EP2274575A1 - Carte à apprentissage automatique au moyen de capteurs d'environnement - Google Patents

Carte à apprentissage automatique au moyen de capteurs d'environnement

Info

Publication number
EP2274575A1
EP2274575A1 EP09738229A EP09738229A EP2274575A1 EP 2274575 A1 EP2274575 A1 EP 2274575A1 EP 09738229 A EP09738229 A EP 09738229A EP 09738229 A EP09738229 A EP 09738229A EP 2274575 A1 EP2274575 A1 EP 2274575A1
Authority
EP
European Patent Office
Prior art keywords
digital map
unit
data
transport
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09738229A
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Thomas Grotendorst
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2274575A1 publication Critical patent/EP2274575A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Definitions

  • the invention relates to the creation of self-learning maps for means of transport.
  • the invention relates to an apparatus for creating and storing a digital map for a means of transport.
  • the invention relates to a means of transport with a device for creating and storing a digital map, a method, a program element and a computer-readable medium for creating and storing a digital map for a means of transport.
  • Driver assistance systems for assisting a driver in driving a vehicle as well as navigation systems for guiding a driver or vehicle from a starting point to a desired destination may use digital maps.
  • a driver assistance system (Advanced Driver Assistance System, ADAS), for example, created by the navigation system, road course, signage, etc. in the vicinity of the vehicle can be transmitted to driver assistance systems.
  • ADAS Advanced Driver Assistance System
  • necessary digital map data can be provided, wherein the digital maps are usually already stored in the navigation systems in the vehicle.
  • the data for the digital map are usually fed by a vehicle manufacturer, for example via a CD in the navigation system.
  • the navigation of the vehicle is then based on the stored digital maps.
  • a device for creating and storing a digital map, a means of transport with such a device and a method for creating and storing a digital map for a means of transport according to the features of the independent claims are given. Further developments of the invention are embodied by the dependent claims.
  • the sensor unit is designed to determine topographical data of the environment of the means of transport.
  • the creation unit is to create the digital map from the determined topographic data of the environment of
  • the storage unit is designed to store the created digital map.
  • Such a device enables the stored digital map data to be used in security-relevant applications, such as ADAS, in particular because the map data is up-to-date through the creation of self-determined data of the environment of the vehicle.
  • the map data can be used as a basis for the actions of the ADAS.
  • the map data can not only be used as an indication, but independently as a basis for security-relevant applications.
  • the vehicle may be a car, a bus, a motorcycle, a ship, a train, etc.
  • the device is designed for the iterative creation of the digital map.
  • Such a device in which the digital map is created iteratively, makes it possible that a digital map created the first time driving a route can be refined by driving the same route multiple times or the quality of the existing digital map can be improved, as with each driving the same distance the sensor unit again topographic data of the environment of
  • topographic data of the surroundings of the means of transport can be determined each time the same route is traveled, wherein the preparation unit has an improved digital map from the determined topographical data Create data about the environment of the means of transport.
  • the repeatedly determined topographical data of the environment of the means of transport can be compared with each other, as well as the multiple times created digital maps, whereby an improved digital map with a higher quality can be created.
  • the digital maps stored in this case can be present in the storage unit in the current form.
  • the device has a detection unit which is designed to detect a driving pattern for identifying a classified road situation of a digital map.
  • the detection unit may comprise an environment sensor system, an ESP sensor system, a radar sensor, a camera, a vehicle-to-X (C2X) communication unit and a satellite navigation receiver.
  • Such a device with a detection unit makes it possible, for example, for the driving behavior of a user of the means of transport to be determined and stored by the device for certain situations of the route to be traveled, whereby the device can recognize, for example, whether on the route
  • Obstacle is present, such as a construction site or motorway construction site, because the driver reduces the speed, or whether the speed reduction of the means of transport was carried out by the driver due to its specific handling, for example, before a curve of the guideway.
  • the device with the detection unit can detect the speed reduction and ask the driver if the obstacle is, for example, a construction site or motorway construction site or if there is an obstacle on the route.
  • the driver can specify whether there is an obstacle in front of him on the route and thus confirm an existing obstacle.
  • further changes in the route such as sharp turns, detours, etc. can be queried and confirmed by the driver.
  • the driver can be queried in such a device with a detection unit, if, for example, the obstacle previously identified is a temporary route change, and when the obstacle is no longer likely to be found on the route, that is, the driver can the validity period of Confirm change.
  • the device stores in the digital map when the obstacle is removed and when the old road without the obstacle and thus the old digital map is valid again.
  • Such a device with a detection unit also makes it possible for a driver-specific driving pattern to be created, for example the driving behavior of the driver or the speed of the means of transport in front of an approaching curve or an obstacle on the route or, in principle, the speeds outside a locality or on a Highway and, for example, the speeds at certain times of day.
  • the detection unit can determine, for example, the average speed in a range at a certain time of day and, based on this, adjust system thresholds.
  • the device with the detection unit can be designed to determine road type, road class, permitted direction of travel, etc., in particular by means of data determined by the sensor and the speed of the means of transport and vehicle-to-X (C2X) data.
  • C2X vehicle-to-X
  • Such a device allows the digital map to adapt to changes in the route relatively quickly.
  • the driver of a means of transport can help improve the quality of the created digital map, for example by providing information about obstacles or obstacles
  • the driver may act as an additional "sensor" for determining information about the environment of the means of transport that may be used to create the digital map.
  • a device is provided with a quality assessment unit, wherein the quality assessment unit for assessing the quality of the determined topographic data of the Environment of the means of transport and the resulting created digital map is executed.
  • Such a device with a quality assessment unit allows the digital
  • Map for use in safety-related applications such as driver assistance systems (ADAS) can be used, since for the quality assessment self-created card-internal data can be used. All data necessary for quality assessment can be generated and stored, such as a time stamp. The self-determined data can be used as a basis for ADAS in a further driving the same route.
  • ADAS driver assistance systems
  • the created digital map of the device is designed for use by a driver assistance system or by driver assistance systems (ADAS).
  • ADAS driver assistance systems
  • Such a device makes it possible for topographical data of the surroundings of the vehicle, which are determined by the device in addition to the digital map, to be used for a driver assistance system.
  • the driver of a means of transport can be warned at too high a speed of the means of transport, for example in a curve.
  • a device with a communication unit specified, wherein the communication unit is designed to transmit the topographic data and the digital map to a suitable receiving unit.
  • a receiving unit can be, for example, other persons or means of transport such as vehicles, which can refine their own digital maps on the basis of the transmitted data or the digital map, for example.
  • the level of trust in the data can be set lower than with self-learning data or the creation of a digital map based on self-determined data.
  • Such a device of the communication unit for transmitting data makes it possible to provide warnings or interventions on the basis of transmitted digital map data even when a route is first traveled by a means of transport.
  • a device is specified, wherein the sensor unit for determining the topographical data of the environment of
  • Transport means at least one sensor from the group consisting of a satellite navigation receiver, a
  • ACC Adaptive Cruise Control
  • radar a radar sensor
  • lidar sensor a lidar sensor or laser scanner
  • a laser scanner a radar sensor
  • lidar sensor a lidar sensor or laser scanner
  • GPS Globalstar Navigation Satellite System
  • Galileo Galileo
  • GLONASS Russian
  • Compass China
  • IRNSS India
  • WLAN Wireless Fidelity
  • WLAN Wireless Fidelity
  • Such a device allows the creation of a track estimate, for example by the
  • Adaptive cruise control which can also be used as a basis for the detection of a road.
  • Such a device with a camera sensor allows, for example, the recognition of tracks and traffic signs, for example on the created digital map.
  • Such a device with a vehicle-to-X communication unit makes it possible to recognize positions of other vehicles and thus even unused roads and tracks by the means of transport.
  • the determined data are typically still supported by the vehicle sensors (wheel speeds, yaw rate, steering wheel angle, etc.) and vehicle models based thereon.
  • a device is provided with a sensor unit which has a first sensor, a second sensor and a
  • Data fusion unit has.
  • the first sensor and the second sensor for determining topographical data of the environment of the means of transport are executed.
  • the data fusion unit is designed to fuse the determined data of the first sensor and the determined data of the second sensor to improve a quality of the determined data.
  • Such a device with a first sensor, a second sensor and a data fusion unit makes it possible to fuse environment data, the peculiarities and strengths and weaknesses of the sensors can be taken into account during a merger, and thus the overall result of the determined data and from the data obtained created digital map can be improved.
  • a device is specified with a validation unit.
  • the validation unit is designed to validate a stored digital map based on the created digital map so that the validated digital map can be used for a safety-critical application in the means of transport without the need for additional data.
  • Such a device allows a self-taught or self-created digital map can be used, for example, to validate an example provided by a navigation system ADAS horizon, and thus the for
  • Security applications such as driver assistance systems to provide necessary redundancy of information.
  • the stored digital map can for example be fed and stored by the manufacturer of the means of transport via a storage unit such as a CD or a USB stick in the means of transport or transmitted for example via a transmitter to the means of transport.
  • a storage unit such as a CD or a USB stick in the means of transport or transmitted for example via a transmitter to the means of transport.
  • the communication unit of the device for receiving a digital map is executed.
  • the digital map can be sent from a transmitter, such as a manufacturer or a means of transport with a self-created digital map.
  • the memory unit is designed to store the topographical data determined by the sensor unit.
  • a method for creating and storing a digital map for a means of transport is provided with a first step for determining topographical data of the environment of the means of transport by a sensor unit, a second step for creating or improving the digital map from the determined topographic data the environment of
  • the method additionally comprises transmitting the topographic data and the digital map to a suitable receiving unit, such as another means of transport or a person.
  • a program element that, when executed on a processor of the device for creating and storing a digital map of a means of transport, directs the device to perform one or more of the steps described above and below.
  • a computer-readable medium having stored thereon a program element which, when executed on a processor of a device for creating and storing a digital map of a means of transport, directs the device to one or more of the above and follows the steps below.
  • Device may be wired or, if desired, wireless.
  • the corresponding components are equipped with communication units.
  • FIG. 1 shows a schematic representation of an apparatus for creating and storing a digital map for a means of transport according to an embodiment of the invention.
  • FIG. 2 shows a flowchart of a method for creating and storing a digital map for a means of transport according to an embodiment of the invention.
  • the device 100 has a sensor unit 103 for determining topographical data of the environment of the means of transport 102.
  • the sensor unit 103 has a first sensor 109, a second sensor 110 and a data fusion unit 111, wherein the first sensor 109 and the second sensor 110 are designed for determining topographical data of the environment of the transport means 102 and the data fusion unit 111 for merging the determined data of the first sensor 109 and the determined data of the second sensor 110 for improving a quality of the determined data.
  • Topographical data can be traffic signs, tracks, gradients, curves, etc. Meteorological data can also be determined by the sensors.
  • the sensor unit 103 is connected to a creation unit 104 for creating a digital map 101 from the determined topographic data of the surroundings of the transport means 102.
  • the digital map 101 is stored in a storage unit 105 connected to the building unit 104.
  • a detection unit 106 detects a driving pattern for identifying a classified road situation of the digital map 101, and is connected to the detection unit 104 and the memory unit 105 storing the created digital maps 101.
  • the device 100 further has a communication unit 108, which is designed to transmit 114 from the determined topographic data and the digital map 101 created therefrom to a suitable receiving unit 115, such as a means of transport or a person.
  • the communication unit 108 is connected to the creation unit 104 and the storage unit 105 and can access created digital maps 101.
  • the communication unit 108 is also configured to receive topographic data and maps from a transmitter such as another transport.
  • the device further comprises a validation unit 112, which validates a stored digital map 113 based on the created digital map 101, so that the validated digital map 116 for a safety-critical application 117 can be used in the means of transport 102 without the need for further data ,
  • the stored digital map 113 can, for example, from a
  • Manufacturers can be stored in the means of transport via a CD.
  • FIG. 1 further shows a quality evaluation unit 107, which comprises the device 100, and which is suitable for evaluating the
  • Quality of the determined topographic data of the environment of the transport means 102 and the digital map created therefrom is executed.
  • the quality evaluation unit 107 is connected to the creation unit 104 and the storage unit 105 that provides stored self-created digital maps.
  • FIG. 1 shows a program element for guiding the device 100 to create and store a digital map 101 of the transport means 102 when executed on a processor 118 and a computer readable medium 119 on which a program element stored on the processor is stored 118 of the device 100 for creating and storing a digital map 101 of the transport means 102 is executed.
  • step 201 topographical data of the surroundings of the means of transport are determined by a sensor unit.
  • step 202 the digital map is created from the determined topographic data of the environment of the means of transport by a creation unit.
  • step 203 the created digital map is stored by a storage unit.
  • step 204 the topographical data and the digital map are transmitted to a suitable receiving unit.
  • an apparatus for creating and storing a digital map for a means of transport is provided, which is executable for an application for a means of transport described below:
  • a vehicle with a device described above travels on a hitherto unknown section on which no warnings can be given, and also an ADAS can not be supplied with map data.
  • GPS satellite navigation
  • environmental sensors Through satellite navigation (GPS) and environmental sensors, a first version of a digital map is created and stored by the device over that route.
  • Map data can be used for alerts and provided for ADAS. Furthermore, the GPS data and environment sensor data are used to refine the map data. Since the journey home by a user of a vehicle usually takes place at a later time, for example in the evening, the visibility conditions are poor and a warning based on map data is important for the way home. It is also conceivable that virtually non-existent traffic and the fatigue of a driver to stimulate these to misjudgements of their own speed and overestimation of their own driving skills.
  • map data are integrated into the self-taught digital map inventory, but occupied by the device with a lower trustworthiness. This level of trustworthiness can go from driver to driver
  • Time of importing a third party's map data may, for example, indicate that he has some
  • These data can be either over wireless connections such as Bluetooth, ZigBee, DSRC, WLAN, WiMax, cellular radio, etc., for example, from a service provider or from a
  • the driver can decide whether to exchange only data that the other vehicle has traveled on its own, or even to pass on data that the other vehicle also only received. This decision can also be made by the device itself.
  • Apparatus for creating and storing a digital map for the means of transport can be designed as a land vehicle, as an aircraft such as an airplane or a helicopter and as a water or rail vehicle.
  • the device can therefore, for example, more than one sensor unit, more than one creation unit, more than one storage unit, more than one detection unit, more than one quality assessment unit, more than one communication unit and the sensor unit more than a first sensor, more than a second sensor and have more than one data fusion unit.

Abstract

L'invention concerne une carte à apprentissage automatique et un dispositif de fabrication et de mémorisation d'une carte numérique (101) pour un moyen de transport (102), au moyen de capteurs d'environnement (103, 109, 110), d'une communication véhicule-X et de systèmes de navigation par satellites, sans utilisation de données de cartes de navigation. La carte numérique (101) ainsi crée est améliorée par itération et peut servir au contrôle de validité d'une carte numérique (103) existante pour un système d'aide à la conduite.
EP09738229A 2008-04-30 2009-04-30 Carte à apprentissage automatique au moyen de capteurs d'environnement Withdrawn EP2274575A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102008021781 2008-04-30
DE102009017731A DE102009017731A1 (de) 2008-04-30 2009-04-11 Selbstlernende Karte auf Basis von Umfeldsensoren
PCT/EP2009/055295 WO2009133185A1 (fr) 2008-04-30 2009-04-30 Carte à apprentissage automatique au moyen de capteurs d'environnement

Publications (1)

Publication Number Publication Date
EP2274575A1 true EP2274575A1 (fr) 2011-01-19

Family

ID=41131164

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09738229A Withdrawn EP2274575A1 (fr) 2008-04-30 2009-04-30 Carte à apprentissage automatique au moyen de capteurs d'environnement

Country Status (6)

Country Link
US (1) US8862384B2 (fr)
EP (1) EP2274575A1 (fr)
JP (1) JP2011521326A (fr)
CN (1) CN102016507B (fr)
DE (1) DE102009017731A1 (fr)
WO (1) WO2009133185A1 (fr)

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JP2011521326A (ja) 2011-07-21
US20110047338A1 (en) 2011-02-24
CN102016507B (zh) 2014-04-16
DE102009017731A1 (de) 2009-11-05
CN102016507A (zh) 2011-04-13

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