Dynamic Factor-Graph Updates for Vehicle Surroundings Digital Maps

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Solution Overview

Problem

Existing graph-based SLAM methods generate inaccurate digital maps due to outdated data and failure to account for structural changes in the vehicle's surroundings.

Innovation Solution

A method that extends a basic factor graph with new data from subsequent trips, identifies changed nodes, and updates the digital map accordingly, using a computer-implemented approach to incorporate structural changes and improve map accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If graph-based SLAM methods are used to generate digital maps, then the mapping process can be automated, but the generated digital maps are inaccurate due to outdated data and failure to account for structural changes

Engineering Contradiction:

Improvemapping process automationVSAvoiddigital map accuracy

Core Design Contradiction:

Extent of automationVSMeasurement precision

Solution Approach 1:

The system dynamically updates the factor graph by comparing new sensor data with existing map data to identify and incorporate structural changes. This allows the mapping system to adapt to changes in the environment over time, resolving the contradiction between automation and accuracy by making the automated process dynamic rather than static.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system implements a feedback mechanism where new sensor data from subsequent trips is continuously compared with the existing digital map, and changes are fed back into the factor graph for updating. This feedback loop ensures that the automated mapping process maintains accuracy by continuously correcting outdated information.

Inventive Principle:

Principle #23Feedback

2Productivity

If a basic factor graph is created from previous trip data, then the initial digital map can be generated efficiently, but the map becomes outdated and inaccurate over time

Engineering Contradiction:

Improvemap generation efficiencyVSAvoidmap data currency

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system performs preliminary actions by creating a basic factor graph from previous trip data to establish an initial digital map efficiently. This preliminary map serves as a foundation that can be quickly generated, while subsequent updates refine its accuracy without requiring complete regeneration.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system maintains continuity by continuously updating the factor graph with new sensor data from subsequent trips. Rather than generating discrete, isolated maps, the system continuously refines the digital map by incorporating new information, ensuring both efficiency and currency of the map data.

Inventive Principle:

Principle #20Continuity of useful action

3Measurement precision

If the entire factor graph is regenerated from new sensor data, then the digital map accuracy can be improved, but the computational complexity and time required increase significantly

Engineering Contradiction:

Improvedigital map accuracyVSAvoidcomputational complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system segments the factor graph updating process by identifying only the specific nodes and factors that have changed compared to the basic factor graph. Instead of regenerating the entire factor graph, the system selectively updates only the affected portions, reducing computational complexity while maintaining accuracy.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system applies partial action by performing only the necessary updates to the factor graph based on changes detected in new sensor data. Rather than completely regenerating the factor graph, the system applies minimal necessary changes to maintain accuracy, avoiding excessive computational effort.

Inventive Principle:

Principle #16Partial or excessive action

4Ease of operation

If structural changes in the surroundings are not accounted for, then the mapping process remains simple, but the digital map becomes inaccurate in dynamic environments

Engineering Contradiction:

Improvemapping process simplicityVSAvoidmap accuracy in dynamic environments

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The system detects parameter changes by comparing new sensor data with existing factor graph data to identify structural changes in the environment. When changes are detected, the system updates the relevant parameters in the factor graph, maintaining simplicity while adapting to dynamic environments through parameter adjustment rather than complete redesign.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20250271279A1Method For Creating A Digital Map Of Surroundings Of A Vehicle By Means Of A Mapping System, And Mapping System

Publication Date: 2025.08.28 VOLKSWAGEN AG

AI summary

A method for creating a digital map of surroundings of a vehicle, comprising: providing a basic factor graph, comprising nodes and factors that were created on the basis of single-trip data from a previous trip; providing further single-trip data relating to a further trip of a vehicle that is different from the previous trip; extending the basic factor graph by generating further nodes and further factors and inserting the further nodes and further factors into the basic factor graph on the basis of the provided further single-trip data, such that an extended factor graph is generated by extending the basic factor graph; identifying nodes of the further nodes which have changed by more than a specified deviation in comparison to the nodes of the provided basic factor graph; and creating a digital map on the basis of the extended factor graph in consideration of the identified nodes.