EP3601951A1 - Procédé et dispositif permettant de faire fonctionner un véhicule - Google Patents

Procédé et dispositif permettant de faire fonctionner un véhicule

Info

Publication number
EP3601951A1
EP3601951A1 EP18701751.2A EP18701751A EP3601951A1 EP 3601951 A1 EP3601951 A1 EP 3601951A1 EP 18701751 A EP18701751 A EP 18701751A EP 3601951 A1 EP3601951 A1 EP 3601951A1
Authority
EP
European Patent Office
Prior art keywords
map
environment
environmental
data values
feature
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Withdrawn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
EP18701751.2A
Other languages
German (de)
English (en)
Inventor
Jan Rohde
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 EP3601951A1 publication Critical patent/EP3601951A1/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Withdrawn legal-status Critical Current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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering

Definitions

  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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
  • 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.
  • 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.
  • an evaluation unit for example a computer unit with a processor, main memory, a hard disk and suitable software
  • 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.
  • / or landscape features plants, mountains, lakes, rivers, etc.
  • / or other features which are designed, for example, to be used for determining the position of an (automated) vehicle.
  • the evaluation of the at least one environmental feature is dependent on an environmental condition of the environment of the automated vehicle.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the automated vehicle and / or the at least one further vehicle 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.
  • the first card after
  • 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
  • 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.
  • 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
  • the second device 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.
  • the evaluation means are adapted to create the evaluation depending on an environmental condition of the environment of the automated vehicle.
  • Figure 1 purely by way of example an embodiment of the first 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.
  • 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.
  • a computing unit 100 is meant, for example, a server.
  • 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.
  • a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet.
  • 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.
  • 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.
  • 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.
  • the first means 1 1 1 include a receiving and / or transmitting unit, by means of which data is requested and / or received.
  • 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 ,
  • the first means 1 1 1 1 1 electronic data processing elements, such as a processor, memory and a hard disk, which are adapted to the
  • the first means 1 1 1 are designed such that the received ambient data values - without
  • 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.
  • 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
  • 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
  • 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.
  • the third means 1 13 comprise electronic data processing elements, for example a processor, Memory and a hard disk.
  • the third means 1 13 comprise a corresponding software, which is adapted, starting from the
  • the creation 340 of the high-precision card 402 takes place, for example, by the
  • Ambient feature 221, 222 to extend the rating of the at least one surround feature 221, 222.
  • 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
  • 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 device 1 10 comprises fourth means 1 14 for providing 350 of the highly accurate card 402.
  • the fourth means 14 comprise a receiving and / or transmitting unit, by means of which data are requested and / or received.
  • 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.
  • 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.
  • 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.
  • 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
  • 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 (for example, relative to the automated vehicle 200) to determine.
  • the environment sensor system 201 is not comprised by the second device 210 but by the automated vehicle 200.
  • the second device 210 is designed to store the environmental data values from the
  • 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.
  • 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
  • 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.
  • 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
  • the transmission unit 212 is designed to transmit the ambient data values to the first device 110 by means of a radio link.
  • 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.
  • 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
  • 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.
  • the automated vehicle 200 which comprises the second device 210, is located on a two-lane road 227.
  • the automated vehicle 200 which comprises the second device 210, is located on a two-lane road 227.
  • 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
  • the automated vehicle 200 includes, for example
  • Navigation system which has a map with the first and the second
  • the card is the first card 401, which is also included in the first device 110.
  • 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.
  • the evaluation means 21 1 of the second device 210 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.
  • 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 ,
  • the first map 401 is read in the form of map data values and both the received environmental data values and the
  • 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.
  • 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.
  • the high-precision card 402 is transmitted to the automated vehicle 200 and / or to at least one further vehicle 230.
  • the automated vehicle 200 and / or the 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.
  • 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.
  • 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.
  • step 310 the method 300 starts to create and provide a
  • step 320 environmental data values representing an environment 220 of an automated vehicle 200 are received.
  • 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
  • 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.
  • 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.
  • step 350 the high accuracy map 402 is provided.
  • step 360 the method 300 ends.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)

Abstract

L'invention concerne un procédé (300) et un premier dispositif (110) permettant de générer et de fournir une carte (402) très précise. Le procédé comporte une étape de réception (320) de valeurs de données d'environnement, lesquelles représentent un environnement (220) d'un véhicule automatisé (200), l'environnement (220) du véhicule automatisé (200) comportant au moins une caractéristique d'environnement (221, 222) et les valeurs de données d'environnement comportant une évaluation de ladite au moins une caractéristique d'environnement (221, 222), une étape de saisie (330) de valeurs de données de carte, lesquelles représentent une première carte (401), la première carte (401) comportant ladite au moins une caractéristique d'environnement (221, 222), une étape de génération (340) de la carte (402) très précise à partir des valeurs de données de carte et en fonction de l'évaluation de ladite au moins une caractéristique d'environnement (221, 222) et une étape de fourniture (350) de la carte (402) très précise. L'invention concerne en outre un deuxième dispositif (210) servant à évaluer et à émettre des valeurs de données d'environnement, comprenant un système de détection d'environnement (201) servant à détecter les valeurs de données d'environnement, lesquelles représentent un environnement (220) d'un véhicule automatisé (200), l'environnement (220) du véhicule automatisé (200) comportant au moins une caractéristique d'environnement (221, 222), des moyens d'évaluation (211) servant à générer une évaluation de ladite au moins une caractéristique d'environnement (221, 222) en fonction de la détection des valeurs de données d'environnement, et une unité d'émission (212) servant à transmettre les valeurs de données d'environnement, les valeurs de données d'environnement comportant l'évaluation de ladite au moins une caractéristique d'environnement (221, 222).
EP18701751.2A 2017-03-22 2018-01-25 Procédé et dispositif permettant de faire fonctionner un véhicule Withdrawn EP3601951A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017204839.5A DE102017204839A1 (de) 2017-03-22 2017-03-22 Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
PCT/EP2018/051795 WO2018171958A1 (fr) 2017-03-22 2018-01-25 Procédé et dispositif permettant de faire fonctionner un véhicule

Publications (1)

Publication Number Publication Date
EP3601951A1 true EP3601951A1 (fr) 2020-02-05

Family

ID=61054408

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18701751.2A Withdrawn EP3601951A1 (fr) 2017-03-22 2018-01-25 Procédé et dispositif permettant de faire fonctionner un véhicule

Country Status (5)

Country Link
US (1) US20200018608A1 (fr)
EP (1) EP3601951A1 (fr)
CN (1) CN110446907A (fr)
DE (1) DE102017204839A1 (fr)
WO (1) WO2018171958A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020206641B4 (de) 2020-05-27 2023-09-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Bereitstellen einer hochauflösenden digitalen Karte
WO2022014322A1 (fr) * 2020-07-14 2022-01-20 株式会社Preferred Networks Système de traitement d'informations et dispositif de traitement d'informations
DE102022112543A1 (de) 2022-05-19 2023-11-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Befähigung der Lokalisierung anhand einer Landmarke

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101842662A (zh) * 2007-11-02 2010-09-22 大陆-特韦斯贸易合伙股份公司及两合公司 数字地图的验证
GB201202344D0 (en) * 2012-02-10 2012-03-28 Isis Innovation Method of locating a sensor and related apparatus
JP6325806B2 (ja) 2013-12-06 2018-05-16 日立オートモティブシステムズ株式会社 車両位置推定システム
DE102014217847A1 (de) 2014-09-08 2016-03-10 Conti Temic Microelectronic Gmbh Fahrerassistenzsystem, Verkehrstelematiksystem und Verfahren zum Aktualisieren einer digitalen Karte
DE102014013672B4 (de) 2014-09-16 2022-08-11 Mercedes-Benz Group AG Verfahren und System zur Absicherung eines autonomen oder teilautonomen Betriebs von Fahrzeugen auf einem Verkehrsstreckennetz
EP3018448B1 (fr) 2014-11-04 2021-01-06 Volvo Car Corporation Procédés et systèmes permettant d'améliorer le positionnement d'un véhicule
EP3845427A1 (fr) * 2015-02-10 2021-07-07 Mobileye Vision Technologies Ltd. Carte éparse pour la navigation d'un véhicule autonome
DE102015220695A1 (de) 2015-10-22 2017-04-27 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bewerten des Inhalts einer Karte

Also Published As

Publication number Publication date
US20200018608A1 (en) 2020-01-16
WO2018171958A1 (fr) 2018-09-27
DE102017204839A1 (de) 2018-09-27
CN110446907A (zh) 2019-11-12

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