CN116208936A

CN116208936A - Method for controlling a device of a first vehicle

Info

Publication number: CN116208936A
Application number: CN202211512059.XA
Authority: CN
Inventors: 奥姆·哈里达斯
Original assignee: Junlian Zhixing Co ltd
Current assignee: Junlian Zhixing Co ltd
Priority date: 2021-11-30
Filing date: 2022-11-29
Publication date: 2023-06-02
Also published as: DE102021131409A1

Abstract

The invention relates to a method for controlling a first vehicle, comprising the following steps: receiving object information detected by means of ambient sensors and related to a geographical object; determining a deficiency in database entries in the database that relate to the geographic object and that correspond to the object information; creating an information element related to the geographic object from the detected object information; and transmitting a verification request relating to the geographic object to the traffic infrastructure element and/or the second vehicle together with the created information element. The invention also relates to a method of a traffic infrastructure element or server, a control device for a vehicle, a control unit for a traffic infrastructure element or server, and a computer program.

Description

Method for controlling a device of a first vehicle

Technical Field

The invention relates to a method of a control device of a first vehicle. The invention also relates to a method of a traffic infrastructure unit (RSU for short) or server, a control device for a vehicle, a control unit for a traffic infrastructure unit or server, and a computer program.

Background

Navigation using a navigation system and/or by a navigation method may be based on erroneous data and this may lead to unsatisfactory or in need of improvement of the reliability of the navigation due to missing or imperfect information in the database on which the navigation is based. In this case, erroneous data may be, in particular, a missing piece of information. Over time, information may prove missing, for example, when there is a lack of data about a building constructed since an update of the database. Accordingly, a discrepancy between the database information on which the navigation is based and the real surrounding environment through which the vehicle is driven may result.

For example, such information relates to so-called points of interest (POIs), i.e. geographical objects that may be located near busy roads. The POI may be, for example, a tourist attraction, a gas station or a restaurant. Thereby, the reliability of the navigation also depends on information about POIs or geographical objects, which are then referred to as object information. Although a plurality of service providers maintain a database with such information, the database must be updated by the service provider when the information changes, for example by scheduling or periodically checking by the user or provider whether the data is up to date and performing updates if necessary. Such information may also relate to roads and include, for example, information about a construction site.

The database on which the navigation is based may be included discretely by the vehicle or its control device and updated by means of corrections. Alternatively, the database may be centrally comprised by a server which can be connected with the control device via a communication interface for data transmission to transfer data important for the navigation.

Vehicles typically have one or more ambient sensors. Information about the surroundings of the vehicle can be detected with the surroundings sensor. The information detected by the ambient sensor may be used to update a database on which navigation is based. However, the information detected by the vehicle or its surroundings sensors is often not reliable enough to enable reliable updating of the database.

The task of the invention

The task on which the invention is based is now: the technology is filled and provides a basis for a reliable update of the database on which navigation is based.

Disclosure of Invention

The object of the invention is achieved by a method for controlling a first vehicle. The object of the invention is also achieved by a method of a traffic infrastructure unit or server, by a control device of a vehicle, by a control unit of a traffic infrastructure unit or server, and by a computer program.

A first aspect of the invention relates to a method of a control device of a first vehicle. The method comprises the following steps: receiving object information detected by means of ambient sensors and related to a geographical object; determining a deficiency in database entries in the database that relate to the geographic object and that correspond to the object information; creating an information element related to the geographic object from the detected object information; and transmitting a verification request relating to the geographic object to a traffic infrastructure unit (RSU) and/or a second vehicle along with the created information unit.

The method steps may also be experienced in a different order than that described. It is also preferred that after receiving the object information an information unit relating to the geographical object is created from the detected object information and then the absence of the database entry is determined.

In order to receive the object information, the control device or the on-board unit OBU is connected via a data connection to the ambient sensor. The invention uses data detected by ambient sensors, in particular real-time data, for improving the database on which navigation is based. Here, the ambient sensors of the vehicle that are originally present in most vehicles are used. Based on the object information received by the control device, a deletion of database entries in the database relating to the geographical object and corresponding to these object information is deduced, for example, in which the object information detected is identified from: there is no database entry in the database related to the geographic object or there is an erroneous database entry related to the geographic object. In order to achieve a reliable adjustment of the database, rather than to adjust the database solely on the basis of the object information detected by the surroundings sensors of the vehicle, the control device transmits a verification request to the traffic infrastructure unit and/or to the second vehicle. The validation request is preferably received and evaluated by the traffic infrastructure unit and/or by the second vehicle in order to be replied to, if necessary, after a validation has succeeded, in order to update or adjust the database.

The second vehicle is preferably a vehicle which likewise has a control device which is designed to carry out the method according to the invention. For this purpose, the authentication request can be transmitted by the first vehicle and to the second vehicle, the control devices of these vehicles each comprise a communication interface, in particular a vehicle-to-vehicle interface, a V2V interface or a vehicle-to-vehicle interface, a C2C interface, in particular WLAN, DSRC, LTE or 5G.

The traffic infrastructure unit is preferably a roadside unit RSU or a roadside device RSE. In particular, for the purpose of the authentication request which can be transmitted by the first vehicle to the traffic infrastructure unit, a data connection is established between the vehicle and the traffic infrastructure unit by means of a vehicle-to-roadside interface, a C2R interface or a vehicle-to-infrastructure interface, a C2I interface. Here, the traffic infrastructure unit (RSU) preferably comprises database entries for geographic objects in the vicinity of the traffic infrastructure unit. Alternatively or additionally, the traffic infrastructure unit (RSU) preferably establishes an internet connection with an external server that centrally manages the database.

The method also preferably has the steps of: a validation message relating to a geographic object is received from a traffic infrastructure unit (RSU) and/or a second vehicle and the database is adjusted based on the information element relating to the geographic object. By means of these method steps, the database of the first vehicle is adapted on the basis of the verified object information relating to the geographical object. The authentication message thus implies a corresponding adjustment to the database, for example in that the authentication message confirms object information about the geographical object corresponding to the information unit of the authentication request. It is also preferred that the authentication message has an information unit related to the geographical object, which information unit corresponds to and/or corresponds to an information unit transmitted by the first vehicle together with the authentication request. Preferably, the information units received with the authentication message are created based on the information units transmitted with the authentication request, i.e. based on at least a part of the information contained therein. Alternatively or additionally, the information element of the authentication message comprises a variable for authenticating object information corresponding to the information element of the authentication message. Then, if the variable indicates that the verification of the object information is reliable, the database is preferably adapted in dependence of the information unit transmitted with the verification request.

Preferably, the absence of database entries relating to the geographic object and corresponding to the object information is determined from user input and/or from automated comparison of the database with the object information. If the user finds a geographical object in his vehicle vicinity, however the corresponding database entry relating to the geographical object is missing, i.e. the navigation system does not display any information about the geographical object to the user, the user can transmit a corresponding instruction to the control device via an input, which instruction indicates the missing of the database entry relating to the geographical object and corresponding to the object information. Here, the user is, for example, a driver or an occupant of the vehicle. Alternatively or additionally, the absence is determined from an automated comparison of the database with object information received by the control unit and detected by the ambient sensor. For example, the presence and/or nature of a geographic object is inferred from the detected object information, which is used for comparison with a database and for determining the absence of database entries corresponding to the detected object information.

The at least one ambient sensor also preferably comprises a camera, and the object information is determined by segmentation and analysis of the image data detected by the camera. Thereby, the control device receives object information, which is created by analysis of the image data recorded by means of the camera. These object information preferably include detailed information about the presence and/or nature of the geographic object. By segmenting the detected image data, for example, the landmarks themselves can be identified, wherein these landmarks preferably comprise traffic information and an analysis of these landmarks provides information about the position of the vehicle and/or about the position of the detected geographic object. It is particularly preferred to perform sensor fusion with data of additional sensors, such as lidar, radar, IR, etc., in order to improve the accuracy and reliability of the detected object information and/or in order to detect other object information, such as spatially resolved object information. Preferably, the evaluation, in particular the segmentation and analysis, of the image data and the data of the additional sensors is supported by means of machine learning.

It is also preferred that the object information related to the geographical object is determined from the detection of the geographical object or a landmark of the geographical object related to the geographical object supported by the sensor. In the event that the geographic object is detected, the geographic object is within the detection range of the ambient sensor and is detected directly. Alternatively or additionally, the object information is in the form of a landmark of the geographical object, for example in the form of a sign displaying the distance to the specific geographical object. By detecting object information, e.g. on a sign or advertisement panel as a landmark of a geographical object, e.g. the location of the geographical object and/or a property of the geographical object, such as the name or type of the geographical object, can be detected. Preferably, the coordinate information of the geographic object is determined according to the position information of the vehicle and the data of the relative distance between the landmark of the geographic object and the geographic object.

Preferably, the method has the steps of: determining geographic location information of a first vehicle; determining coordinate information of the geographic object in consideration of the determined location information and the detected object information; the absence of database entries is determined from the coordinate information. For determining the geographical position information of the first vehicle, the control device has a position sensor or is connected to the position sensor of the vehicle for receiving the geographical position information. It is also preferred that the location information of the first vehicle is determined by means of the traffic infrastructure unit. The traffic infrastructure unit (RSU) is fixed in position, whereby the position information of the first vehicle when passing through the traffic infrastructure unit can be determined sufficiently.

The detected object information preferably comprises information about the position of the geographic object relative to the vehicle. Accordingly, the coordinate information of the geographic object can be determined from the position information of the vehicle and the detected object information. Preferably, if there is no database entry with conforming coordinate information and/or no database entry with conforming coordinate information for a further characterized geographic object, then a deletion of the database entry is found. Preferably, the presence of database entries having a specific radius around the determined coordinate information is checked.

In the method according to the invention, the authentication request is preferably sent to a traffic infrastructure unit (RSU) for further transmission and authorization by the server. Thereby enabling the server to manage the database as an authority managing the database. Alternatively, the authentication request is directly transmitted by the first vehicle to the server. This is achieved, for example, via the mobile radio interface of the vehicle, by means of which an internet connection is established with the server. The authentication reply, which is required by the server anyway, is either sent to the traffic infrastructure unit (RSU) and further to the second vehicle or directly from the cloud to the second vehicle. Each new detected geographic object that is not contained in the navigation database by the vehicle sensor must be checked and accepted before entry into the database. For this purpose, the traffic infrastructure unit (RSU) acts as a relay station, which can temporarily store the authentication request and invoke a reply associated therewith from the server.

Another aspect of the invention relates to a method of a traffic infrastructure element or server. The method comprises the following steps: receiving a first validation request from a first vehicle relating to a geographic object, the first validation request having a first information element relating to the geographic object; receiving a second validation request from a second vehicle relating to the geographic object; based on the received authentication request, an authentication message relating to the geographic object is transmitted to the first vehicle and/or the second vehicle. The method is preferably implemented by a traffic infrastructure unit (RSU) which can be connected directly to the first vehicle and/or to the second vehicle for communication for data exchange via V2X, either directly (PC 5) or via mobile radio 5G (C-V2X). It is also preferred that the method is implemented by a server which communicates directly with the first vehicle and/or the second vehicle, for example via a mobile radio. Alternatively, the server can be connected with the traffic infrastructure unit and the traffic infrastructure unit can be connected with the first vehicle and/or the second vehicle.

If the traffic infrastructure element or server receives two verification requests with similar information elements related to a geographic object, the traffic infrastructure element and/or server may verify the object information of the information element related to the geographic object and transmit a corresponding verification message. It is particularly preferred if more than two vehicles transmit information units related to the geographical object, which are similar to each other, to the traffic infrastructure unit or the server by means of a verification request, the object information related to the geographical object is verified. In this way, the reliability of the method can be further improved, since a plurality of vehicles can contribute to a higher accuracy of the verified object information. According to this embodiment, it is therefore preferred that the authentication is performed if the traffic infrastructure element and/or the server obtains a predetermined number of authentication requests corresponding to each other within a predetermined period of time. It is particularly preferred that the predetermined period of time is caused by receipt of the first authentication message.

It is also preferred that the method has the following method steps: transmitting, in response to receiving the first authentication request, an authentication delegate relating to the geographic object to the second vehicle along with a first information element relating to the geographic object; in response to the validation delegation, a second validation request is received from a second vehicle. According to this embodiment, the authentication of the object information relating to the geographic object is brought about by the further vehicle in that the traffic infrastructure unit or the server transmits a corresponding authentication request to the second vehicle on the basis of the authentication request of the first vehicle. Alternatively, the authentication proxy has an information unit different from but corresponding to the first information unit, e.g. an information unit having only a subset of the data of the first information unit, in order to reduce the amount of data transmitted. Preferably, the second vehicle is selected by the traffic infrastructure unit or the server as a function of its position and/or direction of travel in order to ensure that the second vehicle passes the position of the geographical object according to the first information unit and can thus be detected by the surroundings sensor of the second vehicle.

It is particularly preferred that the second authentication request has a second information element relating to the geographical object in order to enable a comparison with the first information element relating to the geographical object of the first authentication request of the first vehicle. Alternatively, the second authentication request has a variable for authenticating (validating) or refuting the first information element. It is also preferred that the authentication message has an authentication-reliable information unit created from the received information unit. In other words, the verification message preferably has an information unit that is created from information from different information units received from the vehicle.

In a preferred embodiment, the method further comprises the following method steps: transmitting a verification request to a server based on the first information unit; and receiving authorization from the server to verify the authentic information unit. Thus, the server can authorize the information unit and cause a change in the database. If the method is implemented, for example, by a control unit of the server, the control unit can authenticate the information unit and send it together with the corresponding authentication requirements to the part of the server managing the database. The information unit is thus authorized and causes a change of the database. Finally, the server informs the traffic infrastructure unit and/or the individual vehicles of the information units that are reliable in verification. Optionally, the method further comprises the following method steps: comparing the first authentication request with the second authentication request; an information unit associated with the geographic object is determined based on the comparison that is authentic. Thus, verifying reliable information units is based on the first information units. The comparison is used to find out whether the object information included in the information units and related to the geographical object is reliable. If the method is implemented by a traffic infrastructure element and a comparison with and/or an adjustment to a central database of a server should be made, the traffic infrastructure element authenticates the information element and transmits the information element to the server together with the corresponding authentication requirements.

Preferably, the information element related to the geographical object has geographical coordinates of the geographical object and at least one of category information, operator information, surrounding information and name information of the geographical object in order to comprehensively characterize the geographical object. The category information preferably includes: the geographic object is a restaurant, gas station, store, rest area, public facility, public restroom, or other POI. The operator information preferably includes information about who is the operator of the geographic object. The information unit also preferably has a road name of the geographic object, which may help to improve the determination of the coordinate information of the geographic object.

Another aspect of the invention relates to a control device (on board unit OBU) for a vehicle having an ambient sensor, wherein the control device (OBU) is designed to receive object information detected by means of the ambient sensor and relating to a geographic object. The control unit (OBU) has a communication interface for establishing a data communication connection with a traffic infrastructure unit (RSU), a server and/or other vehicles. The control unit (OBU) is designed to carry out the described method for a control unit of a vehicle. The control device (OBU) is preferably configured such that it implements the above-mentioned preferred steps of the method according to the invention of the vehicle in order to achieve the advantages associated therewith.

Another aspect of the invention relates to a control unit for a traffic infrastructure unit (RSU) or a server, respectively, having a communication device for establishing a data communication connection with a vehicle. The control unit is set up to carry out the described method for a traffic infrastructure unit or server. The control unit is preferably configured such that it implements the above-described preferred steps of the method according to the invention of the traffic infrastructure unit or server in order to achieve the advantages associated therewith.

Another aspect of the invention relates to a computer program comprising instructions which, when executed by a control unit of a traffic infrastructure unit or server, cause the control unit to implement the described method for a traffic infrastructure unit or server, or which comprises instructions which, when executed by a control device of a vehicle, cause the control device to implement the described method for a control device of a vehicle.

Drawings

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Here:

Fig. 1 shows an embodiment of a method for a control device of a first vehicle and a method for a control unit of a traffic infrastructure unit;

FIG. 2 illustrates an embodiment of a method of a first vehicle;

fig. 3 shows an alternative embodiment of a method for a control device of a first vehicle and a method for a control unit of a traffic infrastructure unit;

fig. 4A and 4B show a scene for presenting an application of an embodiment of the method according to the invention of a vehicle in a bird's eye view and in accordance with the detection range of an optical surroundings sensor of the vehicle;

fig. 5A and 5B show a further scene for presenting an application of an embodiment of the method according to the invention of a vehicle in a bird's eye view and in accordance with the detection range of the optical surroundings sensor of the vehicle; and

fig. 6 shows a schematic diagram of a first vehicle, a traffic infrastructure unit, a server and a second vehicle.

Detailed Description

Fig. 1 shows an embodiment of a method 100 for a control device 501 of a first vehicle 500 and a method 150 for a control unit 511 of a traffic infrastructure unit 510.

In the illustrated embodiment, a first vehicle 500, a second vehicle 520, a traffic infrastructure unit 510, and a server 530 are schematically shown. The first vehicle 500 is schematically shown in fig. 6 and comprises a control device 501 and an ambient sensor 502, which are not shown in fig. 1. The traffic infrastructure unit 510 is schematically shown in fig. 6 and comprises a control unit 511 which is not shown in fig. 1. The first vehicle 500 and the second vehicle 520 each comprise a communication interface 502, and the traffic infrastructure unit 510 and the server 530 each comprise a

communication device

513, 533, in order to be able to carry out the method steps shown in these

methods

100, 200 and in particular to be able to transmit and/or receive data. The method steps shown in fig. 1 are presented as method steps of the first vehicle 500, the second vehicle 520, the traffic infrastructure unit 510 and the server 530, even if these method steps are implemented by their respective components.

The surrounding sensor 502 of the vehicle 500 detects object information relating to the geographical object 311 and transmits these object information via a corresponding interface to a control device 501 (not shown in fig. 1). To this end, the at least one ambient sensor 502 comprises a camera, and the object information is determined by segmentation and analysis of the image data detected by the camera. Object information related to the geographic object 311 is determined based on the detection of the geographic object 311 (see fig. 4) or the geographic object landmark 411 (see fig. 5) related to the geographic object 311 supported by the sensor.

In a first step of the method 100 according to fig. 1, object information detected 101 by means of the ambient sensor 502 and relating to the geographic object 311 is received by the control device 501 of the first vehicle 500.

Geographic location information of first vehicle 500 is then determined 112. The location information of the first vehicle 500 is determined by a location sensor of the first vehicle 500. Alternatively or additionally, the location information is determined by determining the nearest traffic infrastructure element 510 for which the location information is known. These object information include information regarding the location of the geographic object 311 relative to the vehicle 500. The coordinate information of the geographic object 311 is determined in consideration of the determined position information and the detected object information of the first vehicle 500.

Then, a deletion of database entries in the database that are related to the geographic object 311 and that correspond to the object information is determined 102. The absence of database entries is determined 102 from the coordinate information of the geographic object 311. The absence of database entries associated with the geographic object 311 and corresponding to the object information is triggered based on user input and/or based on automated comparison of the database with the object information. Here, by finding that no database entry exists for a particular geographic object 311, the absence of database entries related to the geographic object 311 and corresponding to such object information is inferred. The database is stored in whole or in part in a memory of the first vehicle 500 and is used for navigation of the first vehicle 500. Alternatively, the database is stored in whole or in part on the server 530, with the memory of the vehicle 500 having only portions of the database that are relevant to the surrounding environment of the vehicle 500.

If a deletion of database entries relating to the geographical object 311 and corresponding to these object information is found in step 102, an information unit relating to the geographical object 311 is created 103 from the detected object information. Here, the information unit related to the geographic object 311 has geographic coordinates of the geographic object 311 and at least one of category information, carrier information, surrounding environment information, and name information of the geographic object 311. After the creation 103 of the information unit, a verification request S1 relating to the geographical object 311 is transmitted 104 to the traffic infrastructure element 510 together with the created information unit. The validation request S1 is sent to the traffic infrastructure element 510 for continued transmission and authorization 113 by the server 530.

To perform the adjustment 111 to the database based on the information element of the authentication request S1 related to the geographic object 311, the traffic infrastructure element 510 receives 110 an authentication message S6 related to the geographic object 311. The database of the first vehicle 500 is adjusted 111 in accordance with the verification message S6. Thus, navigation of the first vehicle 500 may be performed based on the updated database.

The above-described method steps are reflected in corresponding method steps of the traffic infrastructure element 510, wherein in the illustrated embodiment, additionally method steps for improving the reliability of the verification of the object information are carried out.

In the control unit 511 of the traffic infrastructure unit 510, the first authentication request S1 is compared 107 with the second authentication request S2. In particular, the information units of the authentication requests S1, S2 are compared with one another and/or object information corresponding to the information units of the authentication requests S1, S2 is compared with object information of a database which can be called up and/or accessed by the traffic infrastructure unit 510. These information elements include object information in a format that facilitates comparison 107. For example, in comparing 107, coordinate information of the geographic object 311 or information on characteristics of the geographic object 311 is compared. Based on the comparison 107, a validation-authentic information element relating to the geographic object 311 is determined. The authentication-reliable information unit may be related to matching object information corresponding to the information units of the authentication requests S1, S3.

The authentication requirement S4 is then transmitted 108 to the server 530 together with the authentication-reliable information unit. The server 530 performs the authorization 113 so that the database can be changed. At the time of authorization 113, a comparison is made in the server 530, for example, between the information unit of the validation request S4, which is validated reliably, and further validation requests, for example, transmitted via further traffic infrastructure units. With this authorization 113, changes to the central database are caused in and/or by the server. The traffic infrastructure element 510 next receives 109 authorization S5 by the server 530 to verify the authentic information element. Upon authorization S5, the traffic infrastructure element 510 creates a validation message S6. Based on the received verification request S1, S3, a verification message S6 relating to the geographic object 311 is transmitted 110 to the first vehicle 500. The authentication message S6 here has an authentication-reliable and authorized information unit created from the received information unit.

Fig. 2 illustrates an embodiment of a method 200 for a first vehicle 500.

In the illustrated embodiment, a first vehicle 500 and a second vehicle 520 are schematically illustrated. The first vehicle 500 is described with reference to fig. 6. Alternatively, the second vehicle 520 is identical to the first vehicle 500 with respect to the described features of the first vehicle 500. The description of the method steps of the method 200 according to fig. 2 is made with reference to the method steps of the method 100 according to fig. 1, wherein in particular reference is made to the description of the method 100 according to fig. 1 for details of the method steps 101, 102, 103, 112, 111 which occur in both

methods

100, 200.

The surrounding sensor 502 of the vehicle 500 detects object information relating to the geographical object 311 and transmits these object information via a corresponding interface to a control device 501 (not shown in fig. 2). Object information related to the geographic object 311 is determined based on the detection of the geographic object 311 (see fig. 4) or the geographic object landmark 411 (see fig. 5) related to the geographic object 311 supported by the sensor.

In a first step of the method 200 according to fig. 2, object information, which is detected 101 by means of the ambient sensor 502 and which is associated with the geographic object 311, is received by the first vehicle 500 or its control device 501.

Geographic location information of first vehicle 500 is then determined 112. The coordinate information of the geographic object 311 is determined in consideration of the determined position information and the detected object information.

Then, a deletion of database entries in the database that are related to the geographic object 311 and that correspond to the object information is determined 102. Alternatively, the absence of database entries is determined 102 from the coordinate information of the geographic object 311. The absence of database entries associated with the geographic object 311 and corresponding to the object information is caused based on user input and/or based on automated comparison of the database with the object information.

If a deletion of database entries relating to the geographical object 311 and corresponding to these object information is found, an information unit relating to the geographical object 311 is created 103 from the detected object information. After creation 103 of the information unit, a verification request S1 relating to the geographical object 311 is transmitted 204 to the second vehicle 520 together with the created information unit.

The second vehicle 520 may authenticate the information element of the authentication request S1. If the second vehicle 520 has object information related to the geographic object 311 that has been verified as authentic, verification of the second vehicle 520 may be performed, for example, by the second vehicle 520 only. The second vehicle 520 optionally undergoes the method 100 set forth with reference to fig. 1 or 3 before the second vehicle 520 transmits the verification message S6 to the first vehicle 500.

To implement the adjustment 111 to the database based on the information element related to the geographic object 311, a verification message S6 related to the geographic object 311 is received 210 from the second vehicle 520. Additionally, the adjustment 111 may be made only if the information unit of the verification request S1 has been verified by a plurality of vehicles (not shown) that also transmit the verification message S6 to the first vehicle 500.

First, in the method 150 of the traffic infrastructure element 510, a first authentication request S1 relating to the geographic object 311 and a first information element relating to the geographic object 311 are received 104 from the first vehicle 500. This corresponds to the transmission 104 of the first authentication request S1 as explained with reference to the method 100 of the control device 501 of the first vehicle 500. The first authentication request S1 is stored in the traffic infrastructure unit 510 in order to create therefrom an authentication proxy S2 for transmission to the further vehicle 520 or an authentication requirement S4 for transmission to the server 230 as explained further below.

In the illustrated embodiment, in response to receiving 104 the first authentication request S1, the authentication delegate S2 relating to the geographic object 311 is transmitted 105 to the second vehicle 520 together with the first information unit relating to the geographic object 311. For this purpose, if a direct data connection can be established between the traffic infrastructure unit 510 and the second vehicle 520, the traffic infrastructure unit 510 sends the validation request S2 directly to the second vehicle 520. Alternatively or additionally, the traffic infrastructure unit 510 causes the other traffic infrastructure unit or the other vehicle to indirectly communicate the validation delegate S2 to the second vehicle 520. The validation delegate S2 can also be indirectly transmitted to the second vehicle 520 by means of a mobile radio.

In the same manner as the first validation request S1 is received 104, a second validation request S3 relating to the geographic object 311 is received 106 from the second vehicle 520. Here, the second authentication request S3 has a second information element related to the geographic object 311. Alternatively, the authentication request S3 may have an authentication-reliable information unit of the first authentication request S1 in order to validate a possible data transmission. In the illustrated embodiment, a second authentication request S3 is received 106 from the second vehicle 520 in response to the authentication request S2.

Fig. 3 shows an alternative embodiment of the method 100 of the control device 501 of the first vehicle 500 and the method 150 of the control unit 511 of the traffic infrastructure unit 510.

The method 100 for the control device 501 of the first vehicle 500 and the method steps of the method 150 for the control unit 511 of the traffic infrastructure unit 510 are described with reference to the method steps of the method 100 according to fig. 1, only the differences of these methods being described.

In this embodiment, the steps of comparing 107 and determining the verified reliable information units related to the geographic object 311, as set forth with reference to fig. 1, are not required. For example, server 530 includes database entries in the database that are related to geographic objects 311 and that correspond to these object information that are verified as authentic.

For this purpose, the traffic infrastructure unit (510) acts as a relay station, which can temporarily store the authentication request S1 and invoke a reply associated therewith from the server. In step 104, the first vehicle 500 transmits the validation request S1 to the traffic infrastructure element 510 together with the information element relating to the geographic object 311. In order to call a reply associated with this from the server 530 via the traffic infrastructure element 510, the authorization 113 is then carried out by the server 530 on the basis of the authentication requirement S4 of the first information element to the server 530, and the traffic infrastructure element 510 receives in step 109 from the server 530 an authorization S5 to authenticate the authentic information element. To perform an adjustment 111 to the database based on the information element of the authentication request S1 related to the geographic object 311, an authentication message S6 related to the geographic object 311 is received 110 from the traffic infrastructure element 510.

Fig. 4 and 5 each show a scene of an application of the

method

100, 200 according to the invention for presenting the vehicle 500 in a bird's eye view (fig. 4A and 5A) and in accordance with the optical surroundings sensor 502 of the vehicle 500 or the detection range 310, 410 (fig. 4B and 5B) of the user of the vehicle 500.

Fig. 4A shows a scene in a bird's eye view. The first vehicle 500 travels on the road 313 as described with reference to fig. 6. The direction of travel of the first vehicle 500 is schematically illustrated by triangles in the first vehicle 500. The ambient sensor 502 is an imaging sensor and is set up to: image data is detected within a detection range 310, wherein the detection range 310 is shown in the illustration by dashed lines arranged at an angle to the ambient sensor 502, the detection range 310 being located between these dashed lines. The ambient sensor 502 is arranged such that the detection range 310 is located in front of the first vehicle 500 in the traveling direction. Thus, the detection range 310 also includes, at least in part, a field of view that is visible to the driver and/or occupant of the first vehicle 500.

While traveling on the road 313, the surrounding sensor 502 detects the geographic object 311 and thus determines object information related to the geographic object 311 from the detection of the sensor support of the geographic object. In the scenario illustrated in fig. 4A, these object information have information about the type of geographic object 311, e.g., geographic object 311 is a particular building and/or has a particular size. These object information have information about the relative position of the geographic object 311 with respect to the vehicle 500, in particular about the distance between the vehicle 500 and the geographic object 500 and/or about how the geographic object 311 is arranged with respect to the road 313, here for example on the right side of the road 313.

After the first vehicle 500 detects the geographic object 311, the first vehicle 500 passes through the traffic infrastructure unit 510. Upon passing through the traffic infrastructure unit 510, the first vehicle 500 undergoes the method 100 set forth with reference to fig. 1. The traffic infrastructure unit 510 correspondingly undergoes the method 150 set forth with reference to fig. 1. If there is no traffic infrastructure element 510 in the vicinity of the identified geographic object 311, the first vehicle 500 may temporarily store information about the identified geographic object 311 until the next traffic infrastructure element 511.

Fig. 4B shows a scenario according to fig. 4A according to the detection range 310 of the optical ambient sensor 502 of the vehicle 500. That is, fig. 4B shows the detection range 310 of the optical surroundings sensor 502 or the field of view of the driver and/or passenger of the first vehicle 500.

Fig. 5A and 5B illustrate another scenario and are elucidated with reference to fig. 4A and 4B, wherein only the differences of fig. 5A and 5B from fig. 4A and 4B are described. While traveling on the road 413, the surrounding sensor 502 detects the geographic object landmark 411 related to the geographic object 311 and thus determines the object information related to the geographic object 311 from the detection of the sensor support of the geographic object landmark 411 related to the geographic object 311. For example, the geographic object landmark 411 may be an advertisement or landmark for a venue that can be found at a particular distance relative to the geographic object landmark 411. Thus, object information, particularly coordinate information about the geographic object 311 and other characteristics of the geographic object 311, may be determined from the geographic object guidepost 411.

In fig. 4A, 4B, 5A, and 5B, two-dimensional image data are detected and processed as seen in fig. 4B and 5B, respectively. Two-dimensional objects are identified and assigned to real objects, in

particular traffic information

312, 412, geographic object 311 (in fig. 4B), and geographic object landmark 411 (in fig. 5B). Object information determined from these objects is processed into information units of V2X messages.

Fig. 6 shows a schematic diagram of a first vehicle 500, a traffic infrastructure unit 510, a server 530, and a second vehicle 520.

The first vehicle 500 includes a control device 501 and an ambient sensor 502. The control device 501 is set up to receive object information which is detected by means of the ambient sensor 502 and which is related to the geographic object 311. The control device 501 may have a memory (not shown) or be connected to a memory, in which a database is stored with information required for navigation of the vehicle 500. The control device 501 has a communication interface 503 for establishing a data communication connection with the traffic infrastructure unit 510, the server 530 and/or other vehicles 520. The data communication connection is illustrated in fig. 6 by a dashed line. The control device 501 is set up to execute one or more of the

methods

100, 200 as described with reference to fig. 1, 2 and 3.

The second vehicle 520 is preferably a vehicle which likewise has a control device 501 (not shown) which is designed to carry out the

method

100, 200 according to the invention. Preferably, the second vehicle 520 is identical with respect to the features of the first vehicle 500 shown in fig. 6.

In order that the authentication request S1 can be transmitted from the first vehicle 500 to the second vehicle 520, as in the method 200 according to fig. 2, the control devices 501 of these

vehicles

500, 520 each comprise a communication interface 503, in particular a vehicle-to-vehicle, V2V interface, or a vehicle-to-vehicle, C2C interface, in particular via WLAN, DSRC, LTE or 5G.

The traffic infrastructure unit 510 comprises a control unit 511. The server 530 includes a control unit 531. The

control units

511, 531 are connected or connectable with

communication devices

513, 533, respectively, for establishing a data communication connection with the

vehicles

500, 520. The

control units

511, 531 are each set up to: the method 150 as set forth with reference to fig. 1 and 3 is implemented.

The traffic infrastructure unit 510 is a roadside unit RSU or a roadside device RSE. In order that in particular the authentication request S1 can be transmitted by the first vehicle 500 to the traffic infrastructure unit 510, a data connection can be established between the first vehicle 500 and the traffic infrastructure unit 510 via the communication device 513 by means of a vehicle-to-roadside interface, a C2R interface or a vehicle-to-infrastructure interface, a C2I interface or more generally a vehicle-to-everything interface, a V2X interface, in particular with WLAN, DSRC, LTE or 5G.

Typically, the information units are formatted as vehicle-to-all messages, i.e., V2X messages, in order to enable transfer between the first vehicle 500, the traffic infrastructure unit 510, the server 530, and/or the second vehicle 520.

The traffic infrastructure unit 510 is configured to establish an internet connection with the server 530, as shown by the dashed line. The first vehicle 500 is configured to: the communication connection with the server 530 is established, for example by means of a mobile radio.

List of reference numerals

100. Method for controlling device

101. Receiving object information

102. Determining deletions

103. Creation of information units

104. Transmitting an authentication request, receiving the authentication request

105. Transmitting authentication delegation

106. Receiving a second authentication request

107. Comparison of

108. Transmitting authentication requirements

109. Receiving authorization

110. Receiving the verification message, transmitting the verification message

111. Tuning a database

112. Determining geographic location information

113. Authorization

150. Method for traffic infrastructure units or servers

200. Method for controlling device

204. Transmitting an authentication request

210. Receiving authentication messages

310. Detection range

311. Geographic objects

312. Traffic information

313. Road

410. Detection range

411. Geographical object road sign

412. Traffic information

413. Road

500. First vehicle

501. Control device

502. Ambient sensor

503. Communication interface

510. Traffic infrastructure unit

511. Control unit

513. Communication apparatus

520. Second vehicle

530. Server device

531. Control unit

533. Communication apparatus

S1 authentication request

S2 authentication delegation

S3 second authentication request

S4 validation requirement

S5 authorization

S6 authentication message

Claims

1. A method (100, 200) of a control device (501) of a first vehicle (500), the method (100, 200) having the steps of:

-receiving (101) object information detected by means of a surrounding sensor (502) and related to a geographical object (311);

determining (102) a absence of database entries in the database that relate to the geographic object (311) and that correspond to the object information;

-creating (103) information elements related to the geographical object (311) based on the detected object information; and also

-transmitting (104, 204) a verification request (S1) relating to the geographical object (311) together with the created information unit to the traffic infrastructure unit (510) and/or the second vehicle (520).

2. The method of claim 1, the method further having:

-receiving (110, 210) a validation message (S6) related to the geographic object (311) from the traffic infrastructure unit (510) and/or the second vehicle (520); and also

-adjusting (111) the database based on information units related to the geographical object (311).

3. The method according to claim 1 or 2, wherein the absence of database entries related to the geographic object (311) and corresponding to the object information is determined (102) in dependence of user input and/or in dependence of an automated comparison of database and object information.

4. The method according to any of the preceding claims, wherein at least one ambient sensor (502) comprises a camera and the object information is determined by segmentation and analysis of image data detected by the camera.

5. The method of claim 4, wherein the object information related to the geographic object (311) is determined from sensor-supported detection of the geographic object (311) or a geographic object guidepost (411) related to the geographic object (311).

6. The method of any of the preceding claims, the method further having:

Determining (112) geographic location information of the first vehicle (500);

determining coordinate information of the geographic object (311) taking into account the determined location information and the detected object information;

-determining (102) a deletion of the database entry from the coordinate information.

7. The method according to any of the preceding claims, wherein the verification request (S1) is sent to the traffic infrastructure unit (510) and/or the second vehicle (520) for continued transmission and authorization (113) by a server (530).

8. A method (150) of a traffic infrastructure unit (510) or server (530), the method having the steps of:

-receiving (104) from a first vehicle (500) a first authentication request (S1) related to a geographical object (311) and a first information unit related to said geographical object (311);

-receiving (106) a second verification request (S3) from a second vehicle (520) relating to the geographic object (311);

based on the received authentication request (S1, S3), an authentication message (S6) relating to the geographic object (311) is transmitted (110) to the first vehicle (500) and/or the second vehicle (520).

9. The method according to claim 8, further having the method steps of:

-transmitting (105) a validation delegate (S2) relating to the geographical object (311) to the second vehicle (520) together with a first information unit relating to the geographical object (311) in response to receipt (104) of the first validation request (S1);

-receiving (106) the second authentication request (S3) from the second vehicle (520) in response to the authentication delegation (S2).

10. Method according to claim 8 or 9, wherein the second authentication request (S3) has a second information unit related to the geographical object (311) and/or the authentication message (S6) has an authentication-reliable information unit created from the received information unit.

11. The method according to any one of claims 8 to 10, further having the method steps of:

-transmitting (108) a validation requirement (S4) to the server (530) based on the first information unit; and also

-receiving (109) from the server (530) an authorization to verify a reliable information unit (S5).

12. The method according to any of the preceding claims, wherein the information element related to the geographical object (311) has geographical coordinates of the geographical object (311) and at least one of category information, operator information, ambient information and name information of the geographical object (311).

13. A control device (501) for a vehicle (500, 520) having an ambient sensor (502), wherein the control device (501) is set up for receiving object information detected by means of the ambient sensor (502) and relating to a geographic object (311), and wherein the control device (501) has a communication interface (503) for establishing a data communication connection with a traffic infrastructure unit (510), a server (530) and/or other vehicles (500, 520), wherein the control device (501) is set up for carrying out the method (100, 200) according to any one of claims 1 to 7.

14. A control unit (511, 531) for a traffic infrastructure unit (510) or a server (530) having a communication device (513, 533), respectively, for establishing a data communication connection with a vehicle (500, 520), wherein the control unit (511, 531) is set up to perform (150) a method according to any of claims 8 to 11.

15. A computer program comprising instructions which, when executed by a control unit (511, 531) of a traffic infrastructure unit (510) or a server (530), cause the control unit to implement the method (150) according to any of claims 8 to 11; or the computer program comprises instructions which, when executed by a control device (501) of a vehicle (500), cause the control device to implement the method (100, 200) according to any one of claims 1 to 7.