Validation of a preliminary digital map of a parking facility

Abstract

The invention relates to a method for validating a preliminary digital map (122) of a parking facility (340) using a computer unit (102) of a road vehicle (300). The method comprises, using the computer unit (102), receiving the preliminary map (122) from a provisioning server (154). Sensor data (124) are received, which are detected using sensors (304, 306, 308, 314) of the road vehicle (300) during a movement of the road vehicle (300) within the parking facility (340). A movement path (126) of the movement of the road vehicle (300) within the preliminary map (122) is determined using the sensor data (124). A plausibility check for the movement path (126) within the preliminary map (122) is carried out. In the course of the plausibility check, it is checked whether the determined movement path (126) is consistent with one or more movement criteria specified by the preliminary map (122) for movements of road vehicles (300) within the parking facility (340). A validation result (136) is sent to the provisioning server (154), which includes a result (128) of the plausibility check.

Description

2024PF02178 1 VALIDATION OF A PRELIMINARY DIGITAL MAP OF A PARKING AREA AREA OF TECHNOLOGY

[0001] The invention relates to a method for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle. The invention further relates to a computer program and a computer unit for such validation. The invention also relates to a method for validating a preliminary digital map of a parking facility using a provisioning server. The invention further relates to a computer program and a computer unit for such validation. Finally, the invention relates to a system comprising one or more corresponding computer units and a corresponding provisioning server. STATE OF THE ART

[0002] The use of digital maps for navigation purposes in road vehicles is widespread. However, it is crucial that these maps are accurate and suitable for their intended navigation needs. For maps, such as those of parking areas, where no digital ground truth is available, determining whether a given map is suitable for its intended purpose becomes a challenge. SUMMARY

[0003] It is an object of the invention to provide a method for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle. Furthermore, it is an object of the invention to provide a computer program and a computer unit of a road vehicle for validating a preliminary digital map of a parking facility using the computer unit of the road vehicle. 2024PF02178 2

[0004] Furthermore, it is an object of the invention to provide a method for validating a preliminary digital map of a parking facility using a provisioning server. It is also an object of the invention to provide a computer program and a provisioning server for validating a preliminary digital map of a parking facility using the provisioning server. Finally, it is an object of the invention to provide a system comprising one or more corresponding computer units and a corresponding provisioning server.

[0005] The problems underlying the invention are solved by the features of the independent claims.

[0006] In one aspect, a method for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle moving within the parking facility is disclosed.

[0007] The process involves the computer unit receiving the preliminary map from a provisioning server. Sensor data is received, which is collected using the vehicle's sensors as the vehicle moves within the parking facility. A movement path of the vehicle within the preliminary map is determined using this sensor data. A plausibility check is then performed on this movement path. This check verifies whether the determined movement path is consistent with one or more of the movement criteria for vehicle movements within the parking facility that are defined by the preliminary map. An initial validation result, including the result of the plausibility check, is sent to the provisioning server.

[0008] Examples allow for the verification of the accuracy of a digital map of a parking facility, particularly a digital map created through crowdsourcing. For this purpose, the still-unvalidated, i.e., preliminary, map is loaded, for example, when a vehicle is located in an area where the map is available, i.e., within the parking facility, or enters such an area. Using sensor data acquired by the vehicle's sensors, the vehicle's location is determined based on the map or within the map. The result, such as a movement path and / or the accuracy of the location, is compared with predefined requirements or criteria. Based on the result of this comparison, a [2024PF02178 3] Card validation. This involves determining, for example, whether the current quality of the card is sufficient for the use of the provisional card, so that the predefined requirements or criteria are met.

[0009] In particular, passive, feature-based map validation can be enabled. Passive map validation means that the map is validated without being actively used for actual purposes, such as navigation. Instead, the validation takes place in the background. For example, a driver of a road vehicle, while driving through the parking facility, remains unaware of the validation process. Feature-based map validation, on the other hand, uses features of the road vehicle's surroundings, i.e., the parking facility, which are determined by the acquired sensor data, especially data acquired using environmental sensors. These features can, for example, be used to locate the vehicle within the preliminary map, and the accuracy of this location is then validated.For example, the sensor data can be used to compare specific features of the vehicle's surroundings and their relative positioning to each other and to the vehicle with features of the parking facility defined in the preliminary map. This allows the identification of a position within the preliminary map where the environmental features captured in the sensor data best match the parking facility features defined in the preliminary map. Furthermore, these features can be used to determine whether a location or movement path of the vehicle, as determined in the preliminary map, is plausible. For instance, a location or movement path might be determined based on these features, but it could conflict with movement guidelines or criteria within the parking facility.For example, according to the preliminary map, the road vehicle may move in areas not intended for vehicle movement, such as moving against a designated direction of travel or outside of designated lanes, or even in areas where vehicle movement is actually prohibited, such as areas where the preliminary map indicates one or more physical obstacles. If such movements are detected, this indicates that the preliminary map is unsuitable for navigation purposes within the parking facility. If there are no such contradictions to movement guidelines or criteria within the parking area, as shown on the preliminary map, this indicates that the preliminary map is not suitable for navigation purposes within the parking area. 2024PF02178 4

[0010] The map validation process does not, for example, involve checking individual map features for their consistency with the sensor data recorded by the road vehicle. Rather, it assesses the overall suitability of the map, particularly as a basis for navigation. In other words, it checks at a higher level whether the map as a whole is of sufficient quality. For instance, it verifies whether the preliminary map allows for sufficiently accurate localization of the road vehicle, even if the map contains minor errors, and whether the resulting vehicle behavior or movement path within the preliminary map is appropriate.

[0011] For example, if a road vehicle enters a parking facility for which a preliminary digital map exists, this map is loaded in the background and used to locate the vehicle without actively providing this functionality to the driver or any other system of the vehicle, such as for navigation purposes. The preliminary map is marked, for example, as preliminary or for use in background validation. For example, this can be implemented using an appropriate flag.

[0012] While the driver manually navigates the vehicle through the parking facility, the vehicle's computer unit performs several checks in the background to validate the preliminary map. For example, a localization algorithm is used to determine the vehicle's location uncertainty within the preliminary map. If this uncertainty becomes too high as the vehicle moves through the parking facility, a localization error message is generated. If the uncertainty is not too high, a plausibility check is performed on the vehicle's location or on a movement path determined based on that location within the preliminary map.For example, it is expected that the road vehicle will move through the parking facility within designated lanes and not across parking spaces or in inappropriate directions. A validation result is generated for the corresponding plausibility check. In the event of a failed plausibility check, the validation result includes, for example, a corresponding error message.

[0013] For example, when the road vehicle finally leaves the parking facility, the validation result and thus a status message about the successful individual validation 2024PF02178 5 The validation result is sent by the road vehicle to a provisioning server. This result indicates, for example, that background validation was performed by the road vehicle. Furthermore, the validation result includes, for example, validation error messages. On the provisioning server, all these individual validation results from multiple road vehicles are aggregated. For example, if enough road vehicles have driven through the parking facility without encountering any difficulties with localization and / or the plausibility check of specific movement paths, the preliminary map is considered successfully validated. Once the map has been successfully validated, the map's designation as preliminary or for use in background validation can be removed. This can be done, for example, via a map deployment channel. For instance, a corresponding flag is adjusted.

[0014] Examples of this approach offer the advantage that the parking facility does not need to be specifically visited for a dedicated validation of the preliminary map. Instead, validation can be performed using sensor data collected from road vehicles that are already present in the parking facility for parking purposes, regardless of the validation requirement. This approach can be particularly advantageous when dealing with a large number of preliminary maps for numerous parking facilities that need validation.

[0015] The first validation result is, for example, an individual validation result from the vehicle's computer unit for a specific movement path. Based on a multitude of such individual validation results, which typically apply to sub-areas of the parking facility, the provisioning server performs an overall validation of the provisional map. If the provisioning server successfully validates the map, the vehicle's computer unit receives a corresponding confirmation.

[0016] For example, validation takes the form of background validation. In such background validation, the provisional map is not used by the driver of the road vehicle or made available to the driver. For instance, neither the provisional map nor a portion of it is displayed to the driver on the road vehicle's screen during validation. The map is only made available to the driver after successful validation. when the map is a validated map and no longer a preliminary map, it is made available or activated for use, for example for navigation purposes.

[0017] Such background validation allows, in particular, the validation of a provisional card before it is officially released to an end customer. Release only occurs, for example, after successful validation.

[0018] For example, the preliminary digital map of the parking facility is a crowdsourced digital map. When a preliminary digital map is created through a crowdsourcing process, map data from multiple sources, particularly sensor data from road vehicles moving within the parking facility, are used to generate the map. Such a crowdsourced preliminary map, which is based on multiple data sources, lacks a ground truth in digital form against which its validity can be validated. However, examples can still be used to validate such a preliminary map.

[0019] For example, the parking facility includes a number of predefined parking spaces for road vehicles as well as one or more predefined driving lanes for road vehicles to move within the parking facility.

[0020] The parking facility could be, for example, a parking garage. The parking facility could be, for example, an underground parking garage. The parking facility could be, for example, a multi-story parking garage. The parking facility could be, for example, a parking deck. The parking facility could be, for example, a parking lot.

[0021] For example, the parking area is partially or completely covered. For example, the parking area is not covered, so the parking spaces are in the open air.

[0022] For example, the parking facility also includes one or more access roads. For example, the parking facility also includes one or more ramps.

[0023] A parking space is a demarcated area designated for parking exactly one road vehicle. A parking space can be a corresponding area for parking exactly one road vehicle on private property or in the 2024PF02178 7 This concerns public traffic areas. Generally, areas on private property designed for parking exactly one road vehicle are called parking spaces, while those in public traffic areas are referred to as parking bays. For the sake of simplicity, the term "parking space" will be used here and in the following, although this term also includes parking bays in the sense of parking spaces in public traffic areas.

[0024] For example, the first validation result includes a status message confirming that the validation has been executed. For instance, the first validation result indicates whether the plausibility check was successful, i.e., whether the specified movement path is consistent with the predefined movement criteria, or whether the plausibility check was unsuccessful, i.e., whether the specified movement path contradicts one or more of the predefined movement criteria.

[0025] For example, validation is initiated when a road vehicle enters the parking facility. For example, validation is initiated when a road vehicle is switched on and / or started within the parking facility. For example, the first validation result is sent when a road vehicle exits the parking facility. For example, the first validation result is sent when a road vehicle stops and / or switches off within the parking facility.

[0026] For example, the one or more movement criteria specified by the preliminary map include one or more definitions of one or more driving lanes in the preliminary map, which are intended for movement by road vehicles within the parking facility. During the plausibility check, it is verified whether the specified movement path lies within the one or more driving lanes defined in the preliminary map.

[0027] For example, a prerequisite for a positive plausibility check result is that the specific movement path lies within one or more lanes defined in the preliminary map. Additionally, a direction of travel can be taken into account. This means, for instance, that each lane is assigned a direction of travel, and for a plausibility check to be successful, the movement path must lie within lanes defined in the map with a matching direction of travel.

[0028] For example, parking maneuvers involving entering and / or exiting parking spaces within the parking facility are excluded. For example, this applies to the 2024PF02178 8 Movement path around a movement path towards a parking space where the road vehicle is parked, or around a movement path away from a parking space where the road vehicle was parked.

[0029] For example, the one or more movement criteria specified by the preliminary map include one or more definitions of one or more elements in the preliminary map that contradict the intended movements of road vehicles within the parking facility. The plausibility check verifies whether the specified movement path intersects one of the corresponding elements defined in the preliminary map.

[0030] Such elements include, for example, road markings that must not be crossed or physical obstacles such as pillars, signs, walls, curbs, etc. These elements are marked in the preliminary map, for example, in semantic form or are identified as such in the preliminary map. For example, a prerequisite for a positive result of the plausibility check is that the specified movement path of the road vehicle does not cross any of these elements. If the specified movement path of the road vehicle crosses one or more of these elements, this leads, for example, to a negative result of the plausibility check.

[0031] For example, determining the movement path involves locating the road vehicle within the preliminary map using sensor data. The process also includes determining a localization uncertainty. Upon reaching a predefined localization uncertainty threshold, a localization error message is generated, and a second validation result, including the localization error message, is sent to the provisioning server.

[0032] For example, sensor data can be used to determine features of the vehicle's surroundings. These features, along with their relative positioning to each other and to the vehicle, can be compared with features of the parking facility defined in the preliminary map. This allows the identification of a position within the preliminary map where the environmental features captured in the sensor data best match the parking facility features defined in the preliminary map. For this purpose, a covariance analysis of the corresponding features can be used, for example. 2024PF02178 9

[0033] In addition, a localization uncertainty can be determined, i.e., an uncertainty for assigning the position in the preliminary map for which the features of the vehicle environment determined in the sensor data best match the features of the parking facility defined in the preliminary map.

[0034] For example, determining the movement path involves locating one or more positions of the road vehicle within the preliminary map using sensor data acquired using one or more environmental sensors of the road vehicle.

[0035] The one or more environmental sensors of the road vehicle include, for example, one or more of the following environmental sensors: optical sensor, radar sensor, lidar sensor, ultrasonic sensor.

[0036] Optical sensor data from an optical sensor can be used to identify features of the vehicle's surroundings, and thus features of the parking facility, using object recognition. Sensor data from environmental sensors, such as radar, lidar, and / or ultrasonic sensors, can, for example, represent the shapes of objects in the vehicle's vicinity, and therefore the parking facility, as point clouds. These shapes can be analyzed to determine the nature of the objects.

[0037] For example, determining the path of movement involves locating one or more positions of the road vehicle within the preliminary map using sensor data acquired using one or more odometry sensors on the road vehicle.

[0038] The one or more odometry sensors of the road vehicle include, for example, one or more of the following: speed sensor, yaw rate sensor, steering angle sensor. Odometry sensors can be used to determine a change in the road vehicle's position and thus a movement path, or part thereof, starting from a known position within the preliminary map. Environmental sensors of the road vehicle can be used, for example, to determine the corresponding known position.

[0039] For example, the second validation result includes a status message confirming that the validation was executed. For example, the localization error message 2024PF02178 10 includes Information on one or more positions of the road vehicle, where the respective localization uncertainty has reached the predefined threshold. For example, the data also includes determined values ​​and localization uncertainties for the corresponding one or more positions.

[0040] For example, the second validation result is sent when a road vehicle exits the parking facility. For example, the second validation result is sent when a road vehicle stops and / or switches off within the parking facility.

[0041] For example, the first and second validation results are sent as a single validation result if the localization uncertainty reaches the threshold and a localization error message is generated. Alternatively, if the localization uncertainty reaches the threshold, the validation may be aborted, and only the second validation result, along with the localization error message, may be sent to the provisioning server.

[0042] If the localization uncertainty does not reach the threshold during the determination of the movement path, for example, only the first validation result is sent, not a second one.

[0043] For example, the process also includes receiving update data from the provisioning server to update the preliminary map. For instance, the preliminary map is updated using the received update data. For example, the update data includes an updated preliminary map. For example, updating the temporary map using the received update data involves replacing the previous temporary map with the received updated temporary map. For instance, validation for the updated temporary map is repeated using the vehicle's computer unit when the vehicle moves within the parking facility.

[0044] For example, the procedure also includes receiving confirmation of successful validation of the provisioning map from the provisioning server. Upon receipt of the confirmation, the validated map is used to navigate the road vehicle within the parking facility. 2024PF02178 11

[0045] For example, the validated map is used to locate the current position of the vehicle within the parking facility. For example, the validated map, or at least a section of it, showing the vehicle's current position within the parking facility, is displayed on the vehicle's screen. For example, the validated map, or at least a section of it, showing the vehicle's current position within the parking facility, is displayed on the vehicle's screen for the driver to use for navigation within the parking facility.

[0046] For example, the validated map is used by the computer unit to navigate the road vehicle during autonomous control of the road vehicle within the parking facility.

[0047] The validated card can be used, for example, for an automated valet parking (AVP) system. Such an automated parking system allows a vehicle to park in a parking facility without requiring any input from the driver.

[0048] Automated Valet Parking (AVP) is a driverless parking system in which a vehicle autonomously searches for a parking space in a designated parking facility, parks itself, and / or returns to its starting point upon request. AVP systems allow the driver, for example, to leave the vehicle at a defined drop-off point, while the vehicle, using automated driving technologies such as sensors and AI-supported control software, handles the rest of the parking process.

[0049] A typical AVP system includes, for example, intelligent vehicle technology, such as autonomous driving functions in the road vehicle, infrastructure-based support, such as networked parking garage infrastructure, sensors, and IoT communication.

[0050] Automated Valet Parking, for example, represents Level 4 autonomy, meaning the system can operate without driver intervention, but only within a geographically limited area such as a parking facility. Advantages of an AVP system include time savings for the driver, efficient use of available parking spaces, and / or fewer accidents and scratches while parking. 2024PF02178 12

[0051] Automated Valet Parking is considered one of the first real-world applications of fully autonomous driving in everyday life and is frequently integrated into smart city projects and future-oriented mobility concepts.

[0052] For example, prior to receiving the preliminary map, the procedure includes sending sensor data, which is recorded using sensors, in particular environmental sensors, of the road vehicle during movement of the road vehicle within the parking facility, to the provisioning server to create the preliminary digital map in a crowdsourcing process, in which sensor data received from a plurality of road vehicles is used to create the preliminary map.

[0053] In another aspect, a method for validating a preliminary digital map of a parking facility using a provisioning server is disclosed.

[0054] The process involves the provisioning server sending the preliminary map to the majority of road vehicles to initiate the validation of the preliminary map of the parking facility using the computer units of the majority of these vehicles. Several initial validation results are received by at least some of the computer units of the road vehicles moving within the parking facility. These initial validation results include plausibility checks of movement paths, which were generated for the movements of the respective road vehicles within the preliminary map using sensor data acquired by the sensors of the respective road vehicles during their movements within the parking facility.The initial validation results received are evaluated, and the preliminary map is validated based on this evaluation. Reaching a predefined initial threshold of positive initial validation results is a prerequisite for successful validation of the preliminary map. Upon successful validation of the preliminary map, confirmation of its successful validation is sent to the majority of road vehicles to initiate the use of the validated map for navigation within the parking facility.

[0055] The predefined first threshold specifies, for example, that a certain minimum proportion of the received initial validation results must be positive. Furthermore, a minimum number of positive initial validation results and / or 2024PF02178 13 can be specified. The initial validation results should be defined as a basic requirement. For example, an additional requirement can be defined: that the received validation results cover the entire preliminary map of the parking facility or at least a sufficient minimum portion of the map.

[0056] For example, the procedure further includes checking whether at least some of the computer units have received one or more second validation results with localization error messages concerning a respective localization uncertainty for the location of the corresponding road vehicles during the determination of the movement paths for the movements of the corresponding road vehicles within the preliminary map. Upon receipt of one or more second validation results, these results are evaluated. A second prerequisite for successful validation of the preliminary map is that a predefined second threshold for localization error messages is not reached.

[0057] The predefined second threshold specifies, for example, that at most a certain maximum number of second validation results with localization error messages, or a certain maximum proportion of second validation results with localization error messages relative to the number of first validation results, is received. For example, the predefined second threshold can be zero, meaning that no localization error messages may be received.

[0058] For example, the procedure, upon reaching the predefined second threshold of localization error messages, further comprises generating update data to update the unsuccessfully validated preliminary map using additional sensor data acquired from one or more road vehicles using one or more sensors, in particular one or more environmental sensors, during movement of the respective road vehicles within the parking facility. Upon generating the update data, the update data is sent to the majority of road vehicles to initiate an update of the preliminary map by the majority of road vehicles using the update data. For example, the validation for the updated preliminary map is performed using at least some of the computer units of the majority of 2024PF02178 14 road vehicles repeatedly when the respective road vehicles move within the parking area facility.

[0059] For example, the method further includes receiving the additional sensor data from one or more computer units in or several road vehicles, which were recorded using one or more sensors, in particular one or more environmental sensors, of the respective road vehicles during a movement of the respective road vehicles within the parking facility.

[0060] For example, prior to sending the preliminary map, the procedure further includes creating the preliminary map through a crowdsourcing process, using sensor data received from multiple road vehicles to create the preliminary map. For example, the procedure further includes receiving sensor data from multiple computer units of multiple road vehicles, which was acquired using sensors on the road vehicles during their movements within the parking facility. For example, the procedure further includes creating the preliminary map using the sensor data received from multiple road vehicles.

[0061] For the creation of a preliminary digital map, for example, sensor data collected from the parking area can be used. Semantic landmarks or orientation elements can be recorded within this sensor data. Such elements include, for example: marked parking spaces, marked driving lanes, road markings, pillars, signs, walls, curbs, etc. These elements can also be labeled on the resulting map.

[0062] For example, the sensor data collected by individual road vehicles can be used to create tile maps, i.e., sections of the preliminary map of the parking facility. For instance, the sensor data from each road vehicle is provided to the provisioning server in the form of these tile maps. The provisioning server can then use these tile maps to create the preliminary map of the parking facility. The provisioning server may, for example, aggregate the tile maps and close any remaining gaps. Furthermore, additional attributes for elements of the preliminary map can be determined and identified within it, such as the drivable area from trajectories. Speed ​​ranges, etc. The preliminary map will be created, for example, with appropriate semantic identifiers.

[0063] Examples demonstrate how validating the preliminary map enables reliable quality assurance, especially for digital maps created through crowdsourcing.

[0064] In another aspect, a computer program with machine-readable program instructions is disclosed, which are configured to control the execution of a procedure according to one of the examples described here of a procedure for validating a preliminary digital map of a parking facility.

[0065] For example, a computer program includes machine-readable program instructions for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle moving within the parking facility.

[0066] Execution of machine-readable program instructions by a processor unit of the computer unit causes the processor unit to control the computer unit to receive the preliminary map from a provisioning server. Sensor data is received, which is acquired using sensors on the vehicle as it moves within the parking facility. A movement path of the vehicle within the preliminary map is determined using this sensor data. A plausibility check is then performed on this movement path. During the plausibility check, it is verified whether the determined movement path is consistent with one or more movement criteria for vehicle movements within the parking facility that are specified by the preliminary map.A validation result is sent to the provisioning server, which includes a result of the plausibility check.

[0067] For example, the machine-readable program instructions are configured, when executed by the processor unit of the road vehicle's computer unit, to control the computer unit to execute each of the examples of a procedure described here for validating a preliminary digital map of a parking facility using the road vehicle's computer unit. 2024PF02178 16

[0068] For example, a computer program product for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle moving within the parking facility comprises a computer-readable storage medium containing machine-readable program instructions.

[0069] Execution of machine-readable program instructions by a processor unit of the computer unit causes the processor unit to control the computer unit to receive the preliminary map from a provisioning server. Sensor data is received, which is acquired using sensors on the vehicle as it moves within the parking facility. A movement path of the vehicle within the preliminary map is determined using this sensor data. A plausibility check is then performed on this movement path. During the plausibility check, it is verified whether the determined movement path is consistent with one or more movement criteria for vehicle movements within the parking facility that are specified by the preliminary map.A validation result is sent to the provisioning server, which includes a result of the plausibility check.

[0070] For example, the machine-readable program instructions are configured, when executed by the processor unit of the road vehicle's computer unit, to control the computer unit to execute each of the examples of a procedure described here for validating a preliminary digital map of a parking facility using the road vehicle's computer unit.

[0071] For example, a computer program comprising machine-readable program instructions for validating a preliminary digital map of a parking facility using a provisioning server is disclosed.

[0072] Execution of the machine-readable program instructions by a processor unit of the provisioning server causes the processor unit to control the provisioning server to send the preliminary map to the majority of road vehicles to initiate the validation of the preliminary map of the parking facility using a majority of computer units in the majority of road vehicles. Multiple validation results are received by at least some of the computer units of the road vehicles moving within the parking facility. The validation results include results for 2024PF02178 17 Plausibility checks are performed on movement paths created for the movements of the corresponding road vehicles within the preliminary map using sensor data collected by the vehicles' sensors during their movements within the parking facility. The initial validation results are evaluated, and the preliminary map is validated based on this evaluation. Reaching a predefined threshold of positive validation results is a prerequisite for successful validation of the preliminary map. Upon successful validation, confirmation of the preliminary map's validity is sent to the majority of road vehicles, initiating the use of the validated map for navigation within the parking facility.

[0073] For example, the machine-readable program instructions are configured, when executed by the provisioning server's processor unit, to direct the provisioning server to execute each of the examples of a procedure described here for validating a preliminary digital map of a parking facility using the provisioning server.

[0074] For example, a computer program product for validating a preliminary digital map of a parking facility using a provisioning server includes a computer-readable storage medium containing machine-readable program instructions.

[0075] Execution of the machine-readable program instructions by a processor unit of the provisioning server causes the processor unit to control the provisioning server to send the preliminary map to the majority of road vehicles to initiate the validation of the preliminary map of the parking facility using a majority of computer units in the majority of road vehicles. Multiple validation results are received by at least some of the computer units of the road vehicles moving within the parking facility.The validation results include plausibility checks of movement paths, which were generated for the movements of the relevant road vehicles within the preliminary map using sensor data acquired by the vehicles themselves during their movements within the parking facility. The initial validation results received are evaluated, and the preliminary 2024PF02178 18. The map is validated based on the evaluation. Reaching a predefined threshold of positive validation results is a prerequisite for successful validation of the preliminary map. Upon successful validation of the preliminary map, confirmation of successful validation is sent to the majority of road vehicles to initiate the use of the validated map for navigation within the parking facility.

[0076] For example, the machine-readable program instructions are configured, when executed by the provisioning server's processor unit, to direct the provisioning server to execute each of the examples of a procedure described here for validating a preliminary digital map of a parking facility using the provisioning server.

[0077] In another aspect, a computer unit of a road vehicle for validating a preliminary digital map of a parking facility is revealed, which moves within the parking facility.

[0078] The computer unit comprises a processor and a memory unit containing machine-readable program instructions. Execution of these instructions by the processor causes it to control the computer unit and receive the preliminary map from a provisioning server. Sensor data is received, which is collected by the vehicle's sensors as it moves within the parking facility. A movement path for the vehicle within the preliminary map is determined using this sensor data. A plausibility check is then performed on this movement path. This check verifies whether the determined movement path is consistent with one or more of the movement criteria for vehicle movements within the parking facility that are defined by the preliminary map.A validation result is sent to the provisioning server, which includes a result of the plausibility check.

[0079] For example, the machine-readable program instructions are configured, when executed by the processor unit of the road vehicle's computer unit, to control the computer unit to execute each of the examples of a procedure described here for validating a preliminary digital map of a parking facility using the road vehicle's computer unit. 2024PF02178 19

[0080] In another aspect, a provisioning server for validating a preliminary digital map of a parking facility is revealed.

[0081] The provisioning server comprises a processor unit and a memory unit containing machine-readable program instructions. Execution of these instructions by the processor unit instructs the provisioning server to send the provisional map to the majority of road vehicles. This initial validation of the parking facility's provisional map is initiated using the computer units of the majority of these vehicles. Multiple validation results are received by at least some of the computer units of the road vehicles moving within the parking facility.The validation results include plausibility checks of movement paths, generated for the movements of the relevant road vehicles within the preliminary map using sensor data collected by the vehicles themselves during their movements within the parking facility. The initial validation results are evaluated, and the preliminary map is validated based on this evaluation. Reaching a predefined threshold of positive validation results is a prerequisite for successful validation of the preliminary map.Upon successful validation of the preliminary map, a confirmation of successful validation of the preliminary map will be sent to the majority of road vehicles to initiate the use of the validated map for navigation within the parking facility.

[0082] For example, the machine-readable program instructions are configured, when executed by the provisioning server's processor unit, to direct the provisioning server to execute each of the examples of a procedure described here for validating a preliminary digital map of a parking facility using the provisioning server.

[0083] System comprising one or more computer units of road vehicles according to one of the preceding examples of computer units of road vehicles and a provisioning server according to a preceding example of a provisioning server.

[0084] For example, the one or more computer units of road vehicles are each configured to perform each of the examples of a validation procedure described here.2024PF02178 20 to execute a preliminary digital map of a parking facility using the appropriate computer unit of the relevant road vehicle.

[0085] For example, the provisioning server is configured to execute each of the examples of a procedure for validating a preliminary digital map of a parking facility using the provisioning server.

[0086] It is understood that one or more of the aforementioned embodiments can be combined with each other, as long as the embodiments do not exclude each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The following examples, illustrated with the drawings, are explained in more detail. They show:

[0088] Fig. 1 shows a flowchart of an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle.

[0089] Fig. 2 shows a flowchart of an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle.

[0090] Fig. 3 shows a flowchart of an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle.

[0091] Fig. 4 shows a flowchart of an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle.

[0092] Fig. 5 shows a flowchart of an exemplary procedure for validating a preliminary digital map of a parking facility using a provisioning server.

[0093] Fig. 6 shows a flowchart of an exemplary procedure for validating a preliminary digital map of a parking facility using a Provisioning server, 2024PF02178 21

[0094] Fig. 7 shows a partial view of an exemplary parking area layout.

[0095] Fig. 8 shows an exemplary preliminary digital map of a parking area facility.

[0096] Fig. 9 shows a block diagram of an exemplary computer unit of a road vehicle for validating a preliminary digital map of a parking facility.

[0097] Fig. 10 shows a block diagram of an exemplary provisioning server for validating a preliminary digital map of a parking facility.

[0098] Fig. 11 shows a block diagram of an exemplary system with a plurality of computer units from road vehicles and a provisioning server for validating a preliminary digital map of a parking facility and

[0099] Fig. 12 is a schematic diagram of an exemplary road vehicle with a computer unit for validating a preliminary digital map of a parking facility. DETAILED DESCRIPTION

[0100] In the following, similar elements are marked with the same reference symbols.

[0101] Figure 1 shows an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle moving within the parking facility. In block 200, the preliminary map is received from a provisioning server. In block 202, sensor data is received, which is acquired using sensors on the road vehicle as it moves within the parking facility. In block 214, a movement path of the road vehicle within the preliminary map is determined using the sensor data. In block 216, a plausibility check is performed on the movement path within the preliminary map.As part of the plausibility check, it is verified whether the specified movement path is consistent with one or more movement criteria for road vehicles within the parking facility, as defined by the preliminary map. Block 218 sends a validation result to the provisioning server, which includes the result of the plausibility check.

[0102] Fig. 2 shows an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle, 2024PF02178 22 which moves within the parking facility. In Block 200, the preliminary map is received from a provisioning server. In Block 202, sensor data is received, which is acquired using the vehicle's sensors as the vehicle moves within the parking facility. In Block 204, the vehicle is located within the preliminary map using the sensor data to determine its movement path. This localization includes, for example, locating one or more current positions of the vehicle within the parking facility as it moves within the facility. In Block 206, a localization uncertainty for locating the vehicle within the parking facility is determined.Block 208 checks whether the determined localization uncertainty reaches a predefined threshold for localization uncertainty. For example, if several current positions within the parking facility are determined during the movement of the road vehicle according to Block 204, a localization uncertainty is determined for each position determination according to Block 206, and the resulting localization uncertainties are then checked according to Block 208 to see if they reach the predefined threshold for localization uncertainty.

[0103] If the test result in Block 208 is positive, i.e., the predefined threshold is reached, the procedure continues with Block 210. In Block 210, a localization error message is generated. If the test result in Block 208 is negative, i.e., the predefined threshold is not reached, the procedure continues with Block 214. In Block 214, a movement path of the road vehicle within the preliminary map is determined using the sensor data. In Block 216, a plausibility check is performed on the movement path within the preliminary map. This plausibility check verifies whether the determined movement path is consistent with one or more movement criteria for road vehicle movements within the parking facility, as specified by the preliminary map.Block 218 sends a validation result to the provisioning server, which includes a result of the plausibility check as well as the one or more localization error messages created in block 210.

[0104] Fig. 3 shows an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle moving within the parking facility. In block 200, the preliminary map of 2024PF02178 23 is displayed. A provisioning server receives data. Block 202 receives sensor data acquired from the vehicle's sensors as it moves within the parking facility. Block 204 uses this sensor data to locate the vehicle within the preliminary map in order to determine its movement path. This localization includes, for example, locating one or more of the vehicle's current positions within the parking facility as it moves. Block 206 determines the localization uncertainty for locating the vehicle within the parking facility. Block 208 checks whether this determined localization uncertainty reaches a predefined threshold.If, during the movement of the road vehicle, several current positions within the parking facility are determined according to Block 204, for example, a localization uncertainty is determined for each of the position determinations according to Block 206 and the resulting localization uncertainties are checked according to Block 208 to see if they reach the threshold value predefined for the localization uncertainty.

[0105] If the test result in block 208 is positive, i.e., the predefined threshold is reached, the process continues with block 210. In block 210, a localization error message is generated. In block 212, a validation result, which includes the localization error message, is sent to the provisioning server. For example, the process is aborted upon reaching the predefined threshold and sending the validation result in block 212.

[0106] If the test result in block 208 is negative, i.e., the predefined threshold is not reached, the procedure continues in block 214. In block 214, a movement path of the road vehicle within the preliminary map is determined using the sensor data. In block 216, a plausibility check is performed on the movement path within the preliminary map. This plausibility check verifies whether the determined movement path is consistent with one or more movement criteria specified by the preliminary map for the movement of road vehicles within the parking facility. In block 218, a validation result, which includes the result of the plausibility check, is sent to the provisioning server.

[0107] Figure 4 shows an exemplary procedure for validating a preliminary digital map of a parking facility using a computer unit of a road vehicle moving within the parking facility. In block 200, the preliminary map is received from a provisioning server. In block 202, sensor data is received, which is acquired using sensors on the road vehicle as it moves within the parking facility. In block 214, a movement path of the road vehicle within the preliminary map is determined using the sensor data. In block 216, a plausibility check of the movement path within the preliminary map is performed.As part of the plausibility check, it is verified whether the specified movement path is consistent with one or more movement criteria for road vehicles within the parking facility, as defined by the preliminary map. Block 218 sends a validation result to the provisioning server, which includes the result of the plausibility check.

[0108] The provisioning server receives, for example, multiple validation results from multiple road vehicles, which the provisioning server then evaluates. Based on this evaluation, the provisioning server validates the preliminary map.

[0109] If the provisioning server successfully validates the temporary map, the vehicle's computer unit in block 224 receives confirmation of successful validation from the provisioning server. Upon receiving this confirmation in block 224, the validated map is used in block 226 to navigate the vehicle within the parking facility.

[0110] If the provisioning server's validation of the temporary map is successful, the provisioning server generates update data to update the temporary map. If the provisioning server generates update data, the road vehicle's computer unit in block 220 receives the update data. In block 222, the road vehicle's computer unit updates the temporary map using the update data received in block 220. The validation then continues using a road vehicle's computer unit for the updated temporary map of the parking facility, for example, when the road vehicle moves through the parking facility again. For this purpose, the process continues, for example, in block 202 using the updated temporary map. 2024PF02178 25

[0111] Figure 5 shows an exemplary procedure for validating a preliminary digital map of a parking facility using a provisioning server. In block 244, the provisioning server sends the preliminary map to the majority of road vehicles to initiate the validation of the preliminary map of the parking facility using a majority of computer units in the majority of road vehicles. In block 246, multiple validation results are received from at least some of the computer units of the road vehicles moving within the parking facility.The validation results include plausibility checks of movement paths, which were generated for the movements of the corresponding road vehicles within the preliminary map using sensor data collected by the vehicles' sensors during their movements within the parking facility. Block 248 evaluates the received validation results, and Block 250 validates the preliminary map based on this evaluation. Block 252 verifies the success of the preliminary map validation. For example, reaching a predefined initial threshold of positive validation results is a prerequisite for successful validation of the preliminary map.For example, evaluating the received validation results in Block 248 includes checking whether the received validation results contain localization error messages relating to a respective localization uncertainty for the location of the corresponding road vehicles during the determination of movement paths for the movements of the corresponding road vehicles within the preliminary map. If at least some of the received validation results contain localization error messages, these are taken into account during the validation of the preliminary map in Block 250 and its verification in Block 252. For example, a second requirement for successful validation of the preliminary map is that a predefined second threshold for localization error messages is not reached.

[0112] Upon successful validation of the preliminary map in Block 252, i.e., when all prerequisites for successful validation of the preliminary map have been met, a confirmation of the successful validation of the preliminary map is sent in Block 254 to the majority of road vehicles to initiate the use of the validated map for navigation within the parking facility.

[0113] In the event of an unsuccessful validation of the temporary card in block 252, i.e., if not all prerequisites for successful validation of the temporary card were met, 2024PF02178 26 Block 256 contains update data for updating the unsuccessfully validated preliminary map using additional sensor data, which were collected from one or more road vehicles during a movement of the respective road vehicles within the parking facility using one or more sensors, in particular one or more environmental sensors.

[0114] For example, reaching a predefined initial threshold of positive validation results is a first requirement for successful validation of the preliminary map. If this first requirement is not met, updating the preliminary map with the updated data can improve it, for instance, by improving the alignment of vehicle movement paths with the movement criteria specified by the preliminary map for vehicle movements within the parking facility. A second requirement for successful validation of the preliminary map is that a predefined second threshold of localization error messages is not reached.If this second requirement is not met, updating the preliminary map with the update data can, for example, improve the preliminary map so that the localization uncertainty when locating road vehicles within the updated preliminary map can be improved.

[0115] Upon creation of the update data in block 256, the created update data in block 258 is sent to the majority of road vehicles to initiate an update of the preliminary map by the majority of road vehicles using the update data.

[0116] Figure 5 shows an exemplary procedure for validating a preliminary digital map of a parking facility using a provisioning server. The procedure includes, for example, creating the preliminary map to be validated using a provisioning server. For instance, the preliminary map is created through a crowdsourcing process in which sensor data received from multiple road vehicles is used to create the preliminary map. For this purpose, in Block 240, sensor data is received from multiple computer units of multiple road vehicles. This data was acquired using sensors on the road vehicles during their movements within the parking facility. The sensor data includes, for example, sensor data acquired using the environmental sensors of the respective road vehicles. In Block 242, 2024PF02178 TI The preliminary map to be validated is created using sensor data received from the majority of road vehicles. The further procedure according to blocks 242 to 258 of Fig. 6 corresponds to the procedure according to blocks 242 to 258 of Fig. 5.

[0117] Fig. 7 shows a partial view of an exemplary parking facility 340, for example, a parking garage. The parking facility 340 and its features can be detected, for example, using environmental sensors from a road vehicle moving within the parking facility 340. Examples of environmental sensors that can be used include optical sensors, radar sensors, lidar sensors, and / or ultrasonic sensors. Using these sensors, in particular an optical sensor, driving lanes 342 in the parking facility 340 can be detected. Different directions of travel can be assigned to different sides of the driving lanes 342. Furthermore, parking spaces 344 for road vehicles can be detected. Elements 340, such as columns, walls, or similar structures, can also be detected.

[0118] Fig. 8 shows an exemplary preliminary digital map 122 of a parking facility 340, for example, a parking garage or a level of a parking garage. The preliminary map can be provided, for example, in two-dimensional form or with additional three-dimensional information. Three-dimensional information can represent the three-dimensional shape of features or elements of the parking facility 340 more precisely. For the parking facility 340 depicted in the preliminary map 122, for example, driving lanes 342 are defined for the movement of road vehicles within the parking facility 340. Different directions of travel can be assigned to different sides of the driving lanes 342. Furthermore, parking spaces 344 for parking road vehicles are defined. Elements 340, such as columns, walls, or similar structures, can also be defined.These elements may include, for example, obstacles that road vehicles should not or cannot cross when moving within parking facility 340.

[0119] Fig. 9 shows an exemplary computer unit 102 of a road vehicle for validating a preliminary digital map 122 of a parking facility. For example, the computer unit 102 is integrated into the road vehicle. This computer unit 102 integrated into the road vehicle can also be implemented as a distributed system. The computer unit 102 shown comprises a processor unit or arithmetic unit 104. The processor unit 104 can, for example, be an integrated circuit in the form of a 2024PF02178 28 This concerns a microprocessor or a microcontroller in an embedded system. The illustrated processor unit 104 represents one or more processor units. The illustrated computer unit 102 also includes a hardware interface 106. The hardware interface 106 enables the processor unit 104 to communicate with other components of the road vehicle and / or to control other components of the road vehicle.

[0120] The computer unit 102 is communicatively connected, for example via the hardware interface 106, to one or more sensors (not shown) of the road vehicle. The one or more sensors of the road vehicle include, for example, as shown in Fig. 12, one or more environmental sensors and / or one or more odometry sensors of the road vehicle. These one or more environmental sensors are configured, for example, to detect the surroundings of the road vehicle. In particular, the environmental sensors are configured to detect elements of a parking facility in the vicinity of the road vehicle when the road vehicle is moving within the parking facility. Corresponding environmental sensors are illustrated, for example, in Figure 12.These environmental sensors can include, for example, one or more ultrasonic sensors, one or more radar sensors, one or more LiDAR sensors, and / or one or more optical sensors, such as cameras. The one or more odometry sensors are configured to collect data on the movement of the road vehicle, which can be used, for example, to determine changes in the vehicle's position over time. The odometry sensors include, for example, one or more of the following: a speed sensor, a yaw rate sensor, and a steering angle sensor.

[0121] The computer unit 102 is communicatively connected, for example via hardware interface 106, to a communication interface (not shown), which is configured to enable the computer unit 102 to communicate with a provisioning server, for example via a network. Alternatively, the communication interface can also be integrated into the hardware interface 106. For example, the computer unit 102 can receive a preliminary digital map for evaluation from the provisioning server via hardware interface 106. Furthermore, the computer unit 102 can receive, for example, confirmation of successful validation of the preliminary digital maps and / or update data for updating the preliminary digital maps from the provisioning server via hardware interface 106. 2024PF02178 29 In addition, the computer unit 102 can send validation results to the provisioning server via the hardware interface 106, for example.

[0122] The depicted processor unit 104 can also be connected to a user interface 108. The validation of the preliminary map 122, for example, takes place in the background, i.e., without the preliminary map 122 or a section thereof being displayed to the driver of the road vehicle and / or made available for navigation purposes. Upon confirmation of successful validation of the preliminary map 122, the map 122, or at least a section thereof, is made available to the driver, for example, using the user interface 108, for navigation purposes. For example, the user interface 108 includes a display for showing the successfully validated map 122, or at least a section thereof, indicating the current position of the road vehicle within the parking facility. For example, the validated map 122, or at least a section of the validated map 122 showing the current position of the road vehicle within the parking facility, is displayed on the user interface 108 for the driver of the road vehicle to navigate within the parking facility. For example, the user interface 108 display can be configured as a touchscreen. For example, the user interface 108 can be configured to provide the driver with acoustic information, in particular navigation instructions, during navigation within the parking facility. For example, the user interface 108 also includes input means for the driver to interact with the user interface 108.Using the appropriate input devices, the driver can, for example, control navigation using the validated map 122 via the user interface 108; in particular, the driver can start, stop and / or determine parameters for the navigation.

[0123] The depicted processor unit 104 is also in communication connection with a memory unit 110. The memory unit 110 contains machine-readable and machine-executable program instructions 120. The machine-readable program instructions 120 enable the processor unit 104 to perform various numerical and computational tasks. The machine-readable program instructions 120 also enable the processor unit 104 to communicate with other components, for example, with one or more sensors and / or other components of the road vehicle, via the hardware interface 106. to control and / or operate as necessary. Furthermore, machine-readable program instructions 120 of the processor unit 104 can, for example, enable communication with the provisioning server via the hardware interface 106.

[0124] The machine-readable program instructions 120 are configured, for example, to validate a preliminary digital map of a parking facility. The execution of the machine-readable program instructions 120 by the processor unit 104 can, for example, cause the processor unit 104 to control the computer unit 102 to execute one of the procedures shown in Figures 1 to 4.

[0125] Storage unit 110 contains, for example, the preliminary map 122 to be validated. Computer unit 102 receives the preliminary map 122 to be validated, for example, from the provisioning server. Storage unit 110 contains, for example, sensor data 122, which is recorded using sensors of the road vehicle during movement of the road vehicle within the parking facility. Storage unit 110 contains, for example, a movement path 126 of the movement of the road vehicle within the preliminary map 122, which is determined using sensor data 124. In addition, storage unit 110 contains, for example, a result 128 of a plausibility check for the movement path 126 within the preliminary map 122. For example, determining the movement path 126 involves locating the road vehicle within the preliminary map 122 using the sensor data 124. The storage unit 110 includes, for example, one or more localization uncertainties 130 used for localization. Furthermore, the storage unit 110 includes, for example, a predefined threshold 132 for the localization uncertainties 130. If one of the localization uncertainties 130 reaches the predefined threshold 132, for example, a localization error message 134 is generated, which is included in the storage unit 110. The storage unit 110 includes, for example, one or more validation results 136 of the preliminary map 122 generated by the computer unit 102. The validation results 136 include, for example, the result 128 of the plausibility check for the movement path 126 and / or the one or more localization error messages 134.

[0126] Furthermore, storage unit 110 includes, for example, an acknowledgment 138 of successful validation of the temporary card 122. Computer unit 102 receives the acknowledgment 138 from the provisioning server confirming successful validation of the temporary card 122 by the provisioning server. Upon receipt of acknowledgment 2024PF02178 31 The validated map 122 is used, for example, to navigate the road vehicle within the parking facility. If the provisioning server fails to validate the preliminary map 122, the computer unit 102 receives update data 140 from the provisioning server to update the preliminary map 122. The processor unit 104 uses the update data 140 to update the preliminary map 122. Validation then continues for the updated preliminary map resulting from the update with the update data 140.

[0127] Fig. 10 shows an exemplary provisioning server 152 for validating a preliminary digital map 122 of a parking facility. The provisioning server 152 can be implemented as a single unit or as a distributed system. The provisioning server 152 shown comprises a processor unit or computing unit 154. The processor unit 154 can, for example, be an integrated circuit in the form of a microprocessor or a microcontroller in an embedded system. The processor unit 154 shown represents one or more processor units. The provisioning server 152 also includes a communication interface 156 for communication over a network. For example, the communication interface 156 is configured to communicate over the network with multiple computer units of multiple road vehicles.For example, the provisioning server 152 can receive sensor data 172 from at least some of the computer units via the communication interface 156. Furthermore, the provisioning server 152 can send, for example, the preliminary digital map 122 of the parking facility to the computer units for validation via the communication interface 156. Additionally, the provisioning server 152 can receive, for example, validation results 136 from at least some of the computer units via the communication interface 156. Upon successful validation of the preliminary digital map 122, the provisioning server 152 can send, for example, a confirmation 138 of the successful validation of the preliminary digital map 122 to the computer units via the communication interface 156.For example, if validation fails, the provisioning server 152 can send update data 140 via the communication interface 156 to the computer units to update the provisional card 122.

[0128] The depicted processor unit 154 can also communicate with an optional user interface 158 of the provisioning server 152. The 2024PF02178 32 User interface 158 includes, for example, input and output means that allow a user to interact directly with the provisioning server 152 and, for example, to control it.

[0129] The depicted processor unit 154 is also in communication connection with a memory unit 160. The memory unit 160 contains machine-readable and machine-executable program instructions 170. The machine-readable program instructions 170 enable the processor unit 154 to perform various numerical and computational tasks. The machine-readable program instructions 170 also enable the processor unit 154 to communicate with computer units of road vehicles via the communication interface 156.

[0130] The machine-readable program instructions 170 are configured, for example, to validate a preliminary digital map of a parking facility. The execution of the machine-readable program instructions 170 by the processor unit 154 can, for example, cause the processor unit 154 to control the provisioning server 152 to execute one of the procedures shown in Figures 5 and 6.

[0131] Storage unit 160, for example, contains sensor data 172 from a plurality of road vehicles, which the provisioning server 152 receives from the computer units of the respective road vehicles. The sensor data 172 was, for example, acquired using sensors of the respective road vehicles during movements within the parking facility. This sensor data 172 enables, for example, the creation of the preliminary map through a crowdsourcing process, in which the sensor data 172 from the plurality of road vehicles is used to create the preliminary map 172. Furthermore, storage unit 160 contains, for example, the preliminary map 122 to be validated. This map 122 was created, for example, by the provisioning server 152 using sensor data 172.For example, storage unit 160 includes validation results 136, which the provisioning server 152 receives from at least some of a plurality of road vehicles. At least some of the received validation results 136 include results for plausibility checks of movement paths, which were created for movements of the road vehicles within the preliminary map 122. Storage unit 160 includes, for example, a predefined first threshold 174 of positive first validation results. For example, reaching the predefined first threshold 174 is a first requirement for a 2024PF02178 33. Successful validation of the preliminary map 122. For example, one or more of the received validation results include 136 localization error messages from road vehicles concerning a respective localization uncertainty for locating the corresponding road vehicle during the determination of a movement path for a movement of the road vehicle within the preliminary map 122. The storage unit 160 also includes, for example, a predefined second threshold 176 of localization error messages. For example, not reaching the predefined second threshold 176 is a second requirement for successful validation of the preliminary map 122.

[0132] If all prerequisites for successful validation of the temporary card 122 are met, i.e., if the temporary card 122 is successfully validated, the processor unit 154 generates, for example, the confirmation 138 of successful validation. This confirmation 138 of successful validation of the temporary card 122 is then sent by the provisioning server 152, for example, to the majority of road vehicles to which the temporary card 122 was previously sent, in order to initiate the use of the validated card 122 for navigation within the parking facility.

[0133] If the preliminary map 122 fails to validate, i.e., if not all prerequisites for successful validation of the preliminary map 122 are met, the processor unit 154, for example, creates update data 140 to update the unsuccessfully validated preliminary map 122. The storage unit 160, for example, contains this update data 140, which is sent to the majority of road vehicles to update the preliminary map 122. The update data 140 is created, for example, using additional sensor data 178, which was acquired from one or more road vehicles during movement within the parking facility using one or more sensors, in particular one or more environmental sensors.The provisioning server 152 receives this additional sensor data 178, for example, from the corresponding road vehicles.

[0134] Fig. 11 shows an exemplary system 100 for validating a preliminary digital map of a parking facility. The system 100 comprises, for example, a plurality of computer systems 102 of road vehicles. The computer systems 102 are, for example, computer systems 102 according to the example in Fig. 9. The computer systems 2024PF02178 34 The computer systems 102 are configured, for example, to execute one or more of the procedures shown in Figures 1 to 4. Furthermore, the system 100 includes, for example, a provisioning server 152. The provisioning server 152 is, for example, a provisioning server 152 as shown in Figure 10. The provisioning server 152 is configured, for example, to execute one or more of the procedures shown in Figures 5 to 6. A communication link exists between the computer systems 102 of the road vehicles and the provisioning server 152 via a network 190.These communication links enable the computer systems 102 of the road vehicles and the provisioning server 152 to exchange data, such as sensor data captured by the road vehicles, a preliminary digital map, validation results for the preliminary digital map, confirmation of successful map validation and / or update data for updating the preliminary digital map.

[0135] Fig. 12 shows an exemplary road vehicle 300 with a computer unit 102 for validating a preliminary digital map of a parking facility within which the road vehicle 300 is moving. The road vehicle 300 can be, for example, any type of road vehicle or motor vehicle, e.g., a car, a truck, a bus, or a motorcycle driven by a human driver.

[0136] The computer unit 102 of the road vehicle 300 is, for example, the computer unit 102 shown in Fig. 9. In the example shown, the road vehicle 300 also includes, in addition to the computer unit 102, a plurality of different sensors. The sensors include, for example, environmental sensors 304, 306, 308 for monitoring an environment 310 of the road vehicle 300. The environmental sensors 304, 306, 308 include, for example, one or more LiDAR (Light Detection and Ranging)-based environmental sensors 304, one or more optical cameras 306, and one or more environmental sensors 308, which include one or more ultrasonic sensors and / or radar sensors. The environmental sensors 304, 306, 308 detect the environment 310 of the road vehicle 300, i.e. the parking facility, when the road vehicle 300 moves within the parking facility.Here, the environmental sensors 304, 306, and 308 generate sensor data, which is sent to the computer unit 102 of the road vehicle 300. The sensor data sent to the computer unit 102 includes, for example, raw data and / or pre-processed data.

[0137] The sensors include, for example, odometry sensors 314 of the road vehicle 300. The odometry sensors 314 include, for example, a speed sensor, a 2024PF02178 35 Yaw rate sensor and / or steering angle sensor. The odometry sensors 314 acquire sensor data which is sent to the computer unit 102 of the road vehicle 300. The sensor data sent to the computer unit 102 includes, for example, raw data and / or preprocessed data.

[0138] The road vehicle 300 further comprises a data link 312 that connects the sensors, i.e., the environmental sensors 304, 306, 308 and the odometry sensors 314, and the computer unit 102. The computer unit 102 can be any type of computer unit 102 suitable for use in a road vehicle 300. Such computer units 100 are known, for example, in the automotive sector as ECUs (Electronic Control Units). The computer unit 102 can, for example, be a dedicated computer unit 102 for carrying out the previously described method for validating the preliminary digital map of the parking facility. For this purpose, the computer unit 102 can, for example, correspond to the computer unit 102 shown in Fig. 9. For example, the computer unit 102 is configured to carry out one of the methods for validating the preliminary digital map of the parking facility according to one of Figs. 1 to 4.The computer unit 102 can also be used, for example, to perform multiple tasks or applications simultaneously.

[0139] The computer unit 102 receives and processes the sensor data transmitted by the sensors, i.e., the environmental sensors 304, 306, 308 and the odometry sensors 314, via the data link 312. The data link 312 can be configured, for example, as a dedicated connection between the environmental sensors 304, 306, 308 and the odometry sensors 314 and the computer unit 102, or as a data bus. Furthermore, the data link 312 can be configured as a shared data link 312 used by various types of devices in the road vehicle 300, for example, as a multi-purpose data bus. The data link 312 can be implemented, for example, as a CAN bus, LIN bus, or other interface.

[0140] Although a single data connection 312 is shown in Fig. 12, several connections or data buses can be provided in parallel for connecting the sensors, i.e., the environmental sensors 304, 306, 308 and the odometry sensors 314, to the computer unit 102, which together are considered a data connection 312. Although in Fig. Figure 12 shows a single computer unit 102; similarly, several computer units 102 can be provided in parallel for processing the sensors, i.e., the environmental sensors 304, 306, 308, and the odometry sensors 314. For example, the 2024PF02178 36 Computer unit 102 is configured to fuse the sensor data received from the sensors, i.e., the environmental sensors 304, 306, 308 and the odometry sensors 314, to provide a single set of sensor data, in particular the environment 310.

[0141] Although the invention is illustrated and described in detail in the drawings and the preceding description, this illustration and description is to be regarded as exemplary and not limiting; the invention is not limited to the disclosed embodiments.

[0142] Other variations of the disclosed examples can be understood and carried out by a person skilled in the art when carrying out the claimed invention with reference to the drawings, the description, and the accompanying claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" does not exclude multiple elements or steps. The mere fact that certain features are mentioned in differing dependent claims does not mean that a combination of these features cannot be advantageous. Any reference numerals in the claims should not be interpreted as limiting the scope of protection.

[0143] A single processor or other unit can perform the functions of several elements mentioned in the claims. A computer program can be stored / distributed on a suitable medium, for example, on an optical storage medium or a solid-state medium supplied with or as part of other hardware, but it can also be distributed in other ways, for example, via the Internet or other wired or wireless telecommunications systems.

[0144] As those skilled in the art will understand, aspects of the present invention can be embodied in the form of a device, a method, or a computer program product. Accordingly, aspects of the present invention can take the form of a purely hardware variant, a purely software variant (including firmware, resident software, microcode, etc.), or a variant that combines software and hardware aspects, which may be generally referred to here as a "circuit," "module," or "system." Furthermore, aspects of the present invention can take the form of a computer program product embodied in one or more computer-readable media containing computer-executable code.

[0145] Any combination of one or more computer-readable media can be used. The computer-readable medium can be a computer-readable signal medium. 2024PF02178 37 or a computer-readable storage medium. A "computer-readable storage medium," as used here, includes any tangible storage medium capable of storing instructions executable by a processor or computing system of a computer unit. The computer-readable storage medium may be referred to as a computer-readable non-transitory storage medium. The computer-readable storage medium may also be referred to as a tangible computer-readable medium. In some embodiments, a computer-readable storage medium may also be capable of storing data accessible to the processor or computing system of the computer unit. Examples of computer-readable storage media include, but are not limited to: a floppy disk, a magnetic hard disk drive, a solid-state drive, flash memory, a USB flash drive, random access memory (RAM), and read-only memory (LRM).: Read Only Memory / ROM), an optical disc, a magneto-optical disc, and the register file of the processor or computing system. Examples of optical discs are Compact Discs (CDs) and Digital Versatile Discs (DVDs), such as CD-ROM, CD-RW, CD-R, DVD-ROM, DVD-RW, or DVD-R discs. The term "computer-readable storage medium" also refers to various types of recording media that the computer unit can access via a network or communication link. For example, data can be retrieved via a modem, the internet, or a local area network. Computer-readable or computer-executable code embodied on a computer-readable medium can be transmitted via any suitable medium, including, but not limited to, wireless transmission, wired transmission, fiber optic cable, radio frequency transmission, etc., or a suitable combination of the aforementioned media.

[0146] A computer-readable signaling medium can contain a propagating data signal with computer-executable code embodied therein, for example, in a baseband or as part of a carrier wave. Such a transmitted signal can take any form, including, but not limited to, electromagnetic or optical signals, or a suitable combination thereof. A computer-readable signaling medium can be any computer-readable medium that is not a computer-readable storage medium and that can transmit, propagate, or transport a program for use by or in conjunction with a command execution system, apparatus, or device.

[0147] A "computer memory," "storage unit," or "memory" is an example of a computer-readable storage medium. Computer memory is any memory that a processor or computing system can directly access. 2024PF02178 38

[0148] A "processor system," "processor unit," "computer system," or "computer unit," as used herein, comprises an electronic component capable of executing a program, a machine-executable instruction, or computer-executable code. References to the processor system or computer system that include an example "a processor system" or "computer system" are to be understood as meaning that the example may include more than one processor system, processor unit, computer system, computer unit, or processor core. For example, the processor system or computer system may be a multi-core processor. A processor system, processor unit, computer system, or computer unit may also refer to a collection of processor units or computer units within a single computer system or distributed across multiple computer systems.The terms "processor system," "processor unit," "computer system," or "computing unit" should also be interpreted as potentially referring to a collection or network of computing devices, each comprising a processor or computing system. The machine-executable code or instructions may be executed by multiple computing systems or processors located within the same computing device or even distributed across multiple computing devices.

[0149] Machine-readable or machine-executable instructions, or computer-readable or computer-executable code, may comprise instructions or a program that causes a processor or other computing system to execute an aspect of the present invention. Computer-executable code for performing operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or similar languages, and conventional procedural programming languages ​​such as the programming language "C" or similar languages, and compiled into machine-executable instructions. In some cases, the computer-executable code may be in the form of a high-level language or in pre-compiled form and used in conjunction with an interpreter that generates the machine-executable instructions on the fly.In other cases, the machine-executable instructions or computer-executable code may be in the form of programming for programmable logic gate arrays.

[0150] The executable computer code can be installed entirely on the user's computer unit, partially on the user's computer unit as a standalone software package, partially on 2024PF02178 39 the user's computer unit and partially on a remote computer unit, or entirely on the remote computer unit or server. In the latter case, the remote computer unit can be connected to the user's computer unit via any network, including a local area network (LAN) or a wide area network (WAN), or the connection can be established with an external computer unit (for example, via the internet with the help of an internet service provider).

[0151] Aspects of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the invention. It is understood that each block or part of the blocks of the flowchart, illustrations, and / or block diagrams can be implemented by computer program instructions in the form of computer-readable or computer-executable code, where applicable. It is further understood that combinations of blocks in different flowcharts, illustrations, and / or block diagrams can be combined, provided they are not mutually exclusive.These computer program instructions can be provided to a computing system of a general-purpose computer, a special-purpose computer, or any other programmable data processing device to create a machine such that the instructions executed through the computing system of the computer or other programmable data processing device provide means for implementing the functions / actions specified in the flowchart and / or block diagram block or blocks.

[0152] These machine-executable instructions or computer program instructions may also be stored in a computer-readable medium capable of instructing a computer, other programmable data processing device, or other apparatus to operate in a particular manner, such that the instructions stored in the computer-readable medium produce a manufactured item containing instructions to perform the function / action specified in the flowchart and / or block diagram block or blocks.

[0153] The machine-readable or machine-executable instructions or computer program instructions can also be loaded onto a computer, other programmable data processing device, or other equipment to initiate a series of process steps that are executed on the computer, other programmable device, or other equipment to achieve a 2024PF02178 40 to create a computer-implemented process such that the instructions executed on the computer or other programmable device provide processes for implementing the functions / actions specified in the flowchart and / or block diagram block or blocks.

[0154] A "user interface," as used here, is an interface that allows a user or operator to interact with a computer or computer system. A "user interface" can also be called a "human interface device." A user interface can provide information or data to the user and / or receive information or data from the user. A user interface can allow the computer to receive input from the user and provide output from the computer to the user. In other words, the user interface can allow a user to control or manipulate a computer, and the interface can allow the computer to display the effects of the user's control or manipulation.Displaying data or information on a screen or graphical user interface is an example of providing information to a user. Receiving data via a keyboard, mouse, trackball, touchpad, pointer, graphics tablet, joystick, gamepad, webcam, headset, pedals, wired glove, remote control, and accelerometer are all examples of user interface components that enable a user to receive information or data.

[0155] A "hardware interface," as used here, comprises an interface that enables the processor or computing system of a computer unit or computer system to interact with and / or control an external computer device and / or external apparatus. A hardware interface can enable a computer unit to send control signals or commands to an external computer device and / or external apparatus. A hardware interface can also enable a computer unit to exchange data with an external data processing system and / or external device. Examples of a hardware interface include, but are not limited to: a universal serial bus, an IEEE 1394 port, a parallel port, an IEEE 1284 port, a serial port, an RS-232 port, an IEEE 488 port, a Bluetooth connection, a wireless local area network connection, and a TCP / IP connection. an Ethernet connection, a control voltage interface, a MIDI interface, an analog input interface and a digital input interface.

[0156] A "display," "indication," or "display device," as used here, comprises an output device or user interface capable of displaying images or data. A display can output visual, auditory, and / or tactile data. Examples of a display include, but are not limited to: a computer monitor, a television screen, a touchscreen, a tactile electronic display, and a Braille display.

[0157] Cathode ray tube (CRT), storage tube, bistable display, electronic paper, vector display, flat panel display, vacuum fluorescent display (VFD) Vacuum Fluorescent Display / VF Display), Light Emitting Diode / LED, Electroluminescent Display / ELD, Plasma Display Panels / PDP, Liquid Crystal Display / LCD, Organic Light-Emitting Diode Displays / OLED, Projector and Head-Mounted Display.2024PF02178 42 LIST OF REFERENCE MARKS 100 System 102 Computer unit 104 processor units 106 Hardware interface 108 User interface 110 storage units 120 machine-readable program instructions 122 preliminary digital map 124 sensor data 126 Movement path 128 Plausibility Check Result 130 Localization uncertainty 132 predefined threshold 134 Localization error message 136 Validation result 138 Confirmation of successful validation 140 Update data 152 Provisioning servers 154 processor units 156 Communication interface 158 User interface 160 storage units 170 machine-readable program instructions, 172 sensor data points 174 predefined first threshold 176 predefined second threshold 178 additional sensor data 190 network 300 road vehicles 304 LiDAR-based sensor 306 optical sensor 2024PF02178 43 308 Ultrasonic sensor / radar sensor 310 Environment 312 Data connection 314 odometry sensors 340 parking spaces 342 Driving lane 344 parking spaces 346 Element

Claims

2024PF02178 44 REQUIREMENTS 1. Method for validating a preliminary digital map (122) of a parking facility (340) using a computer unit (102) of a road vehicle (300) moving within the parking facility (340), wherein the method by the computer unit (102) comprises: Receiving the preliminary map (122) from a provisioning server (154), receiving sensor data (124) which are acquired using sensors (304, 306, 308, 314) of the road vehicle (300) during a movement of the road vehicle (300) within the parking facility (340), Determining a movement path (126) of the movement of the road vehicle (300) within the preliminary map (122) using the sensor data (124), performing a plausibility check for the movement path (126) within the preliminary map (122), in the course of the plausibility check verifying whether the determined movement path (126) is consistent with one or more movement criteria specified by the preliminary map (122) for movements of road vehicles (300) within the parking facility (340), and Sending an initial validation result (136) to the provisioning server (154), which includes a result (128) of the plausibility check.

2. The method of claim 1, wherein the one or more movement criteria specified by the preliminary map (122) comprise one or more of the following definitions: one or more definitions of one or more driving lanes (342) in the preliminary map (122) provided for movement by road vehicles (300) within the parking facility (340), wherein, in the course of the plausibility check, it is verified whether the specified movement path (126) lies within the one or more driving lanes (342) defined in the preliminary map (122), one or more definitions of one or more elements (344) in the preliminary map (122) that contradict the intended movements of road vehicles (300) within the parking facility (340), whereby, as part of the plausibility check, it is verified whether the specified movement path (126) intersects one of the corresponding elements (344) defined in the preliminary map (122). 2024PF02178 45 3. Method according to any of the preceding claims, wherein determining the movement path (126) comprises locating the road vehicle (300) within the preliminary map (122) using the sensor data (124), wherein the method further comprises: Determining a localization uncertainty (130) for localization, upon reaching a predefined threshold (132) for localization uncertainty (130), generating a localization error message (134) and sending a second validation result (136) to the provisioning server (154), which includes the localization error message (134).

4. A method according to any of the preceding claims, wherein the method further comprises: Receiving confirmation (138) of successful validation of the temporary card (122) from the provisioning server (154), Upon receipt of the confirmation (138), use of the validated map to navigate the road vehicle (300) within the parking facility (340).

5. Method for validating a preliminary digital map (122) of a parking facility (340) using a provisioning server (154), wherein the method comprises through the provisioning server (154): Sending the provisional map (122) to the majority of road vehicles (300) to initiate the validation of the provisional map (122) of the parking facility (340) using a majority of computer units (102) of the majority of road vehicles (300), Receiving several initial validation results (136) from at least some of the computer units (102) of the road vehicles (300) moving within the parking facility (340), wherein the initial validation results (136) include results (128) for plausibility checks of movement paths (126) generated for the movements of the corresponding road vehicles (300) within the preliminary map (122) using sensor data (124) acquired using sensors (304, 306, 308, 314) of the corresponding road vehicles (300) during the movements of the corresponding road vehicles (300) within the parking facility (340), evaluating the received initial validation results (136) and validating the preliminary map (122) based on the evaluation, whereby reaching a predefined 2024PF02178 46 first threshold (174) of positive first validation results (136) is a first prerequisite for successful validation of the preliminary map (122), upon successful validation of the provisional map (122), sending a confirmation (138) of the successful validation of the provisional map (122) to the majority of road vehicles (300) to initiate the use of the validated map for navigation by the majority of road vehicles (300) within the parking facility (340).

6. The method of claim 5, wherein the method further comprises: Check whether at least some of the computer units (102) have received one or more second validation results (136) with localization error messages (134) concerning a respective localization uncertainty (130) for the localization of the corresponding road vehicles (300) in the course of determining the movement paths (126) for the movements of the corresponding road vehicles (300) within the preliminary map (122), upon receiving one or more second validation results (136), evaluating the received one or more second validation results (136), wherein a second requirement for successful validation of the preliminary map (122) is that a predefined second threshold (176) of localization error messages (134) is not reached.

7. Computer program with machine-readable program instructions (120; 170) configured to control the execution of a method according to any of the preceding claims.

8. Computer unit (102) of a road vehicle (300) for validating a preliminary digital map (122) of a parking facility (340) which is moving within the parking facility (340), wherein the computer unit (102) comprises a processor unit (104) and a memory unit (110) with machine-readable program instructions (120), wherein the execution of the machine-readable program instructions (120) by the processor unit (104) causes the processor unit (104) to control the computer unit (102) to: Receiving the preliminary map (122) from a provisioning server (154), receiving sensor data (124) which is acquired using sensors (304, 306, 308, 314) of the road vehicle (300) during movement of the road vehicle (300) within the parking facility (340), 2024PF02178 47 Determining a movement path (126) of the movement of the road vehicle (300) within the preliminary map (122) using the sensor data (124), Performing a plausibility check for the movement path (126) within the preliminary map (122), wherein, in the course of the plausibility check, it is verified whether the specified movement path (126) is in accordance with one or more movement criteria specified by the preliminary map (122) for movements of road vehicles (300) within the parking facility (340), and Sending a validation result (136) to the provisioning server (154), which includes a result (128) of the plausibility check.

9. Provisioning server (154) for validating a preliminary digital map (122) of a parking facility (340), wherein the provisioning server (154) comprises a processor unit (154) and a memory unit (160) with machine-readable program instructions (170), wherein the execution of the machine-readable program instructions (170) by the processor unit (154) causes the processor unit (154) to control the provisioning server (154) to: Sending the provisional map (122) to the majority of road vehicles (300) to initiate the validation of the provisional map (122) of the parking facility (340) using a majority of computer units (102) of the majority of road vehicles (300), Receiving multiple validation results (136) from at least some of the computer units (102) of the road vehicles (300) moving within the parking facility (340), wherein the validation results (136) include results (128) for plausibility checks of movement paths (126) generated for the movements of the corresponding road vehicles (300) within the preliminary map (122) using sensor data (124) acquired using sensors (304, 306, 308, 314) of the corresponding road vehicles (300) during the movements of the corresponding road vehicles (300) within the parking facility (340), and evaluating the received initial validation results (136) and validating the preliminary map (122) based on the evaluation.where reaching a predefined threshold (174) of positive initial validation results (136) is a prerequisite for successful validation of the preliminary card (122), upon successful validation of the temporary card (122), sending a confirmation (138) of the successful validation of the temporary card (122) to the majority of 2024PF02178 48 road vehicles (300) to initiate the use of the validated map to navigate the majority of road vehicles (300) within the parking facility (340).

10. System (100) comprising one or more computer units (102) of road vehicles (300) according to claim 8 and a provisioning server (152) according to claim 9.

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