WO2014072141A1 - Procédé d'actualisation de données cartographiques - Google Patents

Procédé d'actualisation de données cartographiques Download PDF

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Publication number
WO2014072141A1
WO2014072141A1 PCT/EP2013/070925 EP2013070925W WO2014072141A1 WO 2014072141 A1 WO2014072141 A1 WO 2014072141A1 EP 2013070925 W EP2013070925 W EP 2013070925W WO 2014072141 A1 WO2014072141 A1 WO 2014072141A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
received
determined
information
route
Prior art date
Application number
PCT/EP2013/070925
Other languages
German (de)
English (en)
Inventor
Werner Poechmueller
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 WO2014072141A1 publication Critical patent/WO2014072141A1/fr

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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
    • G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
    • 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
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles

Definitions

  • the invention relates to a method for updating map data.
  • the invention relates to a centralized processing of information of motor vehicles of a vehicle fleet.
  • Such a navigation device determines a position of the motor vehicle, in particular by means of a receiver for signals of a satellite-based navigation system. Subsequently, on the basis of the determined position and information about a road network, a route to a predetermined destination is determined and output to a driver of the motor vehicle (see, for example, DE 40 08 460 A1).
  • Certain traffic information can also be detected locally on board the motor vehicle.
  • a camera can capture optical information from an environment around the motor vehicle and use pattern recognition evaluation.
  • the recognized information may be appropriately displayed to the driver of the motor vehicle, or a warning may be issued to the driver who is about to violate a control derived from recognized information.
  • a picture of the environment is taken by means of a camera and transmitted to a central service, where the recognition of a traffic sign is performed on the image.
  • the recognized information can be stored by the central service or transmitted back to the reporting motor vehicle.
  • the invention has for its object to improve a consistency of map information based on possibly erroneous information.
  • the invention solves this object by means of a method and a computer program product having the features of the independent claims. Subclaims give preferred embodiments again.
  • a method according to the invention comprises steps of receiving a first position of a motor vehicle and a reference related to the first position and receiving a second position of the motor vehicle and a reference related to the second position. Subsequently, a traveled distance of the motor vehicle is determined on the basis of the received positions and it is determined that the motor vehicle has not transmitted any indication on the route. An otherwise determined reference related to a position along the traveled route is then checked on the basis of the lack of indication by the motor vehicle.
  • the otherwise-determined positional indication may be determined to be false, in particular based on the information received and processed by the motor vehicle, although the received information does not include a specific reference to the position in question.
  • the reference comprises a traffic sign determined by the motor vehicle.
  • a motor vehicle-supported traffic sign identifier used to update data of a central service or a central instance.
  • the otherwise determined hint is received by another motor vehicle.
  • the indications of different motor vehicles can be associated with each other.
  • a first number of instructions related to the position receive a second number of motor vehicles which have used a route comprising the position without having received a position-related indication from these vehicles, and on the The basis of the two numbers determines whether or not the item of the otherwise determined indicium exists at the item.
  • the two numbers may be set in proportion, and the item of the first position reference is determined to be present if the ratio exceeds a predetermined threshold.
  • the received information may preferably be determined by the motor vehicle and sent to a central location for further processing.
  • a system may be provided comprising the central location and a number of motor vehicles, where information is accumulated from the central location on the basis of which map data relating to a road network on which the motor vehicles are located can be updated.
  • a unique identifier of the motor vehicle is additionally received and received information is assigned to the same motor vehicle on the basis of the identifier.
  • the unique identifier is anonymized after receiving. As a result, data protection requirements can be met. It is then still known by the receiving body that a motor vehicle has traveled a predetermined distance, but it can not be traced to which motor vehicle it was.
  • a time when the motor vehicle was in the position is received, and the travel distance is determined based on the time.
  • the determination of the route can be checked for plausibility.
  • a position is further received by the motor vehicle 1 10, if the last hint sent by the motor vehicle 1 10 is more than a predetermined time ago.
  • a position may also be received if the last indication lies farther than a predetermined driving distance of the motor vehicle.
  • the determination of the route takes place on the basis of information relating to a road network.
  • it can be determined in this way whether several alternative routes may have been used by the motor vehicle.
  • the failure of the message can not be clearly related to one of the routes.
  • the missing message is therefore not correlated with a message relating to a position along one of the alternative routes.
  • the result of the verification of the otherwise determined hint is transmitted to its source.
  • the originator of information recognized as false can be informed of this circumstance in order to correct the information in a local memory.
  • a computer program product comprises program code means for carrying out the described method when the computer program product runs on a processing device or is stored on a computer-readable data carrier.
  • Figure 1 shows a system for updating map data
  • FIG. 2 shows an entry for transmission within the system of FIG. 1;
  • FIG. 3 shows a flow diagram of a method for updating map data
  • FIG. 4 shows a road network with position-related indications; represents.
  • Figure 1 shows a system 100 for updating map data.
  • the system 100 for updating map data.
  • the 100 comprises a central entity 105 and at least one motor vehicle 1 10.
  • the central entity 105 is connected to the motor vehicle 110 by means of a preferably wireless connection 15.
  • the motor vehicle 110 includes an antenna 120 for the connection 15, a camera 125 and a position determining device 130, which are connected to a processing device 135.
  • the motor vehicle 110 is located on a driving route 140 at which a traffic sign 145 is located at a position 150.
  • the traffic sign 145 may be located at the position 150, another object, such as a warning or information sign or a road block.
  • another object such as a warning or information sign or a road block.
  • the camera 125 prepares an image of the traffic sign 145, which is subjected to traffic sign recognition in the processing device 135. If the traffic sign 145 can be detected, then a position of the traffic sign 145 provided by the position determining device 130, together with an indication of the recognized traffic sign 145, is transmitted to the central entity 105 via the connection 1 15.
  • the central entity 105 comprises an antenna 155 for the link 15, a processing device 160 and a memory 165.
  • the memory 165 is set up to store indications of traffic signs 145 or other objects.
  • the memory 165 is also configured to store information about a road network on which the motor vehicle 1 10 is located and which includes the travel route 140.
  • the processing device 160 which is connected to the antenna 155 and the memory 165, is configured to check information stored in the memory 165 on the basis of further information received from the motor vehicle 110. For example, if there is a single piece of information in memory 165 concerning a traffic sign 145 at position 150, it is generally not known if this information is true or false.
  • the information can come, for example, from another motor vehicle 170, which has traveled the route 140 at an earlier time and in a similar manner as the motor vehicle 1 10 is equipped. Possibly, the present information is based on an incorrect recognition of environmental features as traffic sign 145 by the further motor vehicle 170. With regard to the information which the further motor vehicle 170 transmits to the central entity 105, the following combinations are conceivable:
  • an additional possibility of error is the possible misrecognition of the traffic sign 145, for example the detection of a speed limit of 100 km / h instead of 80 km / h. Such an error only affects the correct positive case.
  • the present, possibly incorrect, information originates from a source other than the motor vehicle 170, such as a database or an information service.
  • the traffic sign recognition on board the further motor vehicle 170 may erroneously determine optical information in the area of the position 150 as a traffic sign 145, even if no traffic sign 145 is actually installed at the position 150.
  • the central authority 105 can store the information in the memory 165 and connect it to queries relating to a valid traffic restriction in the area of the travel route 140. In order to determine the wrong information, at least information of the motor vehicle 1 10 would be desirable, from which the lack of the traffic sign 145 at the position 150 emerges. However, since the motor vehicle 110 is not aware of the incorrect information of the traffic sign 145 at the position 150, there is no reason to transmit a corresponding negative message to the central authority 105.
  • the processing device 160 of the central instance 105 is configured to determine a missing message of the motor vehicle 110 with respect to the traffic sign 145 at the position 150 on the basis of other information. If, on the part of the central entity 105, for example, messages from the motor vehicle 110 with respect to a first position 175 and a second position 180 are present, the travel distance 140 of the motor vehicle 110 lying between the positions 175 and 180 can be determined.
  • the particular route 140 passes at position 150. If the traffic sign 145 were present at the position 150, it would have been recognized by the processing device 135 of the motor vehicle 110 when it was functioning correctly, and a corresponding message would have to be transmitted to the central authority 105. If there is no message from the central entity 105
  • received, position-related information of a plurality of motor vehicles 1 10, 170 are stored in the memory 165 of the central entity 105. It can be determined how many of the vehicles 1 10, 170 that have passed the position 150 have recognized the traffic sign 145 and how many are not. Based on these numbers, a decision can be made as to whether the traffic sign 145 actually exists at position 150 or not.
  • FIG. 1 shows an entry 200 that can be transmitted from one of the motor vehicles 110, 170 via the connection 15 to the central entity 105.
  • the entry 200 includes a plurality of fields associated with predetermined information.
  • a first field relates to the article 205.
  • an indication of the recognized traffic sign 145 or the recognized object is stored.
  • the article 205 also includes information about the more precise meaning of the detected traffic sign 145, such as the amount of speed limit, if it is a speed limit.
  • a second field relates to a position 210 at which the article 205 was observed.
  • a third field relates to an identification 215 of the emitting motor vehicle 110, 170.
  • the identification may be, for example, a motor vehicle license plate or another unique identifier, preferably assigned by a central location.
  • a fourth field relates to a mileage 220 of the motor vehicle 1 10, 170 at position 210.
  • a fifth field relates to a time 225 at which the recognition of the traffic sign 145 was carried out, or at which the motor vehicle 1 10, 170 was located at the position 210.
  • a sixth field relates to a speed 230 of the transmitting motor vehicle 1 10, 170. Each of these information may have been provided by the position determining device 130 together with the position.
  • further information 235 can be transmitted. The further information 235 is preferably related to the article 205, the position 210 or the sending motor vehicle 1 10, 170.
  • FIG. 3 shows a flow diagram of a method 300 for updating map data.
  • the steps shown on the left in FIG. 3 are assigned to the further motor vehicle 170 in FIG. 1, the steps of the central instance 105 shown on the right and the steps shown therebetween are assigned to the motor vehicle 110.
  • the following reference to the constellation shown in Figure 1 is purely exemplary, other embodiments are also possible.
  • a step 305 the road sign 145 is detected at the position 150 by the further motor vehicle 170.
  • an indication for example an entry 200 according to FIG. 2, is transmitted via the connection 1 15 to the central location 105 and received there in a step 315.
  • the central entity 105 increments a number of received indications of a traffic sign 145 at the first position 150. In this case, all received instructions relating to positions at a predetermined distance from position 150 can be counted.
  • the motor vehicle 110 is located at the first position 175 and transmits a position-related reference to the central authority 105.
  • the reference to the first position 175 can be triggered by a traffic sign 145 recognized at the first position 175 Transmission also be timed, if a previously sent notice is more than a predetermined time ago.
  • a route-based transmission can also take place if the last sent message is more than a predetermined distance ago.
  • the indication conveyed by the motor vehicle 110 comprises at least one article 205 and one position 210. If the transmission is time- or route-dependent, the article 205 may refer to the respective circumstance or the corresponding field of the entry 200 may be left blank to document the independence of the message from the item 205.
  • the transmitted information is received in a step 330 by the central entity 105.
  • a step 335 which takes place analogously to step 325, a further entry 200 is transmitted to the central entity 105 at the second position 180 and received there in a step 340.
  • the received information is assigned to each other on the part of the central instance 105, preferably based on the identification 215 and further preferably additionally based on the time 225. All other information of the entry 200 can also be considered for a correct assignment.
  • the identification 215 is anonymized.
  • the identification can be irreversibly encrypted, for example by means of a one-way hash function or another so-called fingerprint method, for example from the SHA family.
  • the travel distance 140 of the motor vehicle 110 is determined.
  • the positions 210 of the entries 200 used.
  • a plausibility check of the particular route 140 may also be carried out, for example by taking into account a distance between the positions and a difference of the times 225 and a comparison with the respective driven speeds 230.
  • the mileage 220 may also be used for plausibility checking by For example, it is checked whether a difference in the mileage 220 corresponds to a distance between the positions 210 along a route 140 or not.
  • further information available only on the part of the central entity 105 can be used to determine the route or its plausibility.
  • a reception time of each received entry 200 can be known, which can be compared with the times 225.
  • a number of missing messages is incremented at position 150.
  • the presence or absence of the traffic sign 145 at position 150 may be determined based on the number of messages determined in step 320 and the number of missing messages determined in step 365. For example, a quotient may be formed of the numbers that must exceed a predetermined value before the presence of the traffic sign 145 at position 150 is accepted as correct.
  • the determination in step 370 is made only when information of a predetermined number of vehicles 110, 170 with respect to position 150 is present. Thus, a statistical basis of the determination can be kept large enough.
  • step 370 If it was determined in step 370 that the traffic sign 145, contrary to the information of the further motor vehicle 170, does not exist at the position 150, then in a following optional step 375 corresponding information is transmitted to the further motor vehicle 170 and received in a step 380 thereof become.
  • the information can also be transmitted to other motor vehicles, in particular the motor vehicle 110 or all motor vehicles 110, 170. It is also possible to send the information to all motor vehicles 110, 170 in the area of position 150.
  • the described method 300 can be used to check a false-positive message, a position-related message, without a message indicating the absence of the item of the message.
  • map data can be updated on a road network on which the vehicles 110 and 170 are located. The map data may be updated by the central entity 105 or by one of the vehicles 1 10, 170.
  • FIG. 4 shows a road network 400 with position-related indications.
  • routes 430 Between traffic junctions 405 to 425 are routes 430.
  • position-related notes 435 distributed.
  • Each hint 435 may correspond to a traffic sign 145 or other item.
  • the notes 435 are usually distributed unevenly over the routes 430 of the road network 400.
  • the route 430 shown above on the left between the traffic hubs 405 and 420 has a relatively long section without position-related information 435.

Landscapes

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

Abstract

L'invention concerne un procédé comprenant la réception d'une première position d'un véhicule à moteur et d'une indication relative à la première position ainsi que la réception d'une seconde position du véhicule à moteur et d'une indication relative à la seconde position. Ensuite, sur la base des positions reçues, on détermine un trajet parcouru par le véhicule à moteur et on détermine que le véhicule à moteur n'a pas transmis d'indication sur ce trajet. Le véhicule vérifie alors une indication déterminée d'une autre manière, relative à une position le long du trajet parcouru, en fonction de l'indication manquante.
PCT/EP2013/070925 2012-11-06 2013-10-08 Procédé d'actualisation de données cartographiques WO2014072141A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012220158.0A DE102012220158A1 (de) 2012-11-06 2012-11-06 Verfahren zur Aktualisierung von Kartendaten
DE102012220158.0 2012-11-06

Publications (1)

Publication Number Publication Date
WO2014072141A1 true WO2014072141A1 (fr) 2014-05-15

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PCT/EP2013/070925 WO2014072141A1 (fr) 2012-11-06 2013-10-08 Procédé d'actualisation de données cartographiques

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WO (1) WO2014072141A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10657804B2 (en) 2017-08-11 2020-05-19 Here Global B.V. Updating maps and road status
US10929696B2 (en) 2018-04-19 2021-02-23 Here Global B.V. Method, apparatus, and system for determining a negative observation of a road feature
US11249984B2 (en) 2019-05-22 2022-02-15 Here Global B.V. System and method for updating map data in a map database

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014224810B4 (de) 2014-12-03 2019-05-23 Elektrobit Automotive Gmbh Navigationssystem
US10764713B2 (en) * 2016-05-11 2020-09-01 Here Global B.V. Map based feedback loop for vehicle observation
DE102016008175A1 (de) 2016-07-01 2018-01-04 Audi Ag Aktualisierung einer elektronischen Landkarte
DE102018204501B3 (de) 2018-03-23 2019-07-04 Continental Automotive Gmbh System zur Erzeugung von Konfidenzwerten im Backend
DE102018204500A1 (de) * 2018-03-23 2019-09-26 Continental Automotive Gmbh System zur Erzeugung von Konfidenzwerten im Backend

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4008460A1 (de) 1990-03-16 1991-09-19 Bosch Gmbh Robert Navigationssystem
EP1975563A2 (fr) * 2007-03-30 2008-10-01 Aisin AW Co., Ltd. Appareil de collecte d'informations de caractéristiques et procédé de collecte d'informations de caractéristiques
DE102007057715A1 (de) 2007-11-30 2009-06-04 Robert Bosch Gmbh Verfahren zur Routenbestimmung und Anordnung dazu

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4008460A1 (de) 1990-03-16 1991-09-19 Bosch Gmbh Robert Navigationssystem
EP1975563A2 (fr) * 2007-03-30 2008-10-01 Aisin AW Co., Ltd. Appareil de collecte d'informations de caractéristiques et procédé de collecte d'informations de caractéristiques
DE102007057715A1 (de) 2007-11-30 2009-06-04 Robert Bosch Gmbh Verfahren zur Routenbestimmung und Anordnung dazu

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10657804B2 (en) 2017-08-11 2020-05-19 Here Global B.V. Updating maps and road status
US10929696B2 (en) 2018-04-19 2021-02-23 Here Global B.V. Method, apparatus, and system for determining a negative observation of a road feature
US11249984B2 (en) 2019-05-22 2022-02-15 Here Global B.V. System and method for updating map data in a map database

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Publication number Publication date
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