim 3, wherein the reference position (335) comprises a current position (330) of the vehicle (105).

5. The method (200) of any one of claims 1 to 4, wherein said first location (330) is contained in a polyline.

6. The method (200) of any one of claims 1 to 5, characterized in that the series of predetermined first positions (330) includes a change of lane (320) traveled.

7. 7. The method (200) according to claim 1, wherein if a lane (320) in the range of the first position (330) is not defined by the first map data (125), a representation of the undefined lane (320) is assigned to the first position (330).

8. 8. The method (200) according to claim 1, wherein if the second map data (130) does not contain lane information at the second location (330), a lateral position of the second location (330) relative to a boundary of the traveled path (310, 315) is determined.

9. 9. The method (200) according to any one of claims 1 to 8, characterized in that the first map data (125) has a higher level of detail and / or a higher accuracy than the second map data (130).

10. 10. The method (200) of any one of claims 1 to 9, wherein the first map data (125) is included in a driver assistance system (140) and / or the second map data (130) is included in a navigation system (145).

11. An apparatus (100) for referencing a route (300) of a vehicle (105) with respect to first map data (125) with respect to second map data (130), the apparatus (100) comprising: a first map store (115) for said first map data (125); - a second map store (120) for said second map data (130); a processing device (110); It contains The processing device - identifying a first location (330) on the route (300) for the first map data (125); - assigning a lane (320) in which each of the vehicles (105) will travel at the first position (330); - providing said first locations (330) each having an assigned lane (320); and - identifying a second location (330) for said first location (330) and each assigned lane (320); 1. An apparatus (100) comprising:

12. A vehicle (105) comprising the device (100) of claim 11.

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