EP3601951A1

EP3601951A1 - Method and device for operating a vehicle

Info

Publication number: EP3601951A1
Application number: EP18701751.2A
Authority: EP
Inventors: Jan Rohde; Holger Mielenz
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2017-03-22
Filing date: 2018-01-25
Publication date: 2020-02-05
Also published as: DE102017204839A1; US20200018608A1; CN110446907A; WO2018171958A1

Abstract

The invention relates to a method (300) and to a first device (110) for creating and providing a highly accurate map (402), comprising a step of receiving (320) environment data values, which represent an environment (220) of an automated vehicle (200), the environment (220) of the automated vehicle (200) comprising at least one environment characteristic (221, 222) and the environment data values comprising an evaluation of the at least one environment characteristic (221, 222), a step of reading in (330) map data values, which represent a first map (401), the first map (401) comprising the at least one environment characteristic (221, 222), a step of creating (340) the highly accurate map (402) on the basis of the map data values and in accordance with the evaluation of the at least one environment characteristic (221, 222), and a step of providing (350) the highly accurate map (402). The invention further relates to a second device (210) for evaluating and sending environment data values, comprising an environment sensor system (201) for capturing the environment data values, which represent an environment (220) of an automated vehicle (200), the environment (220) of the automated vehicle (200) comprising at least one environment characteristic (221, 222), evaluating means (211) for creating an evaluation of the at least one environment characteristic (221, 222) in accordance with the capturing of the environment data values, and a sending unit (212) for transferring the environment data values, the environment data values comprising the evaluation of the at least one environment characteristic (221, 222).

Description

Description title

Method and device for operating a vehicle

The present invention relates to a method and apparatus for creating and providing a high accuracy card having a step of receiving

Environment data values, including a step of reading in map data values, a step of creating the high-accuracy map, and a step of providing the high-accuracy map.

Disclosure of the invention

The inventive method for creating and providing a highly accurate map comprises a step of receiving environmental data values representing an environment of an automated vehicle, wherein the environment of the automated vehicle includes at least one environmental feature and the

Environmental data values include an assessment of the at least one environmental feature, and a step of reading in map data values representing a first map, the first map comprising the at least one environmental feature. The method further includes a step of creating the high-accuracy map based on the map data values and the evaluation of the at least one environmental feature and a step of providing the high-accuracy map.

A first card and / or a highly accurate card means a digital card which is in the form of (card) data values on a storage medium. By way of example, the first and / or high-precision map is designed such that one or more map layers are included, wherein a map layer shows, for example, a bird's-eye view map (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, wherein the at least one environmental feature, which is encompassed by the radar map, is deposited with a radar signature. A further card layer comprises, for example, a lid card, wherein the at least one surrounding feature, which is covered by the lid card, is deposited with a lidar signature.

A further additional and / or alternative map layer includes, for example, temporary states in an environment of the at least one environmental feature, such as precipitation and / or fog and / or lighting conditions.

The first and / or the highly accurate map are designed such that they are suitable for the navigation of a vehicle, in particular of an automated vehicle. For this purpose, the individual card layers include, for example, the at least one environmental feature with its GPS position, this position being known with high precision. A high-precision position is to be understood as a position that is so precise that it is possible to operate an automated vehicle depending on this position. This means, for example, an inaccuracy of the position of less than 10 cm. Under an automated vehicle is a partially, highly or fully automated

Vehicle to understand.

The method according to the invention has the advantage that the highly accurate map is created in such a way that, in particular, environmental features are included which have already been evaluated by the use of an (automated) vehicle. The use of the highly accurate map to navigate an automated vehicle thus increases the safety of the automated vehicle and / or occupants and / or the safety of other vehicles and / or other road users in the vicinity of the vehicle.

Preferably, the environmental data values are detected by means of an environment sensor system of the automated vehicle and the evaluation of the at least one

Environmental feature occurs depending on the detection of the at least one

Environment feature. This shows the advantage that a detailed assessment as to whether the at least one environmental feature can be detected exists, whereby the creation of the highly accurate map is adapted to the environment sensor of the automated vehicle and / or to at least one further environment sensor of at least one further (automated) vehicle which increases the security of using the high accuracy card.

An environment sensor system is to be understood, for example, as one or more cameras and / or one or more radar sensors and / or one or more lidar sensors and / or one or more ultrasound sensors. Furthermore, the environment sensor system comprises, for example, an evaluation unit (for example a computer unit with a processor, main memory, a hard disk and suitable software) for evaluating the acquired environmental data values and determining the at least one environmental feature and / or the position of the at least one environmental feature.

The at least one environmental feature is understood to mean any feature that is suitable for being detected by means of an environment sensor of the automated vehicle, such as infrastructure features (traffic signs, guidelines,

Signaling equipment, safety-related features, etc.) and / or structures (buildings, bridges, tunnels, etc.) and / or landscape features (plants, mountains, lakes, rivers, etc.) and / or other features which are designed, for example, to be used for determining the position of an (automated) vehicle.

Preferably, the evaluation of the at least one environmental feature is dependent on an environmental condition of the environment of the automated vehicle.

This is particularly advantageous since, in particular, the ambient state can have a considerable influence on whether or not the at least one environmental feature can be detected, as a result of which the highly accurate map is additionally created as a function of a temporary evaluation of the at least one environmental feature.

The ambient state preferably comprises a weather state and / or a brightness and / or a vegetation state and / or a building state. Under a weather condition, for example, to understand whether a rainfall (rain, snow) and / or fog is present. A brightness is to be understood, for example, whether it is light or dark

(For example, due to the time of day) and / or whether it is clouded due to clouds and / or whether it is not possible due to sunlight, to capture the at least one environmental feature by means of environmental sensors.

In a particularly preferred embodiment, the highly accurate map is generated by the high accuracy map comprising the at least one environmental feature and the rating of the at least one environmental feature, or by the high accuracy map not including the at least one environmental feature.

This shows the advantage that the high-precision card, for example, only

Environmental features includes, on the basis of which an automated vehicle can be operated. This makes it possible, for example, that the high-precision card manages with less storage space and thus, for example, faster to the automated vehicle and / or at least one other (automated) vehicle can be transmitted. If the high-accuracy map includes the at least one environmental feature with an evaluation of the at least one environmental feature, it is possible, for example, to provide the high-accuracy map such that the highly accurate map is at least dependent on an environmental condition (weather condition and / or brightness and / or vegetation condition and / or development status) a

Surrounding feature includes or not.

Preferably, the provision of the highly accurate map is such that the automated vehicle and / or at least one other vehicle are operated automatically depending on the highly accurate map.

This shows the advantage that the high-precision card, for example, so

is provided that the high-precision map can be used directly by a navigation system and / or a control device and / or a localization device and thus the automated vehicle and / or at least one other vehicle is operated safely.

By operating the automated vehicle and / or the at least one further vehicle, for example, controlling the vehicle along a trajectory is to be understood. In a particularly preferred embodiment, the first card, after

Create the high-precision map, replaced by the highly accurate map. This shows the advantage that there is always only the most up-to-date and / or most accurate card, which is thus always iteratively improved in a repetition of the method, since the first card corresponds to an already highly accurate map and the next highly accurate map even further improved and / / or adjusted. As a result, the security of the automated vehicle and / or the at least one further vehicle increases by operation depending on the highly accurate map.

The first device according to the invention for creating and providing a

highly accurate map, includes first means for receiving environmental data values representing an environment of an automated vehicle, wherein the environment of the automated vehicle includes at least one environmental feature and the environmental data values include an assessment of the at least one environmental feature

Surround feature, and second means for reading in map data values representing a first map, wherein the first map comprises the at least one environmental feature. The first apparatus further comprises third means for creating the high-accuracy map based on the map data values and on the evaluation of the at least one environmental feature and fourth means for providing the high-accuracy map.

Preferably, the first means and / or the second means and / or the third means and / or the fourth means are adapted to a method according to one of

Execute method claims.

The second device according to the invention for evaluating and transmitting

Environmental data includes an environment sensor for detecting the

Environmental data values representing an environment of an automated vehicle, wherein the environment of the automated vehicle includes at least one environmental feature. The second device further comprises evaluation means for generating a rating of the at least one environmental feature, dependent on the sensing of the environmental data values, and a transmitting unit for transmitting the environmental data values, the environmental data values comprising the rating of the at least one environmental feature. Preferably, the evaluation means are adapted to create the evaluation depending on an environmental condition of the environment of the automated vehicle. Advantageous developments of the invention are specified in the subclaims and listed in the description.

Drawings Exemplary embodiments of the invention are illustrated in the drawings and are explained in more detail in the following descriptions. Show it:

Figure 1 purely by way of example an embodiment of the first device according to the invention;

Figure 2 purely by way of example an embodiment of the second device according to the invention;

FIG. 3 purely by way of example an embodiment of the method according to the invention;

FIG. 4 purely by way of example a first card (FIG. 4a) and a highly accurate card (FIG. 4b); and

FIG. 5 purely by way of example an embodiment of the method according to the invention in the form of a flowchart.

Embodiments of the invention

FIG. 1 shows a computing unit 100, which is shown by way of example, which comprises a first device 110 for creating and providing a high-precision map 402. By a computing unit 100 is meant, for example, a server. In a further embodiment, a computing unit 100 is to be understood as meaning a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet. In another

Embodiment corresponds to the computing unit 100 of the first device 1 10. The first device 1 10 comprises first means 1 1 1 for receiving 320 of

Environmental data values representing an environment 220 of an automated vehicle 200, wherein the environment 220 of the automated vehicle 200 includes at least one environment feature 221, 222 and the environmental data values include an assessment of the at least one environmental feature 221, 222, and second means 1 12 for reading 330 of Map data values representing a first map 401, wherein the first map 401 comprises the at least one surrounding feature 221, 222. The first device 110 further comprises third means 13 for creating 340 the highly accurate map 402, based on the map data values and on the evaluation of the at least one environment feature 221, 222 and fourth means 1 14 for providing 350 the highly accurate map 402.

The first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 may - depending on the particular embodiment of the computing unit 100 - be designed differently. If the computing unit 100 is designed as a server, the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 - based on the location of the first device 1 10 - localized in the same place. If the arithmetic unit 100 is designed as a cloud, the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 at different locations, for example in different cities and / or in different countries, wherein a connection - such as the Internet - for the exchange of (electronic) data between the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 is formed.

The first means 1 1 1 are adapted to receive environmental data values. In this case, the first means 1 1 1 include a receiving and / or transmitting unit, by means of which data is requested and / or received. In a further embodiment, the first means 1 1 1 are formed such that it is connected to a - starting from the first device 1 10 - externally arranged transmitting and / or receiving unit 122, by means of a cable and / or wireless connection 121 , Furthermore, the first means 1 1 1 electronic data processing elements, such as a processor, memory and a hard disk, which are adapted to the

Process environmental data values, such as changes and / or changes Adaptation of the data format and then forward to the third means 1 13. In a further embodiment, the first means 1 1 1 are designed such that the received ambient data values - without

Data processing elements - to the third means 1 13 forward.

Furthermore, the first device comprises second means 1 12, which are designed to read in card data values, which represent a first card 401, wherein the first card 401 comprises the at least one surrounding feature 221, 222. For this purpose, the second means 12 comprise, for example, a hard disk comprising the first card 401. The second means 1 12 are further adapted to the read

Map data to the third means 1 13 to transmit.

In a further embodiment, the first card 401 by means of a transmitting and / or receiving unit of the first and / or second and / or third and / or fourth means 1 1 1, 1 12, 1 13, 1 14 or by means of the externally arranged transmitter and / or receiving unit

122 requested and received from an external database of a designated card provider.

Furthermore, the first device 1 10 comprises third means 1 13 for creating 340 the highly accurate map 402 based on the map data values and on the evaluation of the at least one environment feature 221, 222. For this purpose, the third means 1 13 comprise electronic data processing elements, for example a processor, Memory and a hard disk. Furthermore, the third means 1 13 comprise a corresponding software, which is adapted, starting from the

Map data values and depending on the rating of the at least one

Environmental feature 221, 222 to create a high-accuracy map 402.

The creation 340 of the high-precision card 402 takes place, for example, by the

Data values representing the high-accuracy map 402 and the at least one

Ambient feature 221, 222 to extend the rating of the at least one surround feature 221, 222.

In another embodiment, the creation 340 of the high-accuracy map 402 is done, for example, by data values representing the at least one environment feature 221, 222 wholly or partially from the data values that comprise the

highly accurate map 402. The first device 110 further comprises third means 13 for creating 340 the highly accurate map 402, based on the map data values and on the evaluation of the at least one environment feature 221, 222 and fourth means 1 14 for providing 350 the highly accurate map 402.

Furthermore, the first device 1 10 comprises fourth means 1 14 for providing 350 of the highly accurate card 402. For this purpose, the fourth means 14 comprise a receiving and / or transmitting unit, by means of which data are requested and / or received. In a further embodiment, the fourth means 14 are designed in such a way that they are connected to a transmitting and / or receiving unit 122 arranged externally, starting from the first device 110, by means of a cable and / or wireless connection 121. In a further embodiment, the transmitting and / or

Receiving means identical to the transmitting and / or receiving means of the first means 1 1 1 and / or the transmitting and / or receiving means of the second means 1 12th

Furthermore, the fourth means 1 14 comprise electronic data processing elements, for example a processor, main memory and a hard disk, which are designed to process the high-precision card 402 in the form of data values, for example to carry out a modification and / or adaptation of the data format and subsequently as a high-precision card 402 to provide.

FIG. 2 shows an automated vehicle 200 that includes a second device 210 for evaluating and transmitting environmental data values.

The automated vehicle 200 is designed here as a car. In further

Embodiments, the automated vehicle 200 is designed as a truck or as a two-wheeled vehicle. The second device 210 comprises an environment sensor 201 for detecting the

Environmental data values representing an environment 220 of the automated vehicle 200, wherein the environment 220 of the automated vehicle 200 includes at least one environment feature 221, 222, and evaluation means 21 1 for generating an assessment of the at least one environment feature 221, 222, depending on the sensing of the environmental data values , The second device 210 further comprises a transmitting unit 212 for transmitting the environmental data values, wherein the Environmental data values include the rating of the at least one environmental feature 221, 222.

The environmental sensor system 201 includes, by way of example, sensors and an evaluation unit in order to evaluate the detected environmental data values and the at least one

Environmental feature 221, 222 and / or the position of the at least one

Environmental feature 221, 222 (for example, relative to the automated vehicle 200) to determine. In a further embodiment, the environment sensor system 201 is not comprised by the second device 210 but by the automated vehicle 200. In this case, the second device 210 is designed to store the environmental data values from the

Environment sensor 201 to receive. Furthermore, the second device 210 comprises evaluation means 21 1 for producing a rating of the at least one environmental feature 221, 222, depending on the detection of the environmental data values. For this purpose, the evaluation means 21 1 comprise, for example, a computing unit (processor, main memory, hard disk, as well as suitable software). The evaluation of the at least one environmental feature 221, 222 includes, for example, the information that the at least one

Environmental feature 221, 222 is only partially detected and / or not detected, although due to information from a map (for example, from the first map, which is included in the automated vehicle 200), the at least one environmental feature 221, 222 in the area 220 of the vehicle 200 of

Environment sensor 201 would have to be detected. Furthermore, the evaluation includes, for example, information about the environmental condition, which is also detected by means of the environmental sensor system 201. Furthermore, the evaluation includes, for example, the information that the at least one environment feature 221, 222 is indeed detected, but only detected such that a localization of the automated vehicle 200 based on the at least one environment feature 221, 222 does not occur.

Furthermore, the evaluation means 21 1 are adapted to transmit the evaluation to the transmitting unit 212. The transmitting unit 212 for transmitting the environmental data values, wherein the

Environment data values the rating of the at least one environment feature 221, 222 is adapted to receive the evaluation from the evaluation means 21 1. The transmission unit 212 is designed to transmit the ambient data values to the first device 110 by means of a radio link. In a further embodiment, the transmitting unit 212 is designed such that it is connected to a transmitting and / or receiving unit arranged externally, starting from the second device 210, by means of a cable and / or wireless connection. This may be, for example, a navigation system, which is included in the vehicle 200.

In a further embodiment, the transmission unit 212 is designed such that it is connected to a mobile receiver - in particular a smartphone. This connection can for example by means of a cable and / or a wireless

Connection, such as Bluetooth, done.

In a further embodiment, the transmitting unit 212 comprises electronic

Data processing elements, for example a processor, main memory and a hard disk, which are designed to process the environmental data values, for example to carry out a modification and / or adaptation of the data format, and then to transmit them to the first device 110.

FIG. 3 shows an exemplary embodiment of a method for creating and providing a high-precision card 402.

In this case, the automated vehicle 200, which comprises the second device 210, is located on a two-lane road 227. In the vicinity 220 of the automated vehicle 200, there are two environmental features 221, 222, wherein a first environment feature 221 is not detected by means of an environment sensor 201 of the automated vehicle 200 may be detected, because there is a building 225 between the first environment feature 221 and the automated vehicle 200, for example. The second environment feature 222 may be detected by the environment sensor 201 of the

automated vehicle 200 are detected.

Furthermore, the automated vehicle 200 includes, for example

Navigation system which has a map with the first and the second

Surrounding feature 221, 222 includes. By way of example, the card is the first card 401, which is also included in the first device 110. In another embodiment, the first card 401 corresponding to the

automated vehicle 200 includes, for example, a previously highly accurate map, which was received by the first device 1 10 in advance. This is the

Transmitting unit 212 of the automated vehicle 200, for example, designed as a transmitting and receiving unit.

By means of the evaluation means 21 1 of the second device 210, the first and the second environment feature 221, 222 - with regard to the possibility of detecting them by means of the environment sensor system 201 of the automated vehicle 200 - are now evaluated.

By means of the transmitting unit 212, the environmental data values representing the environment of the automated vehicle 200 and comprising the evaluation of the first and second environmental feature 221, 222 are transmitted to the first device 1 10 and received by the first means 1 1 1 of the first device 1 10 , By means of the second means 1 1 1, the first map 401 is read in the form of map data values and both the received environmental data values and the

Map data values to the third means 1 13 transmitted. By means of the third means 13, a highly accurate map 402 is created, based on the map data values and on the evaluation of the at least one surrounding feature 221, 222.

In this case, the highly accurate map 402 is created, for example, in such a way that the second environment feature 222 is encompassed by the highly accurate map 402 and the first environment feature 221 is not included by the highly accurate map 402.

By means of the fourth means 1 14, the high-precision card 402 is transmitted to the automated vehicle 200 and / or to at least one further vehicle 230.

After receiving the high-accuracy map 402 by the automated vehicle 200 and / or by the at least one further vehicle 230, the automated vehicle 200 and / or the at least one further vehicle 230 is operated, for example, depending on the high-accuracy map 402.

FIG. 4 shows a first map 201 (FIG. 4a) and a highly accurate map 402 (FIG. 4b), which are based on map data values which represent the first map 401 and on the evaluation of the at least one surrounding feature 221, 222, is created. For example, both maps include a road 227 and a building 225. The first map 401 includes a first environmental feature 221 and a second environmental feature 222. However, since the first environmental feature 221 is at least partially obscured by the building 225 from the street 227, then highly accurate map 402 created such that the first environment feature 221 is no longer included in the high-accuracy map 402. FIG. 5 shows an embodiment of the method 300 according to the invention in the form of a flowchart.

In step 310, the method 300 starts to create and provide a

highly accurate map 402.

In step 320, environmental data values representing an environment 220 of an automated vehicle 200 are received. In this case, the environment 220 of the automated vehicle 200 includes at least one environment feature 221, 222, and the environment data values include an assessment of the at least one

Environmental feature 221, 222.

In step 330, map data representing a first map 401 is read in, the first map 401 comprising the at least one surrounding feature 221, 222.

In step 340, the high-accuracy map 402 is created based on the map data values and the evaluation of the at least one surrounding feature 221, 222.

In step 350, the high accuracy map 402 is provided.

In step 360, the method 300 ends.

Claims

claims

A method (300) for creating and providing a high-accuracy map (402) comprising the steps of:

Receiving (320) environmental data values,

o representing an environment (220) of an automated vehicle (200),

wherein the environment (220) of the automated vehicle (200) includes at least one environmental feature (221, 222), and o the environmental data values include an assessment of the at least one environmental feature (221, 222);

Reading in (330) map data values,

o representing a first map (401),

o wherein the first map (401) comprises the at least one environmental feature (221, 222);

Creating (340) the high accuracy map (402),

o based on the map data values and

o depending on the rating of the at least one

Environmental feature (221, 222); and

- providing (350) the high accuracy card (402).

Method (300) according to claim 1, characterized in that

• the environmental data values by means of an environment sensor (201) of the

automated vehicle (200) are detected and

• the evaluation of the at least one environmental feature (221, 222) is dependent on the detection of the at least one environmental feature (221, 222).

3. Method (300) according to claim 2, characterized in that

• the evaluation of the at least one environmental feature (221, 222) is dependent on an environmental condition of the environment (220) of the automated vehicle (200).

4. The method (300) according to claim 3, characterized in that

• the environmental condition

o a weather condition and / or

o a brightness and / or

o a state of vegetation and / or

o a building state

includes.

5. The method (300) according to claim 1, characterized in that

The creation (340) of the high-precision map (402) takes place,

o by the high-accuracy map (402) the at least one

Environmental feature (221, 222) and the assessment of the at least one environmental feature (221, 222) comprises or

o by the high-accuracy map (402) the at least one

Environmental feature (221, 222) is not included.

6. The method (300) according to claim 1, characterized in that

The provision of (350) the highly accurate map (402) is such that the automated vehicle (200) and / or at least one further vehicle (230) are operated automatically depending on the highly accurate map (402).

7. The method (300) according to claim 1, characterized in that

The first card (401),

o after creating (340) the high accuracy map (402), replacing the high accuracy map (402).

8. The first device (10) for creating and providing a high-precision map (402), comprising the following means:

First means (1 1 1) for receiving (320) environmental data values,

o representing an environment (220) of an automated vehicle (200),

o the environment (220) of the automated vehicle (200)

at least one environment feature (221, 222) and o the environment data values comprises a rating of the at least one

Surrounding feature (221, 222);

Second means (1 12) for reading (330) map data values,

o representing a first map (401),

o wherein the first card (401) the at least one environmental feature

(221, 222);

Third means (13) for creating (340) the high-precision map (402),

o based on the map data values and

o depending on the rating of the at least one

Environmental feature (221, 222); and

- Fourth means (1 14) for providing (350) the high-precision card (402). 9. First device (1 10) according to claim 8, characterized in that

• the first means (1 1 1) and / or the second means (1 12) and / or the third means (1 13) and / or the fourth means (1 14) are adapted to a method (300) according to to carry out the method claims 2 to 7.

10. Second device (210) for evaluating and transmitting environmental data values, comprising:

Environment sensor system (201) for acquiring the environmental data values,

o representing an environment (220) of an automated vehicle (200),

o the environment (220) of the automated vehicle (200)

at least one environment feature (221, 222);

- evaluation means (21 1) for generating a rating of the at least one environmental feature (221, 222),

o depending on the acquisition of the environmental data values; and

Transmitting unit (212) for transmitting the environmental data values,

o wherein the environmental data values include the rating of the at least one environmental feature (221, 222).

1 1. Second device (210) according to claim 10, characterized in that

• the evaluation means (21 1) are adapted to generate the rating depending on an environmental condition of the environment (220) of the automated vehicle (200).