Local Environment Map Synchronization via Relative Position Data
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Solution Overview
Problem
Existing motor vehicle systems face challenges in synchronizing local environment maps generated by different sensors, leading to independent and unsynchronized trajectories, which can cause issues in automated driving due to the large volume of data required for fusion and the limitations of communication bandwidth in vehicles.
Innovation Solution
A method and device that synchronize first and second local environment maps by determining the relative position of the motor vehicle to a stored trajectory, using a small data exchange to align the maps, allowing for efficient synchronization of completely integrated sensor systems like camera-based and ultrasound-based sensors without requiring extensive data transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If environment data from multiple sensor systems are fused into a single environment map, then the trajectories can be synchronized, but a large volume of data must be transmitted which exceeds the communication bandwidth available in motor vehicles
Solution Approach 1:
The patent extracts only the essential synchronization information (relative position and orientation parameters) from the complete environment data, transmitting only these critical parameters between sensor systems rather than the full dataset. This allows trajectory synchronization while minimizing data transmission volume to fit within available communication bandwidth.
Solution Approach 2:
The patent segments the environment data processing into independent local environment maps for each sensor system, with each system maintaining its own map and only exchanging minimal transformation parameters. This segmentation avoids the need to transmit and process complete fused environment data while achieving synchronization through coordinate transformation.
2Measurement precision
If complete environment data is transmitted for map fusion, then accurate synchronization is achieved, but the communication infrastructure (e.g., CAN bus) cannot handle the data rate
Solution Approach 1:
The patent extracts only the critical transformation parameters (relative position and orientation) needed for synchronization, transmitting these minimal data elements at high effective rates without overwhelming the communication infrastructure. This maintains synchronization accuracy while adapting to the speed limitations of vehicle communication systems.
3Adaptability or versatility
If multiple independent sensor systems are used with different resolutions and detection areas, then comprehensive environment detection is achieved, but the generated environment maps are independent and trajectories run freely relative to each other
Solution Approach 1:
The patent introduces a coordinate transformation mechanism as an intermediary that maps trajectories from different sensor coordinate systems into a common reference frame. This mediator enables consistent trajectory representation across diverse sensor systems with different resolutions and detection areas, ensuring reliability while maintaining adaptability.
4Reliability
If a broadband communication interface is installed to handle large data volumes, then map fusion becomes possible, but the cost increases and retrofitting becomes less cost-effective
Solution Approach 1:
The patent extracts and transmits only the minimal synchronization parameters needed, making the system compatible with existing cost-effective communication infrastructure like CAN bus. This approach enables reliable map synchronization without requiring expensive broadband interfaces, maintaining ease of manufacture and retrofittability.
Data Source
Figure 1
Figure 2~3a
Figure 3b~3c
AI summary
The invention relates to a method for synchronizing a first local environment map (9.1) with a second local environment map (9.2) in the environment of a motor vehicle (50), comprising the following steps: acquiring first environment data of the environment of the motor vehicle (50) by a first sensor (2.1) of a first controller (3.1), acquiring second environment data of the environment of the motor vehicle (50) by a second sensor (2.2) of a second controller (3.2), providing the first local environment map (9.1) in the first controller (3.1) and the second local environment map (9.2) in the second controller (3.2), providing a first trajectory (11.1) in the first local environment map (9.1), providing a second trajectory (11.2) in the second local environment map (9.2), wherein the first trajectory (11.1) and the second trajectory (11.2) describe the same physical trajectory in the environment, determining a current Position (14th)1) of the motor vehicle (50) in the first local environment map (9.1) by the first controller (3.1) by evaluating the first environment data, synchronizing the first local environment map (9.1) with the second local environment map (9.2), wherein the synchronization comprises the following steps: determining a relative position (22) to the first trajectory (11.1) in the first local environment map (9.1) by the first controller (3.1), determining a further current position (14.2) of the motor vehicle (50) in the second local environment map (9.2) by the second controller (3.2) by evaluating the relative position (22) with respect to the second trajectory (11.2). The invention further relates to an associated device (1).