WO2018188922A1 - Procédé et dispositif servant à créer et à fournir une première carte - Google Patents

Procédé et dispositif servant à créer et à fournir une première carte Download PDF

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Publication number
WO2018188922A1
WO2018188922A1 PCT/EP2018/057132 EP2018057132W WO2018188922A1 WO 2018188922 A1 WO2018188922 A1 WO 2018188922A1 EP 2018057132 W EP2018057132 W EP 2018057132W WO 2018188922 A1 WO2018188922 A1 WO 2018188922A1
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WO
WIPO (PCT)
Prior art keywords
data values
automated vehicle
map
card
environmental data
Prior art date
Application number
PCT/EP2018/057132
Other languages
German (de)
English (en)
Inventor
David Sola
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 WO2018188922A1 publication Critical patent/WO2018188922A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Definitions

  • the present invention relates to a method and apparatus for creating and providing a first map comprising a step of transmitting a control signal for operating at least one automated vehicle in a predetermined environment, a step of receiving the environmental data values from the at least one automated vehicle, a step of Creating the first map, depending on the environmental data values and a step of providing the first map
  • the inventive method for creating and providing a first map comprises a step of transmitting a control signal for operating at least one automated vehicle in a predetermined environment, wherein the at least one automated vehicle is operated such that the at least one automated vehicle depending on the control signal ambient data in captured the given environment.
  • the method further comprises a step of receiving the environmental data values from the at least one automated vehicle, a step of creating the first map, depending on the
  • a first and / or second card is to be understood as a digital card which is present in the form of (card) data values on a storage medium.
  • the first and / or second card is for example designed such that one or more
  • a map layer may include a bird's-eye view map (course and position of streets, buildings,
  • Maps, etc. shows. This corresponds for example to a map of a navigation system.
  • Another map layer includes, for example, a radar map, wherein the
  • a further map layer comprises, for example, a lid map, wherein the environmental data values, which are covered by the lid map, are deposited with a lidar signature.
  • a further map layer comprises, for example, environmental features (structures, landscape features, infrastructure features, etc.) in the form of environmental feature data values, wherein the environmental feature data values include, for example, a location of the environmental features and / or additional variables, such as length details of the environmental features and / or a description of whether the environmental features are permanent or temporarily present.
  • a further map layer comprises, for example, an infrastructure state, in particular a surface state such as a coefficient of friction.
  • An automated vehicle is, for example, a partially, highly or fully automated vehicle to understand.
  • a vehicle is to be understood as a manually operated vehicle and / or an automated vehicle.
  • the automated vehicle By operating the automated vehicle in a given environment, it is to be understood, for example, that the automated vehicle automatically moves from a starting point, such as a garage or a parking space or a parking garage or an underground car park, into the given environment and / or within the surroundings a predetermined trajectory or a predetermined area departs.
  • a starting point such as a garage or a parking space or a parking garage or an underground car park
  • any environment can be understood, which by means of the
  • the method has the advantage that a map is automatically created and / or updated and thus always a current map, which in particular the predetermined
  • the control signal represents at least one trajectory such that the at least one automated vehicle detects the environmental data values at least partially along the at least one trajectory. This advantageously allows a simpler operation, in particular a moving, of the automated vehicle, in particular with respect to an operation of the automated vehicle without specifying a trajectory.
  • the transmission of the control signal for operating the at least one automated vehicle takes place in the given environment by the
  • predetermined environment is determined by means of a second card, the second card is incomplete at least with respect to the given environment according to first predetermined criteria.
  • first predetermined criteria is to be understood as meaning that the second map has gaps in which one traffic route is not completely detected and / or the second map is missing a specific map layer and / or the second map comprises all the surroundings, that of the second Card, a timestamp indicating a time of the last update, and in particular to the
  • the environmental data values in the given environment represent an infrastructure state, in particular a coefficient of friction, and / or a weather state and / or a traffic state and / or an environmental state.
  • a coefficient of friction is a dimensionless measure of a friction force in relation to the contact force between two bodies, in particular between a vehicle, or the tires of the vehicle, and a traffic route, or the surface of the
  • a precipitate for example, a precipitate (rain, snow, etc.) and / or fog and / or solar radiation and / or temperature to understand.
  • a traffic condition for example, a number of vehicles in the given environment and / or obstruction of a traffic route (accident, construction site, roadblock, etc.) to understand.
  • a traffic route for example, a number of vehicles in the given environment and / or obstruction of a traffic route (accident, construction site, roadblock, etc.) to understand.
  • the first card is created by supplementing the second card by means of the ambient data values such that the second card is no longer incomplete according to second predetermined criteria and the first card corresponds to the supplemented second card.
  • the second predetermined criteria is to be understood as meaning that the first card has no gaps (more) than the second card and / or the first card comprises an update of a second card (eg according to the first criteria) and / or the first card relative to the second card comprises a new and / or updated map layer.
  • the environmental data values are determined by means of at least one
  • At least one video and / or at least one radar and / or at least one lidar and / or at least one ultrasound and / or at least one acceleration and / or at least one GPS and / or at least one temperature sensor and / or at least one further sensor which is designed to detect the predetermined environment of the automated vehicle in the form of environmental data values.
  • the provision of the first card preferably takes place in such a way that the first card is requested and received by an external transmitting and / or receiving unit.
  • An external transmitting and / or receiving unit is, for example, a server of a card provider, which subsequently makes the first card available to end users and / or at least one further vehicle, which uses the first card for navigation, for example, and / or an operator of the infrastructure in the given environment (road construction, etc.) to understand
  • the first device further comprises second means for receiving the environmental data values from the at least one automated vehicle, third means for creating the first map, depending on the
  • the first means and / or the second means and / or the third means and / or the fourth means are adapted to carry out a method according to at least one of the method claims.
  • the second device for detecting and transmitting
  • Environmental data includes receiving means for receiving a control signal for operating an automated vehicle, the control signal representing at least one trajectory, vehicle means for operating the automated vehicle, depending on the control signal, along the at least one trajectory
  • Environment sensor for detecting the ambient data values, at least partially along the at least one trajectory and transmitting means for transmitting the environmental data values.
  • FIG. 3 purely by way of example an embodiment of the method according to the invention
  • Figure 4 purely by way of example a second card (Figure 4a) and a first card (Figure 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 an arithmetic and logic unit 100, which is illustrated by way of example and which comprises a first device 110 for creating 340 and providing 350 of a first card 401.
  • a computing unit 100 is meant, for example, a server.
  • a computing unit 100 is a cloud - that is to say a composite of at least two electrical data processing systems - which exchange data, for example by means of the Internet.
  • a cloud - that is to say a composite of at least two electrical data processing systems - which exchange data, for example by means of 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 transmitting 320 a
  • the first device further comprises second means 1 12 for receiving 330 the environmental data values from the at least one automated vehicle 200, third means 1 13 for creating 340 the first map 401, depending on the
  • Ambient data values and fourth means 1 14 for providing 350 of the first card 401 are Ambient data values and fourth means 1 14 for providing 350 of the first card 401.
  • 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 transmit a control signal for operating at least one automated vehicle 200 in a predetermined environment 220.
  • the first means 1 1 1 comprise a receiving and / or transmitting unit, by means of which data is transmitted.
  • the first means 1 1 1 are designed such that these with a - starting from the first
  • the first means 1 1 1 electronic data processing elements, for example a Processor, main memory and a hard disk, which are designed to process the control signal, for example to carry out a modification and / or adaptation of the data format and then to transmit to the at least one automated vehicle 200.
  • the first means 1 1 1 are designed to transmit the control signal - without data processing elements - to the at least one automated vehicle 200.
  • the first device comprises second means 1 12, which are designed to receive ambient data values from the at least one automated vehicle 200.
  • the second means 1 12 include a receiving and / or
  • the second means are designed such 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 first device 1 10 comprises third means 1 13 for creating 340 the first map 401 on the basis of the environmental data values.
  • the third means 1 comprise 13 electronic data processing elements, for example a processor,
  • the third means 1 13 comprise a corresponding software, which is adapted, starting from the
  • the creation 340 of the first map 401 takes place, for example, by the second map 402, which is at least incomplete according to the predetermined environment 220 according to the first predetermined criteria, being supplemented by the surrounding data values.
  • the first map 401 corresponds to the second map 402 supplemented with the environmental data values.
  • a new map is created as the first map 401, for example, which exists parallel to the second map 402 or replaces the second map 402, for example by the data values the second card 402 are overwritten by the data values of the first card 401.
  • the second map 402 is included, for example, by the third means 1 13.
  • the changed state in each case is to be understood as a changed state with respect to the state included in the second map 402.
  • the third means 13 are designed, for example, to generate an infrastructure state and / or a weather state and / or a state of the environment from the environmental data values prior to the creation 340 of the first map 401
  • the third means 1 13 comprise, for example, a computing unit (processor, main memory, hard disk) with corresponding software.
  • the first device 1 10 comprises fourth means 1 14 for providing 350 of the first card 401. These include the fourth means 1 14 a reception and / or
  • Sending unit by means of which data is requested and / or received.
  • the fourth means 1 14 are designed such that they are provided with a transmitting and / or receiving unit 122 arranged externally, starting from the first device 110, by means of a cable and / or cordless
  • Connection 121 is connected.
  • the transmitting and / or receiving means are 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 12.
  • the fourth means comprise 1 14th electronic data processing elements, such as a processor, memory and a hard disk, which are adapted to process the first card 401 in the form of data values, for example to perform a change and / or adaptation of the data format and then provide as a first card 401.
  • FIG. 2 shows an automated vehicle comprising a second device 210 for acquiring and transmitting environmental data values.
  • the automated vehicle 200 is designed here as a car. In further embodiments, the automated vehicle 200 is designed in particular as a truck or as a two-wheeled vehicle.
  • the second device 210 comprises receiving means 21 1 for receiving a
  • control signal for operating the automated vehicle 200, wherein the control signal represents at least one trajectory 230, vehicle means 212 for operating the automated vehicle 200, depending on the control signal, along the at least one trajectory 230, an environment sensor system 201 for detecting the
  • Ambient data values at least partially along the at least one trajectory 230 and transmitting means 213 for transmitting the environmental data values.
  • the receiving means 21 1 are adapted to receive a control signal.
  • the receiving means 21 1 comprise a receiving unit, by means of which control signals are requested and / or received.
  • the receiving means 21 1 are designed such that they are 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 automated vehicle 200.
  • the receiving means 21 1 are designed such that they are connected to a mobile receiving device - in particular a smartphone.
  • This connection can be made for example by means of a cable and / or a wireless connection, such as Bluetooth.
  • the receiving means 21 1 are designed to forward the received control signal to the vehicle means 212.
  • the receiving means 21 1 comprise electronic data processing elements, for example a processor, main memory and a hard disk, which are designed to process the received control signal, for example to carry out a modification and / or adaptation of the data format, and then forward it to the vehicle means 212 ,
  • electronic data processing elements for example a processor, main memory and a hard disk, which are designed to process the received control signal, for example to carry out a modification and / or adaptation of the data format, and then forward it to the vehicle means 212 ,
  • the second device 210 comprises vehicle means 212 for operating the automated vehicle 200.
  • the vehicle means 212 are designed, for example, to receive the control signal received by the receiving means 21 1
  • the vehicle means 212 are adapted to starting from the Control signal to influence the driving behavior of the automated vehicle 200, for example in the form of a direction and / or a speed change to take.
  • a localization unit is carried out, which performs a (highly) accurate localization of the automated vehicle 200.
  • the second device 210 comprises an environment sensor 201 for detecting the
  • the environment sensor system 201 comprises at least one sensor and one
  • Evaluation unit to evaluate the acquired environmental data values.
  • the environment sensor system 201 is not comprised by the second device 210 but by the automated vehicle 200.
  • the second device 210 is configured to receive the environmental data values from the environment sensor system 201.
  • the at least one sensor is designed, for example, as a video and / or radar and / or ultrasound and / or lidar sensor and / or as a further type of sensor - which is suitable for detecting the surroundings of the automated vehicle 200.
  • the environment sensor system 201 is designed such that it, for example, a computing unit (processor, memory, hard disk,
  • the computing unit is configured to perform a classification and / or description of the environmental data values.
  • the arithmetic unit and the corresponding software are designed to determine from the environmental data values an infrastructure state and / or a weather state and / or a traffic state and / or an environmental state.
  • the second device 210 further comprises transmitting means 213 for transmitting the environmental data values, wherein the transmitting means 213 are adapted to the
  • the transmission means 213 are designed such that they are connected to a transmission and / or reception 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 means 213 are designed such that they are connected to a mobile receiver - in particular a smartphone.
  • This connection can be made for example by means of a cable and / or a wireless connection, such as Bluetooth.
  • the transmission means 213 comprise 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.
  • the receiving means 21 1 and the transmitting means 213 - in accordance with the descriptions set out above - are designed as common transmitting and receiving means.
  • FIG. 3 shows an exemplary embodiment of the method 300 according to the invention.
  • an automated vehicle 200 is located on a road which is at least partially located in a predetermined environment 220 which is not completely covered by a second map 402 according to predefined first criteria.
  • the creation 340 of the first card 401 is performed by the first device 1 10, which is here exemplified by a server 100, a control signal to the
  • automated vehicle 200 transmits such that the automated vehicle 200 automatically approaches the predetermined environment 220 along at least one trajectory 230 and detects this predetermined environment 220 in the form of environmental data values.
  • the acquired environmental data values are then transmitted to the first device 110 and received by the first device 110.
  • the first device creates and sets the first map 401 depending on the environmental data values ready that the first card 401 can be requested and received by an external transmitting and / or receiving unit 500.
  • FIG. 4 shows, by way of example, a second map 402 (FIG. 4a), which is incomplete in comparison with the first map 401 (FIG. 4b), likewise shown by way of example, according to first predetermined criteria.
  • the second map 402 is so incomplete that at least the predetermined environment 220 is missing in the form of data values.
  • the road course is completely covered by the second map 402, but a description of an infrastructure state, in particular a friction value, and / or a weather state and / or a traffic state and / or an environmental state is missing.
  • the first card 401 corresponds to the supplemented second card 402 in that the second card 402 is supplemented by means of ambient data values such that the second card 402 is no longer incomplete according to second predetermined criteria.
  • FIG. 5 shows an embodiment of a method 300 for creating 340 and providing 350 of a first card 401.
  • the method 300 starts.
  • step a control signal for operating at least one automated one
  • Vehicle 200 is transmitted in a predetermined environment 220, wherein the at least one automated vehicle 200 is operated such that the at least one automated vehicle 200 detects ambient data values in the predetermined environment 220 depending on the control signal.
  • step 330 the environmental data values of the at least one
  • step 340 the first map 401 is created, depending on the environmental data values.
  • step 350 the first card 401 is provided.
  • step 360 the method 300 ends.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé (300) et un dispositif (110) servant à créer (340) et à fournir (350) une première carte (401). Le procédé selon l'invention comprend une étape de transmission (320) d'un signal de commande servant à faire fonctionner au moins un véhicule (200) automatisé dans un environnement (220) prédéfini. Le ou les véhicules (200) automatisés fonctionnent de telle manière qu'ils détectent en fonction du signal de commande des valeurs de données d'environnement dans l'environnement (220) prédéfini. Le procédé comprend également une étape de réception (330) des valeurs de données d'environnement par le ou les véhicules (200) automatisés, une étape de création (340) de la première carte (401) en fonction des valeurs de données d'environnement, et une étape de fourniture (350) de la première carte (401).
PCT/EP2018/057132 2017-04-10 2018-03-21 Procédé et dispositif servant à créer et à fournir une première carte WO2018188922A1 (fr)

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DE102017206130.8 2017-04-10
DE102017206130.8A DE102017206130A1 (de) 2017-04-10 2017-04-10 Verfahren und Vorrichtung zum Erstellen und Bereitstellen einer ersten Karte

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WO2018188922A1 true WO2018188922A1 (fr) 2018-10-18

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EP4310551A3 (fr) * 2019-09-20 2024-03-20 Arriver Software AB Procede permettant la reduction de donnees d'un capteur vehicule a detection frontale

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DE102012212740A1 (de) * 2012-07-19 2014-05-22 Continental Automotive Gmbh System und Verfahren zum Aktualisieren einer digitalen Karte eines Fahrerassistenzsystems
DE102014220687A1 (de) * 2014-10-13 2016-04-14 Continental Automotive Gmbh Kommunikationsvorrichtung für ein Fahrzeug und Verfahren zum Kommunizieren

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US20120323431A1 (en) * 2011-06-14 2012-12-20 INRO Technologies Limited Method and apparatus for sharing map data associated with automated industrial vehicles
US8880272B1 (en) * 2012-03-16 2014-11-04 Google Inc. Approach for estimating the geometry of roads and lanes by using vehicle trajectories

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* Cited by examiner, † Cited by third party
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WO2023193459A1 (fr) * 2022-04-07 2023-10-12 华为技术有限公司 Procédé et appareil de collecte de données

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