DE102012004625A1 - Method for creating and updating map information for use in driver assistance system in motor vehicle, involves determining attribute from driving history data, which is assigned defined route section determined by route section information - Google Patents

Abstract

The method involves continuously detecting (S1) the driving history data, which indicates the vehicle positions, over which the vehicle is moving. The road section information is determined (S3) from the driving history data, which indicates the course of a route section in a route network. The map information is created (S5) or updated (S6), which describes a route network based on the route section information. An attribute is determined (S7) from the driving history data, which is assigned a defined route section determined by the route section information. The attribute is added to the defined route section of the map information, or the attribute assigned to the defined route section of the map information is updated based on the determined attribute. Independent claims are included for the following: (1) a system for creating and updating map information, particularly for use in a navigation system or in a driver assistance system in a motor vehicle; (2) a computer program with a program code medium for executing on a computer or a corresponding computing unit for creating and updating map information; and (3) a computer program product with a program code stored on a computer readable medium for creating and updating map information when executed on a data processing device.

Description

Technical area

The invention generally relates to providing map information in a motor vehicle.

State of the art

The provision of accurate and up-to-date digital map information indicating the course of lanes and attributes of the route (attributes) is becoming increasingly important beyond the mere function of route planning, navigation assistance and route guidance. In addition to the route guidance of the navigation system, driver assistance systems now assume functions that were originally perceived by the driver of a motor vehicle.

In navigation systems in motor vehicles, map information indicating routes in a route network is updated, if at all, only at relatively long intervals, since for a satisfactory route planning a map information based on older route network data is often sufficient, representing a digital map format.

Driver assistance systems, such as an engine management system or the like, in the future in the driving of the motor vehicle, in particular in acceleration and deceleration operations and steering interventions of the vehicle or the driver, intervene and are thus safety critical. Such driver assistance systems are generally predictive and analyze the characteristics of the route ahead of the vehicle. Therefore, for a safe operation of a motor vehicle, the reliability and timeliness of the underlying map information is of great importance.

The updating of the card information is usually done via a data provider who creates card information. The data provider then provides updated map information at specific intervals, usually every three to twelve months. However, as road lanes often change in the short term, particularly due to construction sites and the like, the updated map information is partially outdated at the time of its release.

In particular, the route sections of the route network described by the map information may be provided with attributes such as speed restrictions, signage information, terrain information, tourist information and the like, which may have an influence on the driving of the motor vehicle. However, providing and updating this additional information significantly impacts the cost of the updated map information needed.

For example, from the project "OpenStreetMap" under " http://de.wikipedia.org/wiki/Openstreetmap "Is the creation of map information known in which the individual routes are recorded by volunteers using a GPS receiver while they move on the appropriate roads or paths. This data is transmitted to a database in which the already existing map information is updated by the newly provided route information.

Also from the publication DE 101 492 06 A1 a device is known which can be mounted on a vehicle, wherein during the drive of the vehicle, a road is mapped, so that all roads in a particular area can be displayed again and again. In this way, changes can be detected that improve the timeliness of the map information.

From the publication DE 10 2008 053 531 A1 An evaluation module for evaluating data of a digital map for a vehicle is known. The evaluation of the map data is carried out on the basis of a map's own quality information and / or on the basis of measurement data of an environment sensor system of the vehicle. In particular, the measurement data of the environment sensor system includes information relating to a traffic lane, a traffic sign, a structure and / or a vegetation. It is further provided to pass the evaluation of the data of the digital map to a driver assistance system and / or a security system of the vehicle.

The publication DE 10 2008 023 970 A1 discloses a method and a device for identifying traffic-relevant information, image data of a visual sensor being evaluated and used together with map data of a navigation system.

From the publication DE 10 2010 029 073 A1 A method is known for assigning data to a preferably locally present in a vehicle digital map. It is intended to externally receive a data value from a transmitter, compare it with existing data values of the digital card and add the new data value to the digital card or update the existing data value with the new data value, depending on the result of the comparison ,

It is an object of the present invention to create, enhance or update map information for use in a driver assistance system without relying on an external map information provider.

Disclosure of the invention

This object is achieved by the method for providing and / or updating map information for a navigation system according to claim 1 and by the device, the navigation system, the computer program and the computer program product according to the independent claims.

Further advantageous embodiments of the present invention are specified in the dependent claims.

• – kontinuierliches Erfassen von Fahrverlaufsdaten, die zumindest die Fahrzeugpositionen angeben, über die sich das Fahrzeug bewegt;
• – Ermitteln einer Streckenabschnittsinformation aus den Fahrverlaufsdaten, wobei die Streckenabschnittsinformation den Verlauf eines Streckenabschnitts in einem Streckennetz angibt;
• – Erstellen oder Aktualisieren einer Karteninformation, die ein Streckennetz beschreibt, anhand der Streckenabschnittsinformation;

wobei aus den Fahrverlaufsdaten ein Attribut ermittelt wird, das einem durch die ermittelte Streckenabschnittsinformation definierten Streckenabschnitt zugeordnet wird, wobei das Attribut dem definierten Streckenabschnitt der Karteninformation hinzugefügt wird oder ein dem definierten Streckenabschnitt der Karteninformation zugeordnetes Attribut anhand des ermittelten Attributs aktualisiert wird.According to a first aspect, a method for creating and updating map information is provided, in particular for use in a navigation system and / or in a driver assistance system in a vehicle, comprising the following steps:

• Continuously acquiring driving course data indicating at least the vehicle positions over which the vehicle is moving;
• Determining route section information from the route data, the route section information indicating the course of a route section in a route network;
• - creating or updating map information describing a route network based on the route section information;

wherein an attribute is determined from the driving course data, which attribute is assigned to a route section defined by the determined route section information, wherein the attribute is added to the defined route section of the map information or an attribute assigned to the defined route section of the map information is updated on the basis of the ascertained attribute.

The basic idea of the above method is to analyze a route section over which the vehicle is moved and to convert it into route section information that serves to update or create map information. Furthermore, driving conditions such as speed, acceleration, steering control, and the like are logged during a normal drive of the vehicle and assigned to the corresponding sections over which the vehicle is moving. By evaluating the driving states, attributes can be generated that are assigned to the respective route sections. The attributes can then be assigned to the route section described in existing map information, which corresponds to the route section over which the vehicle is moved or replace the attributes of the corresponding route section. Associated attributes may be replaced or updated by the generated attributes so as to update or supplement the map information accessed by the navigation system with respect to the traveled link.

This makes it possible to continuously update a map information without resorting to external map updating services. Driver assistance systems that access this map information can thus access current map information on previously traveled route sections and thus support the driver of the motor vehicle in an improved manner.

In particular, the above method has the advantage that it can generate a digital map without initially provided map information, only by evaluating and mapping of traveled sections. These are then assigned attributes based on the driving conditions recorded during the passage of the route sections, which support route planning and other functions of a driver assistance system.

Furthermore, the attribute may correspond to an average vehicle speed on the relevant route section and / or a position of a repeated stop of the vehicle within the route section.

According to an embodiment, time information indicating a validity period of the attribute may be found for and added to the attribute.

It can be provided that the attribute is updated if, after multiple determination of the attribute of a particular route section, there is a deviation from the route section in the attribute associated with the map information, in particular a deviation that exceeds a predefined measure.

• – eine Positionserfassungseinrichtung zum kontinuierlichen Erfassen von Fahrverlaufsdaten, die zumindest die Fahrzeugpositionen angeben, über die sich das Fahrzeug bewegt;
• – eine Zentraleinheit, die ausgebildet, ist, um eine Streckenabschnittsinformation aus den Fahrverlaufsdaten zu ermitteln, wobei die Streckenabschnittsinformation den Verlauf eines Streckenabschnitts in einem Streckennetz angibt; anhand der Streckenabschnittsinformation eine Karteninformation, die ein Streckennetz beschreibt, zu erstellen oder zu aktualisieren;

dadurch gekennzeichnet, dass
die Zentraleinheit weiterhin ausgebildet ist, um aus den Fahrverlaufsdaten ein Attribut zu ermitteln, das einem durch die ermittelte Streckenabschnittsinformation definierten Streckenabschnitt zugeordnet wird, und um das Attribut dem definierten Streckenabschnitt der Karteninformation hinzuzufügen oder ein dem definierten Streckenabschnitt der Karteninformation zugeordnetes Attribut anhand des ermittelten Attributs zu aktualisieren.According to a further aspect, a system for creating and updating map information, in particular for use in a navigation system and / or in a driver assistance system in a vehicle, is provided. The system includes:

• A position detecting means for continuously detecting running history data indicating at least the vehicle positions over which the vehicle is moving;
• A central unit, which is designed to determine route information from the route data, the route section information indicating the course of a route section in a route network; generate or update map information describing a route network on the basis of the link information;

characterized in that
the central unit is further configured to determine from the driving course data an attribute which is assigned to a route section defined by the determined route section information and to add the attribute to the defined route section of the map information or to an attribute assigned to the defined route section of the map information on the basis of the ascertained attribute To update.

Furthermore, the system may be provided in a motor vehicle.

The system may include a driver assistance system for specifying operating conditions depending on a preceding driving route and depending on the provided map information and / or a navigation system for performing route planning and navigation function based on the provided map information.

According to a further aspect, a computer program with program code means is provided to perform all the steps of the above method when the computer program is executed on a computer or a corresponding computing unit, in particular in the above system.

In another aspect, a computer program product is provided that includes program code stored on a computer-readable medium and that, when executed on a data processing device, performs the above method.

Brief description of the drawings

Preferred embodiments of the present invention will be explained in more detail with reference to the accompanying drawings. Show it:

1 a system for providing map information;

2 a representation of a route network with sections; and

3 a flowchart for illustrating a method for providing map information for a navigation system.

Description of embodiments

1 shows a system 1 for providing map information with a central processing unit 2 , The system is intended for local use in a motor vehicle and may be provided separately in the motor vehicle or be part of a navigation system and / or part of a driver assistance system.

The central unit 2 serves to create, supplement or update map information based on a motion profile of a vehicle and on the motion profile of recorded driving conditions. This is the central unit 2 with a map database 3 , for example in the form of a correspondingly structured memory, in which the card information is stored or storable.

The map information includes information on the definition of a route network 10 with the corresponding routes that run in 2 is shown by way of example. The route network 10 is usually through individual sections of track 11 described that about hubs 12 are connected to each other to the route network 10 train. The sections of track 11 each attribute A is assigned. The attributes A correspond to information about the relevant route section 11 such as one in the section 11 permissible maximum speed, a driving speed indicating the usual average speed of a vehicle on this section of the route, any direction of travel restrictions, road surface characteristics, geographical indications such as inclination, curvature, road inclination and the like, indications of increased traffic at specific times, closures and the like ,

Driving conditions of the vehicle detected respective location of the vehicle currently assigned variables, such as the vehicle speed, stop positions at which the vehicle stops within a stretch of road, and the duration of the stop, steering angles within the stretch 11 and similar.

The central unit 2 is with a position detection device 4 connected to determine the current geographical position of the vehicle. The position detection device 4 can a position detection, for. B. by means of a GPS device using wheel sensors and / or using ground-based position detection systems, for example based on a triangulation or a trilateration method.

The map database 3 Can be used in conjunction with a navigation system 5 based on the in the map database 3 stored map information performs a route planning. Alternatively or additionally, a driver assistance system 6 be provided from the map database 3 Information about the current section of the route 11 and / or the preceding sections of track 11 according to a planned or prospective route removes or reads and a driving behavior of the vehicle, such as the choice of operating conditions or the like, to the properties of the sections described by the attributes A. 11 adapts.

The position detection device 4 For example, it captures one or more of the following data: the GPS vehicle position, GPS time stamp, odometer value, heading, vehicle speed, yaw rate, and steering angle. In addition, a barometer or the GPS system can be used to determine the altitude or the road gradient or the gradient. The corresponding data is the central unit 2 made available.

The system 1 can generate good quality map information from the position data obtained with a conventional GPS receiving system. GPS receivers based on Differential GPS, Satellite-Based Augmentation System (SBAS) or a GPS sensor coupling with vehicle sensors can also be used to provide more accurate positioning and thus more accurate definitions of the sections of the route 11 to obtain.

The central unit 2 stores the via the position detection device 4 determined data as driving course data in a driving history database 7 connected to the central unit 2 is in communication, so that there the current vehicle position, the current vehicle speed, the current yaw rate and the like are available.

The central unit 2 takes the position data from the position detection device 4 regularly, for example, with a predetermined frequency, such. B. 1 Hz, or with any dynamically adjusted sampling rate, for example, depending on the speed of the vehicle. When using a dynamic sampling rate, the position data is analyzed and stored in the central processing unit 2 is determined depending on the course of the detected position data by means of a filtering, which position data in the driving history database 7 should be saved.

The central unit 2 determines route section information from the trip course data by a suitable cluster method. The idea of the cluster method is to identify the measurement of distances and angle differences between trajectories traveled the same sections of the route, to match each other and thus to unite in a section.

The link information indicates the course of a corresponding link 11 and should be in the map database 3 be taken into account. For this purpose, the determined route section information in a route database 8th cached.

Is the route section determined by the link information 11 not in the map information of the map database 3 included, this section becomes 11 added. Otherwise, the one in the map database 3 saved route section 11 of the route section determined by the link information 11 corresponds, checks and, if necessary, corrects.

The correction can be performed as soon as it is recognized with a certain probability that the route section determined by the route section information 11 one in the map database 3 existing section of the route 11 replaced and does not represent an alternative route section. So z. B. a stretch of road 11 the map database 3 be replaced if repeated an alternate stretch 11 was found.

The central unit 2 generated from the in the position detection device 4 generated driving course data route section information in the route database 8th , The sections of the route 11 make routes between two nodes 12 with variable or predetermined length or distances, at least one of which ends represents a distance end. The link information may be a link 11 in the map database 3 assigned and used to one or more obsolete and potentially faulty sections 11 the map information in the map database 3 to remove or update. To determine the sections to be deleted 11 On the one hand, a time- and frequency-based strategy can be used that directly identifies and removes invalid route segments. On the other hand, an evaluation of map areas is possible, so that map areas can be removed depending on the quality.

In the time-based strategy, after a defined period of time (eg 1-3 months), all older stored vehicle data are removed from the database and the affected sections are recalculated with the available data. In the frequency-based strategy, after a defined number of trips on the same leg of the route (eg, between 4 and 10, eg, 6 rides), the oldest stored vehicle data that is part of that leg is deleted. This is followed by a recalculation of the affected sections of the route with the available data.

Furthermore, the central unit 2 use a matching process to summarize the previously captured position data and thus unique sections of the route 11 identify. The recorded position data, when traveling in the opposite direction on a section 11 can be recorded by an opposite matching process with the corresponding position data of the route section 11 be summarized.

The detection of roundabouts and intersections is possible when considering compact cycles in the graph as well as when looking at sections of several streets.

The assignment of attributes to distance segments 11 can be done in the same way.

For example, when detecting and determining the driving course data in the position detection device 4 and their evaluation in the central unit 2 Service life within a section of the route 11 detected, it can be derived from the existence of traffic lights or traffic signs such as "stop" or "grant right of way". This information can be used as an attribute of the relevant section of the route 11 get saved. For example, based on information about whether the vehicle is within a section of the route 11 at a predetermined position seldom, repeats, or stops, each time the section of track concerned 11 is traveled, the corresponding driving course data are stored as an attribute of the route concerned, so that this can be taken into account in any route planning as a delay. Furthermore, such an attribute may be obtained using the map information in a driver assistance system 6 can be considered as a preceding vehicle stop, which can be taken into account in the operating states of the motor vehicle to be selected during the approach to the relevant position.

Furthermore, the sections of track can 11 Speed classes are assigned. The recognition of these speed classes is based on a segmentation and classification of the speed course during the passage of the track sections 11 , In the case of multiple driving on a particular section of the route 11 Thus, for example, a classification of the speed by averaging can be made. Will when driving multiple times a section of the route 11 a decrease in average speed over one in the map database 3 For example, the presence of a construction site or other modified traffic guidance can be inferred, and this in a corresponding, changed attribute value associated with the relevant route section in the map database 3 get saved. Occurs a deviation of the average speed on a section of road 11 only once, it can be provided that no adjustment of the relevant attribute of the route segment 11 is carried out, since in this case it is most likely a slowly preceding vehicle or an increased traffic volume.

In 3 By way of example, a method of providing map information using a flowchart is described in more detail.

In step S1, states of the vehicle, in particular its position, speed, steering angle and the like, are detected as described above and recorded as course data, so that in addition to the current vehicle position and vehicle speed there is also a motion profile and a speed profile of the vehicle. The central unit 2 stores the running course data acquired in step S1 in the running history database 7 (Step S2).

In a step S3, it is queried whether it is possible to extract route section information together with associated attributes from the buffered driving course data or not. For example, it can be decided in step S3 that after a predetermined period of time, such as one or more seconds, the distance traveled, a distance section 11 representing the construction or updating of the map information in the map database 3 should be used.

The road sections are determined from the course data by connecting the position data obtained with linear edges, assuming that the vehicle is only traveling on a correct route. This results in a graph-like combination of GPS positions and assuming that the vehicle has traveled approximately linearly between the positions, this connection can thus be regarded as a trajectory.

If it is determined in step S3 that the route section 11 to be created (alternative: yes), so will the section of the route 11 created in the route database 8th stored and the process continues with step S4. Otherwise (alternative: no), jump back to step S1.

In step 54 is queried, whether in the map database 3 a stretch of road 11 stored in the track database 8th saved route section 11 equivalent. If this is not the case, then in step S5 the route section 11 the map information in the map database 3 added. Is the relevant section of the route 11 There already exists, so can in one step 56 either the determined route section 11 discarded or in the map database 3 existing corresponding section of the route 11 be replaced.

Discarded is a stretch of road 11 just by using the time- and frequency-based strategy described above. Newly used sections of track are combined with those already existing in the map, provided that they are similar (matching process based on the distance between the sections concerned and their angular difference). The updates in the map can be done both decentralized in the vehicle, but also centrally in an external unit.

In particular, the in the map database 3 saved route section 11 be replaced if deviations from the route of the section 11 were detected. These deviations may have occurred, for example, due to construction sites, diversion or the like.

Furthermore, the relevant section of the route 11 In step S7, attributes are determined and assigned, such as an average driving speed, the number and position of stopping points within the route section 11 and the same. In particular, that for the stretch of road 11 determined average driving speed with an average speed already contained in the map information for the relevant route section 11 be charged, so that in the map database 3 stored attribute can be updated on the average driving speed. This can be done so that an update only in case of a multiple occurrence of the deviation of the average driving speed within the route section concerned 11 from the one in the map database 3 stored average driving speed of the relevant section of the route 11 is performed to a one-off deviation of the traffic situation, which is exposed to the vehicle, not to an attribute change in the map database 3 to let lead.

LIST OF REFERENCE NUMBERS

1

system

2

central processing unit

3

Map database

4

Position detection device

5

navigation system

6

Driver assistance system

7

Driving history database

8th

Route database

10

route network

11

stretch

12

node

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10149206 A1 [0008]
• DE 102008053531 A1 [0009]
• DE 102008023970 A1 [0010]
• DE 102010029073 A1 [0011]

Cited non-patent literature

• http://en.wikipedia.org/wiki/Openstreetmap [0007]

Claims (9)

Method for creating and updating map information, in particular for use in a navigation system ( 5 ) and / or in a driver assistance system ( 6 ) in a vehicle, comprising the steps of: continuously acquiring (S1) lane data indicating at least the vehicle positions over which the vehicle is moving; Determining (S3) link information from the trip history data, the link information indicating the course of a link in a link network; - creating (S5) or updating (S6) map information describing a route network based on the route section information; characterized in that an attribute is determined from the driving course data (S7), which is assigned to a section determined by the determined route section information, the attribute is added to the defined route section of the map information or updates an attribute assigned to the defined route section of the map information based on the determined attribute becomes. The method of claim 1, wherein the attribute corresponds to an average vehicle speed on the respective route section and / or a position of a repeated stop of the vehicle within the route section. The method of claim 2, wherein a time information indicating a validity period of the attribute is determined for the attribute and added thereto. Method according to one of claims 1 to 3, wherein the attribute is updated when, after multiple determination of the attribute of a particular section of the route results in a deviation from the section in the map information associated attribute, in particular a deviation that exceeds a predetermined amount. System ( 1 ) for creating and updating map information, in particular for use in a navigation system ( 5 ) and / or in a driver assistance system ( 6 ) in a vehicle, comprising: - a position detection device ( 4 ) for continuously acquiring travel history data indicating at least the vehicle positions over which the vehicle is moving; A central unit ( 2 ) configured to obtain link information from the trip history data, the link information indicating the course of a link in a route network; to create or update map information describing a route network based on the route section information; characterized in that the central unit is further configured to determine an attribute from the driving course data which is assigned to a route section defined by the determined route section information and to add the attribute to the defined route section of the map information or to an attribute assigned to the defined route section of the map information of the determined attribute. System ( 1 ) according to claim 5, wherein the system is provided in a motor vehicle. System ( 1 ) according to claim 5 or 6, which is a driver assistance system ( 6 ) for specifying operating states depending on a preceding route and depending on the provided map information and / or a navigation system ( 5 ) for performing route planning and navigation function based on the provided map information. Computer program with program code means for carrying out all the steps of the method according to one of Claims 1 to 4, when the computer program is executed on a computer or a corresponding computing unit, in particular in a system according to one of Claims 5 to 7. A computer program product containing program code stored on a computer readable medium and performing, when executed on a data processing device, the method of any one of claims 1 to 4.

Images