DE102018221563A1 - Method and device for operating an automated vehicle - Google Patents

Abstract

Method (300) for creating a location map comprising a step of receiving (310) location data values, a step of creating (320) the location map based on a map and based on the location data values, and a step of providing (330) the location map, in particular for operating an automated vehicle. Furthermore, a method (400) for operating a vehicle by means of a location map, in particular an automated vehicle, with a step of determining (410) a first position by means of satellite location, a step of determining (420) a highly accurate position of the vehicle, starting from the first Position, using the location map, and a step of operating (430) the vehicle, depending on the highly accurate position.

Description

The present invention relates, inter alia, to a method for creating a location map with a step for receiving location data values, a step for creating the location map based on a map and based on the location data values, and a step for providing the location map.

Disclosure of the invention

The method according to the invention for creating a location map comprises a step of receiving localization data values which are acquired by means of a mobile unit, the localization data values comprising a position of the mobile unit and a location information for determining the position of the mobile unit. The method further comprises a step for generating the location map, based on a map and based on the location data values, the location information for determining the position, depending on the position, being linked to the map to the location map, and a step for providing the location map , in particular for operating an automated vehicle.

The method according to the invention advantageously achieves the task of creating and providing a map (here: location map) by means of which a position can be reliably determined. Furthermore, this map can be used in particular to operate an automated vehicle, for example by determining a position of the automated vehicle and / or a trajectory using the location map.

The map preferably has areas, in particular tiles, and the location data values are each linked to an area of the map depending on the position.
This shows the advantage that, for example, the amount of data on the location map can be reduced. This enables, among other things, a faster and cheaper transfer of the location card to vehicles that use the location card.

The location information preferably comprises a location-dependent and / or time-dependent function for satellite-based determination of a highly precise position.

This shows the advantage that the reliability and also the accuracy of the location map increase, since for example location and / or time-dependent influences are taken into account. Among other things, these influences can have a significant influence on the determination of a position.

Under a vehicle is a manually operated (trained according to SAE level 0 ) or an automated vehicle (trained according to one of the SAE levels 1 to 5 ) to understand (see standard SAE J3016).

• • Positionsgenauigkeit, welche beispielsweise als Mittelwert und/oder Standardabweichung definiert ist,
• • Abdeckung, welche die Abdeckung der Positionsbestimmung angibt,
• • Integrität, welche angibt, ob beim Bestimmen einer Position selbständig Positionsfehler, insbesondere wenn diese über einem vorgegebenen Limit liegen, erfasst werden können,
• • Verfügbarkeit, beispielsweise als Prozentangabe der Zeit und/oder Fahrtstrecke.

A position is to be understood as coordinates within a predetermined coordinate system, for example GNSS coordinates. A highly precise position is to be understood as a position which is so precise within a given coordinate system, for example GNSS coordinates, that this position does not exceed a maximum permissible blur. The maximum blur may depend, for example, on the SAE level of the automated vehicle. In principle, the maximum blur is so low that, in particular, safe operation of the automated vehicle is guaranteed. For fully automated operation of the automated vehicle (SAE level 5 ) is the maximum blur, for example, in the order of about 10 centimeters. The following evaluation parameters are used, for example, to assess a position determination using GNSS coordinates:

• Position accuracy, which is defined, for example, as the mean value and / or standard deviation,
• Cover, which indicates the cover of the position determination,
• Integrity, which indicates whether position errors, in particular if these are above a predetermined limit, can be detected independently when determining a position,
• • Availability, for example as a percentage of the time and / or distance traveled.

The position determination by means of GNSS can be realized with different methods (techniques), whereby different position accuracies are achieved. These are, for example, standard GNSS and / or differential methods (in this case the correction data from reference stations are determined in order, for example, to cause errors such as inaccuracies in the satellite atomic clocks and / or inaccuracies in the satellite orbit data and / or inaccuracies in the signal transit time between satellite and receiver Faults in the ionosphere and / or troposphere are eliminated) and / or so-called RTK systems (Real Time Kinematics), which also evaluate the carrier phase in addition to the code phase evaluation in the receiver. The positional accuracy of the respective method varies between a few Meters and a few centimeters. In an environment of a moving vehicle, in particular, reflections of the received signals result in inaccuracies in the position and / or problems in determining the integrity and / or in the cover.

Localization information means, for example, so-called correction data, which are necessary to compensate for the above-mentioned inaccuracies. It is now particularly important for an automated vehicle that the evaluation parameters are available for location and / or time depending on the determination of a (highly accurate) position and that the correction data for compensating the position inaccuracy are also available in such a way that the position determines despite the inaccuracy can be. In one embodiment, vectors are provided, for example, by which a position has to be shifted so that the correct (highly precise) position is determined.

A mobile unit is understood to mean, for example, a manually operated and / or remote-controlled land vehicle (motor vehicle, ...) or aircraft (drone, ...). In one embodiment, the mobile unit comprises, for example, a reference receiver and moves along predetermined traffic routes (highway, country road, etc.) or flies these predetermined traffic routes - for example at a constant height above the traffic route. The mobile unit is moved in particular along the traffic routes that are (should) be used to operate an automated vehicle. The reference receiver is designed, for example, in such a way that an evaluation of these satellites is carried out as a function of a suitable satellite selection, parameters and satellite parameters being determined as a function of location and / or time, which are then transmitted as location information and received in the sense of the present invention. Since the satellites move in orbits, other parameters relating to the azimuth and elevation of the satellite position can be determined instead of the satellite parameters.

A card is to be understood as a digital card, for example, which is in the form of (card) data values on a storage medium. The map is designed, for example, in such a way that one or more map layers are included, a map layer showing, for example, a map from a bird's eye view (course and position of streets, buildings, landscape features, etc.). This corresponds, for example, to a map of a navigation system. A further map layer comprises, for example, a radar map, the environmental features which are represented by the radar map being stored with a radar signature. A further card layer comprises, for example, a lidar card, the environmental features which are represented by the lidar card being deposited with a lidar signature. In one embodiment, at least one map layer is formed, for example, in such a way that it has areas, in particular so-called tiles. This includes, for example, contiguous areas and / or division of the areas covered by the map into structures, such as squares, rectangles, etc.

Provision of the location map means that the location map can be called up by a vehicle, in particular an automated vehicle, by means of a suitable transmitting and / or receiving unit.

The device according to the invention, in particular a computing unit, is set up to carry out all the steps of the method according to one of the method claims for creating a location map.

In one embodiment, the device is designed, for example, as a server or as a network of servers (cloud) which exchange data by means of a connection (for example the Internet).

The device comprises, for example, a computing unit (processor, working memory, hard disk) and suitable software for executing the method according to one of the method claims. In one embodiment, the device comprises a transmitting and / or receiving unit which is designed to exchange data values - in particular with an external server or a cloud and / or a transmitting and / or receiving unit of a vehicle. In a further embodiment, the device comprises a data interface which is designed to exchange data values, in particular with an external server or a cloud, by means of a transmitting and / or receiving unit included in the vehicle. Furthermore, the device comprises, for example, an interface for requesting map data values that represent the map. In one embodiment, the card is encompassed by the device, for example by storing it on the hard disk.

Furthermore, a computer program is claimed, comprising commands which, when the computer program is executed by a computer, cause the computer to carry out a method according to one of the method claims for creating a location map.

Furthermore, a machine-readable storage medium on which the computer program is stored is claimed.

The method according to the invention for operating a vehicle, in particular an automated vehicle, by means of a location map, comprises a step for determining a first position by means of satellite location, a step for determining a highly precise position of the vehicle, starting from the first position, using the location map, and a step to operate the vehicle depending on the highly accurate position. The location map here is to be understood as the location map that was created according to one of the method claims for creating a location map.

Operating the vehicle means, for example, that a control function of the vehicle is carried out depending on the position. This means, for example, that the vehicle is operated in a partially, highly or fully automated manner. Operation includes, for example, determining a trajectory for the vehicle and / or traversing the trajectory by means of automated lateral and / or longitudinal control and / or performing safety-relevant driving functions, such as outputting a warning signal, the warning signal depending on the Design of the vehicle - an occupant of the vehicle (for example a driver) is displayed visually and / or acoustically and / or haptically and / or is transmitted to a driver assistance system, for example causing the vehicle to come to an automated standstill, etc.

The method according to the invention advantageously achieves the task of determining a highly precise position of the vehicle. Basically, in an environment of a moving vehicle - in particular due to reflections of the received signals (from a satellite for position determination) - there are inaccuracies in the position and / or problems in the integrity determination and / or in the coverage. For automatic driving it is important to know the evaluation parameters mentioned depending on the time and location. Current GNSS receivers only have this knowledge to a limited extent by decoding the received signal. By means of the proposed method, using the location map, a highly precise position is nevertheless determined and these problems are eliminated.

Advantageous developments of the invention are specified in the subclaims and listed in the description.

Figure list

• 1 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Erstellen einer Ortungskarte in Form eines Ablaufdiagramms; und
• 2 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Betreiben eines Fahrzeugs mittels einer Ortungskarte in Form eines Ablaufdiagramms.

Embodiments of the invention are shown in the drawings and are explained in more detail in the following descriptions. Show it:

• 1 an embodiment of the inventive method for creating a location map in the form of a flow chart; and
• 2nd an embodiment of the inventive method for operating a vehicle using a location map in the form of a flow chart.

Embodiments of the invention

1 shows an embodiment of a method 300 to create a location map.

In step 301 starts the process 300 .

In step 310 Receive localization data values which are acquired by means of a mobile unit, the localization data values comprising a position of the mobile unit and a location information for determining the position of the mobile unit.

In step 320 a location map is created based on a map and based on the location data values, the location information for determining the position, depending on the position, being linked to the map of the location map.

In step 330 the location map, in particular for operating an automated vehicle, is provided.

In step 340 the procedure ends 300 .

2nd shows an embodiment of a method 400 for operating a vehicle, in particular an automated vehicle, using a location map.

In step 401 starts the process 400 .

In step 410 a first position is determined by means of satellite location. This is done using GNSS, for example.

In step 420 a highly accurate position of the vehicle is determined based on the first position. This is done using the location map, which is based on a procedure 300 to create a location map. Starting from the first position, the location information or correction data relevant for this position are read out and used to determine the highly precise position. For example, the first position is shifted by a few meters compared to the highly accurate (correct) position, the direction and the length of the shift being corrected using the localization information. This step is carried out, for example, by means of a vector addition, in which the highly precise position is the sum of the first position and the location information in the form of a vector.

In step 430 the vehicle is operated depending on the highly precise position.

In step 440 the procedure ends 400 . In one possible embodiment, the method 400 for example, repeated cyclically until a final position for the vehicle is reached.

Claims (7)

A method (300) for creating a location map, comprising: - receiving (310) localization data values which are acquired by means of a mobile unit, the localization data values comprising a position of the mobile unit and a location information for determining the position of the mobile unit; - creating (320) the location map based on a map and based on the location data values, the location information for determining the position, depending on the position, being linked with the map to the location map; and - Providing (330) the location map, in particular for operating an automated vehicle. Procedure according to Claim 1 , characterized in that the map has areas, in particular tiles, and the localization data values are each linked to an area of the map depending on the position. Procedure according to Claim 1 , characterized in that the location information includes a location and / or time-dependent function for satellite-based determination of a highly accurate position. Device, in particular a computing unit, which is set up to perform all steps of the method according to one of the Claims 1 to 3rd to execute. Computer program, comprising commands which cause the computer program to be executed by a computer, a method according to one of the Claims 1 to 3rd to execute. Machine-readable storage medium on which the computer program is based Claim 5 is saved. Method (400) for operating a vehicle, in particular an automated vehicle, by means of a location map, comprising: - determining (410) a first position by means of satellite location; - Determining (420) a highly accurate position of the vehicle, starting from the first position, using the location map according to one of the Claims 1 to 3rd ; and operating (430) the vehicle depending on the highly accurate position.

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