EP3317612A1 - Procédé et dispositif pour télécharger des données d'un véhicule à moteur - Google Patents

Procédé et dispositif pour télécharger des données d'un véhicule à moteur

Info

Publication number
EP3317612A1
EP3317612A1 EP16723729.6A EP16723729A EP3317612A1 EP 3317612 A1 EP3317612 A1 EP 3317612A1 EP 16723729 A EP16723729 A EP 16723729A EP 3317612 A1 EP3317612 A1 EP 3317612A1
Authority
EP
European Patent Office
Prior art keywords
data
priority factor
acquired
environmental data
motor vehicle
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Withdrawn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
EP16723729.6A
Other languages
German (de)
English (en)
Inventor
Christian SKUPIN
Markus Langenberg
Daniel Zaum
Hanno Homann
Moritz Michael KNORR
Lukas KLEJNOWSKI
Alexander Geraldy
Michael Pagel
Emre CAKAR
Jochen Marx
Isabella HINTERLEITNER
Holger Mielenz
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3317612A1 publication Critical patent/EP3317612A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
    • 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
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3826—Terrain data
    • 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
    • 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
    • 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
    • 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]

Definitions

  • the invention relates to a method for uploading data of a motor vehicle.
  • the invention further relates to a device for uploading data of a motor vehicle.
  • a data service provider can capture data, perform an aggregation of the collected data and provide an updated version of the aggregated data to users at defined time intervals (for example, quarterly or annually).
  • autarkic data aggregation which is performed on the same device on which data to be aggregated are recorded.
  • the data aggregated on the device are subsequently exclusively for use on this device.
  • a so-called collective data aggregation which provides for an aggregation of data by a central instance, typically by a server or a server network. Users of the data service and / or a special fleet of data collectors perform data collection. The collected data is subsequently transmitted to the server for the purpose of aggregation.
  • the latter approach provides the most up-to-date aggregated data by collecting the collective data and providing it to the server for aggregation and the current status of the centrally aggregated data is made available by the server to the data collector.
  • An object of the invention is to provide an improved method for uploading data of a motor vehicle.
  • the object is achieved with a method for uploading data of a motor vehicle, comprising the steps:
  • the object is achieved with a device for
  • Uploading data of a motor vehicle comprising:
  • a verification device and a relevance ranking device for evaluating acquired environmental data by comparing the acquired environmental data with known environmental data of a server device
  • a second buffer for temporarily storing the detected environment data, wherein the detected environment data from the second buffer in response to the evaluation of the environment data to the server device are uploadable.
  • An advantageous further development of the method provides that a degree of novelty is assigned to each data object of the acquired environment data, the degree of novelty being higher the less similar the data object is to a corresponding known data object.
  • a further advantageous development of the method provides that each data object of the acquired environmental data is assigned a first priority factor, the higher the degree of novelty, the greater the first priority factor.
  • a further advantageous development of the method is characterized in that a defined degree of relevance is assigned to each data object of the acquired environment data, the relevance level being higher, the higher the relevance of the data object.
  • a further advantageous development of the method provides that each data object of the acquired environmental data is assigned a second priority factor, the higher the degree of relevance of the data object, the greater the second priority factor.
  • a further advantageous development of the method provides that an overall priority is determined from the first priority factor and the second priority factor.
  • a further advantageous development of the method provides that the uploading of the acquired environmental data to the server device is carried out as a function of the overall priority factor.
  • a two-stage prioritization process is performed for each data object, as a result of which a defined, selective upload of the environment data to the server device is performed.
  • the overall priority factor is high
  • the data may be transmitted to the server device in the short term
  • the event that the overall priority factor is low the data will be transmitted to the server device with a defined time delay.
  • the location reference of the environment data comprises a geometric description or a topological description.
  • Fig. 1 is a schematic representation of an embodiment of the device according to the invention.
  • Fig. 2 is a schematic flow diagram of an embodiment of the method according to the invention.
  • the term data aggregation originally comes from the field of cloud computing or data mining, whereby many data are processed and stored in an appropriate manner.
  • One possible problem of using the collective aggregation of reference data for high-precision localization is the transmission of corresponding data between client and server in real time as much as possible data volumes for the localization of automated motor vehicles are typically very large, for example in the range of about 500 MB / km.
  • the motor vehicle should essentially perceive the environment free of human support and exclusively with the aid of sensors and bring the driver safely and without accidents to his destination.
  • various sensors are used to detect the environment of the motor vehicle and for self-localization current reference data, the latter are the data to be aggregated in this example.
  • All the data required for aggregation on the server is typically sent to a server as soon as it is collected on the client. This is a kind of real-time transmission of the data, whereby a bundling of timely recorded data is possible.
  • All data collected on the client is collected on the client and sent together in a large bundle to a server with a relatively large time delay for their capture (for example, on arrival at the destination if a WLAN radio network is available).
  • Expression A has the disadvantage that it is only suitable for applications in which a data rate concerning the data to be transmitted by the client to the server is substantially smaller than an available communication bandwidth.
  • Expression B) has the disadvantage that recorded data is only available with a high time delay for aggregation on the server.
  • the aggregated data are thus less up-to-date than in the case of characteristic A).
  • the proposed approach to the upload strategy provides for a specific combination of expressions A) and B).
  • acquired data are preferably determined according to characteristic A) a server if they have a high information content and / or if they are of significant relevance (ie the application requires, for example, a very precise and up-to-date aggregation regarding certain information).
  • acquired data are preferably transmitted to the server according to characteristic B).
  • a more up-to-date aggregated data can be achieved than in the case of expression B), advantageously requiring a lower average data transmission rate for the quasi-real-time transmission than in the case of characteristic A).
  • Fig. 1 shows schematically an embodiment of a device 20 for uploading data.
  • the device 20 downloads, via a data service from a central data memory 42 of a server device 40 for the current environment of the device 20, since all data have a location reference, the current state of aggregated data and stores it in a local first buffer memory 30.
  • the central data memory 42 contains the aggregated by the aggregation device 41 data.
  • the aggregation device 41 is in this example part of the server device 40, but may also be the latter completely or partially upstream.
  • the device 20 is arranged, for example, on an automated or autonomous motor vehicle (not shown).
  • a sensor device 10 of the motor vehicle is capable of detecting current data or data objects in the environment.
  • the sensor device 10 is preferably designed as a video sensor, a radar sensor, etc. of the motor vehicle.
  • By means of the sensor device 10 it is possible to acquire data in the surroundings of the motor vehicle.
  • a location reference of the acquired environmental data can also be produced, for example in the form of a WGS84 coordinate (English: World Geodetic System 1984) by means of a GPS sensor (Global Positioning System) or in the form of a topological description of the detected data object. In this way, a concrete assignment of the acquired environmental data to spatial positions.
  • the sensor device 10 detects, in particular, image data in the form of point clouds, line features, etc.
  • the data mentioned may also include semantic features, such as trees, street lighting devices, buildings, etc.
  • the device 20 it is determined how or when the detected environment data for an aggregation on an aggregation device 41 are transmitted.
  • the aggregation device 41 localization reference data or landmark data are aggregated from collectively registered, location-related environment data which are stored in the central data memory 42 and are available for the purpose of vehicle self-localization for motor vehicles, so that finally improved localization of the respective motor vehicle is supported.
  • the device 20 is designed for this purpose as a prioritization device and implements a multi-level prioritization process. It comprises as components a verification device 21, a relevance classification device 22 and a second intermediate memory 23. In an alternative, not shown, it is also conceivable to arrange the components described separately from one another in the motor vehicle.
  • the data acquired by the sensor device 10 are compared by means of the verification device 21 with corresponding data from the first intermediate memory 30.
  • the data in the first buffer store 30 represent a subset of known data of the central data memory 42 of the server device 40.
  • a similarity of the acquired environment data with the known environment data is checked, as a result of the comparison a quantified novelty value N being applied to one first priority factor P1 is mapped according to the following relationship:
  • a relevance degree R with respect to the data object type is checked for each detected data object by means of the relevance ranking device 22, wherein a data rate of relevance R is assigned to each data object, which is mapped to a second priority factor P2 according to the following relationship:
  • Each detected data object is assigned in this way a second priority factor P2, where:
  • an overall priority factor PG is determined from the two priority factors P1, P2 for the relevant data object, for example according to the following relationship:
  • data objects are transmitted to the second buffer 23 of the device 20.
  • the second buffer 23 it is decided, based on the overall priority factor PG of a data object, which data object is uploaded when and how to the server device 40, where the data object is subsequently device 41 is further processed and the aggregation result is then stored in the central data memory 42.
  • the overall priority factor PG reaches or exceeds a system-wide known predefined threshold value SW
  • the immediate transmission of the corresponding data object to the server device 40 is initiated, whereby depending on the available radio technology, the transmission is performed by mobile radio, if available, preferably via WLAN.
  • Said threshold SW is preferably also known to the server device 40 and can be transmitted to the device 20, for example, by the latter.
  • the total priority factor PG ⁇ SW the corresponding data object is not transmitted immediately but is temporarily stored in the second intermediate memory 23. Caching is preferably carried out until a sufficiently large free and thus low-cost communication bandwidth is available (for example, by availability of WLAN) to the data objects at a later date, for example in the order of their overall priority factors PG (high priority factor PG first, low priority factor PG thereafter) to the server device 40 to transmit or upload.
  • PG high priority factor PG first, low priority factor PG thereafter
  • a technical implementation of the device 20 is preferably carried out as software of an electronic control unit (not shown) of the motor vehicle, whereby a simple update and change of features of the device 20 is supported.
  • the device 20 may alternatively also be implemented as a hardware, for example as an ASIC (English: application-specific integrated circuit) or FPGA (English: field programmable gate array).
  • the server device 40 is arranged inside the motor vehicle. In this case, it can advantageously be achieved that an amount of data to be transmitted to the motor vehicle internal database is optimized and this can thereby be designed more efficiently.
  • step 200 detection of environmental data of the motor vehicle is carried out by means of a sensor device 10.
  • a location reference for the acquired environment data is produced.
  • an assessment of the acquired environmental data is performed by comparing the acquired environmental data with known environmental data of a data memory 42 of a server device 40.
  • the acquired environment data is uploaded to the server device 40 in response to the evaluation.
  • the present invention proposes a method and a device with which it is possible to carry out a data upload of a motor vehicle to a server device on the basis of a prior evaluation of data objects.
  • an available communication bandwidth can be used efficiently, so that an entire system can efficiently connect as many road users as possible.
  • this advantageously supports that only such data are transmitted to the server that are actually required, e.g. for the purpose of localization.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Information Transfer Between Computers (AREA)

Abstract

Procédé de téléchargement de données d'un véhicule à moteur, comprenant les étapes suivantes : acquisition de données d'environnement du véhicule à moteur au moyen d'un dispositif de détection (10) ; création d'une référence de lieu pour les données d'environnement acquises ; évaluation des données d'environnement acquises par comparaison de ces dernières avec des données d'environnement connues provenant d'un magasin de données (42) d'un dispositif serveur (40) ; et téléchargement des données d'environnement acquises vers le dispositif serveur (40) en fonction de l'évaluation.
EP16723729.6A 2015-06-30 2016-05-13 Procédé et dispositif pour télécharger des données d'un véhicule à moteur Withdrawn EP3317612A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212128.3A DE102015212128A1 (de) 2015-06-30 2015-06-30 Verfahren und Vorrichtung zum Hochladen von Daten eines Kraftfahrzeugs
PCT/EP2016/060825 WO2017001104A1 (fr) 2015-06-30 2016-05-13 Procédé et dispositif pour télécharger des données d'un véhicule à moteur

Publications (1)

Publication Number Publication Date
EP3317612A1 true EP3317612A1 (fr) 2018-05-09

Family

ID=56024283

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16723729.6A Withdrawn EP3317612A1 (fr) 2015-06-30 2016-05-13 Procédé et dispositif pour télécharger des données d'un véhicule à moteur

Country Status (6)

Country Link
US (1) US10872477B2 (fr)
EP (1) EP3317612A1 (fr)
JP (1) JP6494810B2 (fr)
CN (1) CN108027244B (fr)
DE (1) DE102015212128A1 (fr)
WO (1) WO2017001104A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016214156A1 (de) * 2016-08-01 2018-02-01 Continental Teves Ag & Co. Ohg Verfahren zum Senden von Daten von einem Fahrzeug an einen Server und Verfahren zum Aktualisieren einer Karte
DE102020115233B3 (de) * 2020-06-09 2021-08-19 Audi Aktiengesellschaft Verfahren zum Koordinieren von Verkehrsteilnehmern durch eine Servervorrichtung sowie eine Servervorrichtung und eine Steuerschaltung zum Durchführen des Verfahrens

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
US6047234A (en) * 1997-10-16 2000-04-04 Navigation Technologies Corporation System and method for updating, enhancing or refining a geographic database using feedback
JP3475142B2 (ja) * 2000-03-01 2003-12-08 三菱電機株式会社 地図データ送信装置、地図データ送信方法、及び、地図データ送信方法をコンピュータに実行させるためのプログラムを記録したコンピュータ読み取り可能な記録媒体
DE102007045894A1 (de) 2007-09-25 2009-05-07 Mobotix Ag Verfahren zur Kommunikationssteuerung
US8370392B1 (en) * 2010-10-07 2013-02-05 The Boeing Company Methods and systems for controlling storage and transmission of data
DE102011107111A1 (de) * 2011-07-12 2013-01-17 Continental Automotive Gmbh Verfahren und Kommunikationssystem zum Empfang von Daten bei der drahtlosen Fahrzeug-zu-Umgebung-Kommunikation
JP2014122859A (ja) * 2012-12-21 2014-07-03 Aisin Aw Co Ltd 道路情報収集装置及び道路情報収集プログラム
CN103900599B (zh) * 2012-12-25 2016-12-28 中国电信股份有限公司 在线导航偏航后路径重算的方法与系统
US9746352B2 (en) * 2013-03-29 2017-08-29 Symboticware Incorporated Method and apparatus for underground equipment monitoring

Also Published As

Publication number Publication date
US20180357839A1 (en) 2018-12-13
JP6494810B2 (ja) 2019-04-03
JP2018529141A (ja) 2018-10-04
CN108027244A (zh) 2018-05-11
DE102015212128A1 (de) 2017-01-05
US10872477B2 (en) 2020-12-22
CN108027244B (zh) 2022-01-04
WO2017001104A1 (fr) 2017-01-05

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