DE102020200154A1 - Method for providing data for creating a digital localization map - Google Patents

Abstract

Method for providing data for creating a digital localization map (10), with the following steps: - Sensory determination of environment data (SD); - Positioning by means of the sensor-recorded environment data and the digital localization map (10), wherein a location quality is determined; and- transmission of the environmental data recorded by sensors to a map creation device (200) in the event that the quality of the location is insufficient; or transmission of confirmation data relating to the positioning to the map creation device (200) in the event that the positioning quality is sufficient.

Description

The present invention relates to a method and a device for providing data for creating a digital localization map. The invention also relates to a method and a device for creating a digital localization map for a vehicle. The invention also relates to computer programs. The invention also relates to a machine-readable storage medium.

State of the art

In order to keep an existing digital, feature-based localization map up to date, the map creation server (mapping server) must decide which regions are to be updated. For this purpose, all vehicles in this region are requested by the map creation server to transmit large amounts of data.

In order to use a highly up-to-date map, large amounts of data from vehicles must be sent to the mapping server. This generates high costs for transmitting the data, which ultimately are not even required for creating the feature-based localization map. This is mainly caused by two-way communication between the vehicle and the mapping server and vice versa, after the mapping server decides which regions should be updated.

DE 10 2017 201 669 A1 discloses a method and apparatus for updating a digital map. Disclosed are a method, a computing unit that executes the method and a system having the computing unit for updating a digital map for the localization of motor vehicles. In the method for updating a digital map for localizing motor vehicles, information about the surroundings of a vehicle is recorded in order to update the digital map and the information about the surroundings is compared with information about the surroundings stored on the digital map.

DE 10 2018 104 147 A1 discloses a map information update system and a map information update server. A map information update system is proposed that includes a map database, a map information update server, a vehicle position recognition unit that is configured to recognize a position of a vehicle on a map, an outside environment information generation unit that is configured to generate outside environment information that relates to a relate external environment of the vehicle, in connection with the position of the vehicle on the map based on the position of the vehicle on the map and a detection result of an external sensor that is mounted in the vehicle to generate. A map freshness calculating unit is configured to calculate a map freshness per area set in advance in map information. An incentive point awarding unit is configured to assign an incentive point to a user of the vehicle or the vehicle, which is set in advance according to the map update of the area corresponding to the outside environment information when the outside environment information is sent from the vehicle to the map information update server and comprises a user interaction unit.

DE 10 2015 222 962 A1 discloses a method for aggregating lane information for digital map services. Disclosed is a method for aggregating lane information for the creation and / or updating of a road map, which is further improved in such a way that local conditions and traffic situations are also taken into account when determining a route of the route section. For this purpose, it is proposed that a route of the route section is determined based on the detected position coordinates of a first vehicle and based on further position coordinates of at least one further vehicle, the position coordinates of the first vehicle and the further position coordinates of the at least one further vehicle with time stamps within an identical or overlapping periods of time are taken into account.

Localization systems with feature-based, digital localization maps for determining vehicle position and orientation are central system components of automated driving functions.

Disclosure of the invention

It is an object of the invention to provide an improved method for providing a digital localization map for a vehicle.

• - Sensorisches Ermitteln von Umfelddaten;
• - Verorten mittels der sensorisch erfassten Umfelddaten und der digitalen Lokalisierungskarte, wobei eine Verortungsgüte ermittelt wird; und
• - Übermitteln der sensorisch erfassten Umfelddaten an eine Kartenerstellungsvorrichtung im Falle, dass die Verortungsgüte nicht ausreichend ist; oder
• - Übermitteln von Bestätigungsdaten betreffend das Verorten an die Kartenerstellungsvorrichtung im Falle, dass die Verortungsgüte ausreichend ist.

According to a first aspect, the object is achieved with a method for providing data for creating a digital localization map, with the steps:

• - Sensory determination of environmental data;
• - Positioning by means of the environmental data recorded by sensors and the digital localization map, a positioning quality being determined; and
• - Transmission of the environmental data recorded by sensors to a map creation device in the Case that the location quality is not sufficient; or
• - Transmission of confirmation data relating to the positioning to the map creation device in the event that the positioning quality is sufficient.

In this way, a map creation device advantageously does not have to proactively request data updates. This advantageously results in a significantly reduced data volume transferred, which can contribute to a significant reduction in the load on the connections. In addition, it is advantageously supported that a server structure for creating the digital localization map can be designed in a significantly simplified manner. In addition, the data for the map update is immediately available, which supports the rapid creation of a highly up-to-date digital localization map. Sending the confirmation data advantageously does not require any significant bandwidth.

• - Empfangen von sensorisch erfassten Umfelddaten und Bestätigungsdaten betreffend eine Verortungsgüte der Fahrzeuge;
• - Ermitteln einer Wahrscheinlichkeit für eine Veränderung der Umwelt gegenüber der aktuellen digitalen Lokalisierungskarte aus den empfangenen Umfelddaten und den empfangenen Bestätigungsdaten; und
• - Durchführen einer Aktualisierung der digitalen Lokalisierungskarte im Falle, dass die ermittelte Wahrscheinlichkeit eine definierte Schwelle übersteigt.

According to a second aspect, the object is achieved with a method for creating a digital localization map for a vehicle, with the steps:

• - Receipt of environmental data recorded by sensors and confirmation data relating to a location quality of the vehicles;
• Determining a probability of a change in the environment compared to the current digital localization map from the received environment data and the received confirmation data; and
• - Carrying out an update of the digital localization map in the event that the determined probability exceeds a defined threshold.

According to a third aspect, the object is achieved with a device which is set up to carry out a method for providing data for creating a digital localization map.

According to a fourth aspect, the object is achieved with a map creation device which is set up to carry out a method for creating a digital localization map for a vehicle.

According to a fifth aspect, the object is achieved with a computer program comprising commands which, when the computer program is executed by a computer, cause the computer to execute a method for providing data for creating a digital localization map.

According to a sixth aspect, the object is achieved with a computer program comprising commands which, when the computer program is executed by a computer, cause the computer to execute a method for creating a digital localization map for a vehicle.

According to a seventh aspect, the object is achieved with a machine-readable storage medium on which at least one of the proposed computer programs is stored.

Advantageous developments of the method are the subject of the dependent claims.

An advantageous development of the method provides that the location quality is determined by comparing data from a localization device with data from the digital localization map. In this way, a reliable check and determination of the location quality is advantageously carried out.

Another advantageous development of the method provides that the location quality is determined by means of a numerical value. This supports the fact that the quality of the location is defined in a defined manner and can thus be assessed in a defined manner.

A further advantageous development of the method provides that the environmental data recorded by sensors are transmitted for each type of sensor. This supports the fact that environment data is transmitted for each type of environment sensor of the vehicle, whereby a data volume can be optimized even further.

Further measures improving the invention are illustrated in more detail below together with the description of the preferred exemplary embodiments of the invention with reference to figures.

Figure list

• 1 ein Ablaufdiagramm mit einer Darstellung der vorgeschlagenen Verfahren;
• 2 eine Übersichtsdarstellung mit einer Erläuterung der Funktionsweise der vorgeschlagenen Verfahren;
• 3 eine prinzipielle Darstellung eines vorgeschlagenen Verfahrens zum Bereitstellen von Daten für eine digitale Lokalisierungskarte; und
• 4 eine prinzipielle Darstellung eines vorgeschlagenen Verfahrens zum Erstellen einer digitalen Lokalisierungskarte für ein Fahrzeug.

In the accompanying figures shows:

• 1 a flowchart showing the proposed method;
• 2 an overview with an explanation of the functioning of the proposed method;
• 3 a basic representation of a proposed method for providing data for a digital localization map; and
• 4th a basic representation of a proposed method for creating a digital localization map for a vehicle.

Embodiments of the invention

1 shows a basic flow diagram with a representation of the proposed method.

In one step 10 a localization by means of a digital localization map is carried out by a vehicle (not shown) on the basis of ambient data recorded by sensors. For example, defined sensor reflexes are expected at defined points, which can be essential for correct positioning of the vehicle. In the absence of such reflections, it is assumed that localization by means of the digital localization map is not possible or is only possible with difficulty. As a result, the vehicle determines that it no longer knows where it is on the digital localization map, which means that the quality of the localization is insufficient or poor.

In one step 20th the vehicle is localized on the basis of the environmental data recorded by sensors.

In one step 30th a quality of localization is assessed, in the event that the quality of localization is low, in one step 40 the sensor-recorded environment data and position data, preferably GPS data, which define an absolute position of the vehicle, are transmitted to a map creation device (not shown, for example a server in the cloud). The map creation device can recognize that it receives a relatively large amount of sensor-recorded surroundings data from vehicles from a specific region, which data can only be localized poorly or not at all.

This indicates a need for the map creation device to change or update the digital localization map. The data required to update the digital localization map are then advantageously already available from the poorly located vehicles, which therefore do not have to be requested again. In step 40 The vehicles therefore only send environmental data recorded by sensors in the event that they can only poorly or insufficiently localize themselves with the present digital localization map.

If, however, in one step 30th it is determined that the location quality is good in one step 50 only confirmation data (“handshake”) relating to a good location quality is transmitted to the map creation device, which only make up a small volume of data and therefore only require a small data bandwidth. The map creation device can use this data to generate statistics relating to a quality of location for this section. For each region, the map creation device is therefore in a good position to determine how high the localization quality of vehicles is by means of the digital localization map. In this way, defective vehicles can also be easily distinguished from intact vehicles if a localization quality is predominantly uniform (only good or only bad).

In a step for 60, data received from the map creation device is verified and an estimate of a probability for necessary changes to the digital localization map is determined. This is explained in more detail below using a mathematical formula (1).

In one step 70 it is checked whether a change probability of environmental conditions is high or low.

If this is high, it is done in one step 80 an update of the digital localization map was deemed necessary and then initiated. Otherwise it is done in one step 90 found that an update of the digital localization map is not necessary, which is then also omitted.

In this way, a map update of the digital localization map is advantageously only carried out when it is actually required. If this is the case, the required environmental data is also available immediately, so that the latest generation of precise digital localization maps is possible. A purely schematic or habitual map update is thereby advantageously dispensed with, so that the efficiency of the digital map creation can be significantly increased with the proposed method. A structure of the map creation device for creating the digital localization map can be made much simpler in its logic because the work of the map creation device with the method according to the invention is made much easier when and where it should provide new digital localization maps. As a result, the map creation device can operate more stably because it has to deal with less volume of data.

2 shows a basic system diagram of the proposed method. You can see a number of vehicles 100a ... 100n. There are digital location maps on the vehicles 1 implemented, for the use of which sensor-recorded environmental features are provided. The vehicle records 100a ... 100n by means of at least one environment sensor (eg radar sensor, lidar sensor, ultrasonic sensor, camera, etc.) static environment data (eg buildings, traffic signs, infrastructure objects, etc.) and makes an estimate of a Vehicle movement through. In a subsequent step, a highly accurate position of the vehicle is created through cooperation with map data from the feature-based digital localization map 100a ... 100n determined.

Each vehicle is equipped with environment sensors to locate a map on a location. The localization device represents the piece of software that, together with the sensor data and the digital localization map, locates the vehicle. The sensors record data from the surroundings, which are used by the localization device to determine the position of the vehicle in the digital localization map. The digital localization map consists of different layers that have been created from data according to an assigned sensor type (modality). If data from different modalities, which are irrelevant for other modalities, have changed, this can have an impact on the transferred data volume. If, for example, lanes have changed, this can be very relevant for a camera, but not for a radar sensor. Accordingly, changes to a modality are also only transmitted by the sensor of the respective modality. As a result, the transmitted sensor data volume can also be reduced considerably in this way.

It can be seen that if the localization quality is poor, the vehicle 100a Environment data SD including confirmation data BD transmitted to the map creation device 300. If the location quality is high, the vehicle transmits 100b confirmation data only BD to the map creation device 300.

A main advantage of the proposed method is that the digital localization maps with a minimal expenditure of data volume, which from the vehicles 100a ... 100n is transmitted to the map creation device 300 can be kept up to date. The map creation device 300 is also advantageously reduced in its complexity because it does not have to permanently and proactively request data from the vehicles.

The localization device (not shown) of the vehicle 100a ... 100n provides statistics for the accuracy of the location with respect to each modality layer, ie sensor type.

If, for example, a change is not required for a certain modality, for example a change in a road marking, this is only transmitted by the respective modality and only affects the respective layer of the digital localization map concerned.

In this way, a data volume can be significantly reduced because ultimately only changes in the modalities for which they are relevant are transmitted.

In order to keep a digital localization map up-to-date, the data is transmitted from the vehicle to the map creation device 300. The map creation device 300 collects this data from various vehicles and updates the digital location map 1 which in turn are then sent to the vehicles 100a ... 100n is transmitted. A period of time between the transmission of the sensor data and the creation of the cutting-edge digital localization map 1 is advantageously minimized in this way, so that vehicles following behind can be removed from an improved digital localization map as quickly as possible 1 can benefit.

The proposed method thus comprises a vehicle-based aspect, which consists in minimizing the amount of data that is received from the vehicles 100a ... 100n is transmitted to the map creation device 300, thereby simplifying it. Any vehicle 100a ... 100n decides for itself whether it is necessary to transmit the environmental data recorded by sensors or not. The decision is based on the current localization quality per modality. For the modality where the localization quality was below a defined threshold, the vehicle starts transmitting the data that contribute to this modality. Only confirmation data are sent for the modality for which the localization quality is above the defined threshold BD which contain the position in the digital map.

The server-based aspect of the invention relates to the data sent by the vehicles that the server receives. The map creation device 300 now determines a statistic, preferably per region or road section, which indicates a percentage with which vehicles use the digital localization map 1 be able to locate or not.

mit:

• WS ... Änderungswahrscheinlichkeit der Umgebung
• AS ... Anzahl Sensordatensender
• AB ... Anzahl Bestätigungsvorgänge

The calculation can be carried out, for example, according to the following mathematical formula: $$\text{WS}=\text{AS}/\left(\text{AS}+\text{FROM}\right)$$

With:

• WS ... probability of change in the environment
• AS ... number of sensor data transmitters
• AB ... number of confirmation processes

Numerical values for the probability of change or threshold values for causing map changes can thus be precisely defined and adapted. This depends, among other things, on the sensor setup, the vehicles used, etc., so that it is not possible to specify general numerical values here, which must therefore be defined for the respective individual case.

It goes without saying that formula (1) is only an example and that further or additional parameters that are not listed here can also be used to calculate the probability of change. If this probability indicates a possible permanent change in the environment, a mapping task for the corresponding road section is initiated.

The digital localization map creation procedure 1 is known per se and is therefore not explained further here.

The proposed methods are preferably designed as computer programs that run on the device 200a ... 200n in the vehicle (e.g. on a control device or a central processing unit) or on the map creation device 300.

The map creation device 300 is also able to change localization thresholds for individual modalities in order to thereby improve the overall quality of the digital localization map 1 to improve.

3 shows a basic sequence of a proposed method for providing data for creating a digital localization map 1 .

In one step 400 is a sensory determination of environmental data SD carried out.

In one step 410 A localization is made using the environmental data recorded by sensors and the digital localization map 10 carried out, whereby a quality of location is determined.

In one step 420 the sensor-based environment data is transmitted to a map creation device 300 in the event that the location quality is insufficient, or confirmation data relating to the location is transmitted to the map creation device 300 in the event that the location quality is sufficient.

4th shows a basic sequence of a proposed method for creating a digital localization map 1 for a vehicle 100a ... 100n.

In one step 500 reception of environmental data recorded by sensors is achieved SD and confirmation data BD regarding a location quality of the vehicles 100a ... performed 100n.

In one step 510 is a determination of a probability of a change in the environment compared to the current digital localization map 1 from the received environmental data SD and the received confirmation data BD carried out.

In one step 520 will be an update of the digital location map 1 carried out in the event that the determined probability exceeds a defined threshold.

When implementing the invention, the person skilled in the art will also implement embodiments not previously explained.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102017201669 A1 [0004]
• DE 102018104147 A1 [0005]
• DE 102015222962 A1 [0006]

Claims (12)

Method for providing data for creating a digital localization map (1), with the steps: - Sensory determination of environmental data (SD); - Positioning by means of the environmental data recorded by sensors and the digital localization map (1), a positioning quality being determined; and - Transmission of the environmental data recorded by sensors to a map creation device (300) in the event that the quality of the location is insufficient; or - Transmission of confirmation data relating to the positioning to the map creation device (300) in the event that the positioning quality is sufficient. Procedure according to Claim 1 , wherein the location quality is determined by comparing data from a localization device with data from the digital localization map (1). Procedure according to Claim 2 , the localization quality being determined by means of a numerical value. Method according to one of the preceding claims, wherein the environmental data recorded by sensors are transmitted for each type of sensor. Method according to one of the preceding claims, wherein sensor data from vehicles (100a ... 100n) are transmitted to the map creation device (300) as long as the quality of location is insufficient. Method for creating a digital localization map (10) for a vehicle (100a ... 100n) with the steps: - Receipt of environmental data (SD) recorded by sensors and confirmation data (BD) relating to a location quality of the vehicles (100a ... 100n); - Determination of a probability of a change in the environment compared to the current digital localization map (10) from the received environment data (SD) and the received confirmation data (BD); and - Carrying out an update of the digital localization map (10) in the event that the determined probability exceeds a defined threshold. Device (200a ... 200b) which is set up, a method according to one of Claims 1 to 5 to execute. Map creation device (300) which is set up, a method according to Claim 6 to execute. System comprising at least one device (200a ... 200n) for providing data for creating a digital localization map (1) and a map creation device (300) for creating the digital localization map (1). Computer program comprising instructions which cause the computer program to be executed by a computer, a method according to one of the Claims 1 to 5 to execute. Computer program comprising instructions which, when the computer program is executed by a computer, cause the computer program to be executed according to a method Claim 6 to execute. Machine-readable storage medium on which the computer program is based Claim 10 and / or the computer program Claim 11 is stored.

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