WO2021018448A1 - Procédé et dispositif pour créer une carte et faire fonctionner un véhicule - Google Patents

Procédé et dispositif pour créer une carte et faire fonctionner un véhicule Download PDF

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Publication number
WO2021018448A1
WO2021018448A1 PCT/EP2020/065801 EP2020065801W WO2021018448A1 WO 2021018448 A1 WO2021018448 A1 WO 2021018448A1 EP 2020065801 W EP2020065801 W EP 2020065801W WO 2021018448 A1 WO2021018448 A1 WO 2021018448A1
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WO
WIPO (PCT)
Prior art keywords
map
attribute
vehicle
localization
depending
Prior art date
Application number
PCT/EP2020/065801
Other languages
German (de)
English (en)
Inventor
Jan Rohde
Christian Passmann
Daniel Zaum
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 WO2021018448A1 publication Critical patent/WO2021018448A1/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
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data

Definitions

  • the present invention relates, inter alia, to a method for creating an attribute map and a method for operating a vehicle, depending on this attribute map.
  • the method according to the invention for creating an attribute map comprises a step of providing a localization map, the localization map
  • the method further comprises a step of determining attributes depending on a respective configuration of each individual area, with each individual area being assigned at least one attribute, and a step of creating the attribute map based on the location map, the attribute map comprising the assigned attributes .
  • a localization map is to be understood as meaning, for example, a digital map that is present in the form of (map) data values on a storage medium.
  • the map is designed, for example, in such a way that one or more map layers are included, one map layer showing, for example, a map from a bird's eye view (course and position of roads, buildings, landscape features, etc.). This corresponds, for example, to a map of a navigation system.
  • Map layer comprises, for example, a radar map, wherein the
  • Radar signature are stored.
  • Another map layer comprises, for example, a lidar map, the localization features which are included in the lidar map being stored with a lidar signature.
  • the map is designed in particular in such a way that it can be used for navigation of a
  • Vehicle in particular an automated vehicle, is suitable.
  • the individual map layers include, for example, localization features with a GPS position, this position being known with high accuracy.
  • a highly precise position is to be understood as a position which is within a predetermined
  • Coordinate system for example WGS84 coordinates
  • WGS84 coordinates is so precise that this position does not exceed a maximum permissible blurring.
  • the maximum fuzziness can depend, for example, on the surroundings - or the number and / or configuration of the localization features.
  • the maximum uncertainty can depend, for example, on whether the vehicle is operated manually or partially, highly or fully automated (corresponding to one of SAE levels 1 to 5).
  • the maximum fuzziness is so low that, in particular, safe operation of the (automated) vehicle is guaranteed.
  • the maximum blurring is, for example, of the order of about 10 centimeters.
  • a vehicle is to be understood as meaning, for example, an automated vehicle that is designed in accordance with one of SAE levels 1 to 5 (see standard SAE J3016), or a manually operated vehicle, in accordance with SAE level 0.
  • a localization feature is, for example, an object (traffic sign, infrastructure features [guardrail, curve course, tunnel, bridges, etc.], building, etc.) which can be detected and / or classified or assigned by means of a vehicle's environment sensor system.
  • a localization feature additionally or alternatively includes, for example, a course of the road (number of lanes, curve radius, etc.) and / or a pattern of several - for example repeating - objects (for example a characteristic sequence of
  • a selected area is to be understood as meaning, for example, an area on the map which corresponds to a street section (for example between two intersections and / or between two entrances and exits, etc.) and / or a region (for example a certain urban area, etc.) assigned.
  • Several selected areas are to be understood in particular as areas which do not overlap and / or which are unmistakable.
  • Non-overlapping areas are areas to which each point on the map can be clearly assigned. Areas that cannot be confused are to be understood as areas which, for example can be detected and unambiguously recognized by means of a vehicle environment sensor system (for example, in that each selected area includes a unique arrangement of localization features).
  • each individual area is one
  • a selected area can be understood to mean a road section, with the
  • Embodiment indicates whether it is a country road or a motorway, etc.
  • the configuration describes, for example, the number of lanes per direction of travel and / or the specified maximum speed and / or a number of curves in this area and / or an indication of the radii of the curves in this area, etc.
  • the design describes a condition of the road surface (wet, dry, smooth, coefficient of friction, etc.)
  • An environment sensor system is to be understood as 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 further sensor which is designed to detect the surroundings of a vehicle, with this environment includes, in particular, localization features to be recorded in the form of environment data values.
  • Attributes are, for example, information about the activation release for a specific driver assistance function (also called driving function here).
  • a motorway assistance function is considered as an example below.
  • the attribute map contains the value "Activation permitted" at all coordinates that can be assigned to a motorway.
  • Driving functions stored in the attribute card. This means that it can be used for several or different driving functions.
  • information about the uniqueness of the feature combinations contained in the localization map is stored in the attribute map.
  • An unambiguous combination of features is characterized by the fact that, within a given radius (eg 1 km) around this feature arrangement, none, within a predefined permitted deviation, the same combination of characteristics is available. This uniqueness attribute is determined according to the claims mentioned.
  • an attribute map is to be understood, for example, as adding precisely these attributes to the localization map so that the corresponding attribute can be called up depending on a position of a vehicle .
  • an attribute map is to be understood, for example, as a localization map to which attributes have been added at least partially (for example in certain areas).
  • the method according to the invention advantageously solves the problem of providing a method for creating an attribute map.
  • This card enables a quick and cost-efficient option, for example for a driver assistance system
  • Localization map is subdivided into selected areas, with the corresponding attributes being assigned to the respective areas. This advantageously enables a reduction of all parameters to be considered, which
  • Driver assistance system is executed, and thus allows a quick and reliable decision as to whether or which driving function needs to be activated or deactivated.
  • the device according to the invention in particular a computing unit, is set up to carry out all steps of the method of creating an attribute map.
  • a computing unit is to be understood as meaning, for example, a single server and / or a network of servers (cloud), which is designed to use one or more cards with a vehicle, for example by radio and / or cable connection
  • the computing unit includes, for example, a processor, main memory, a hard disk and a suitable program for carrying out the method. Furthermore, the computing unit includes, for example, a transmitting and / or receiving unit, which is designed to exchange data values - in particular with an external server or a cloud and / or an infrastructure unit and / or a vehicle.
  • the method according to the invention for operating a vehicle comprises a step of providing an attribute map, this attribute map being created in accordance with the method according to the invention for creating an attribute map, and a step of detecting the surroundings of the vehicle, the surroundings comprising at least one localization feature.
  • the method further comprises a step of determining a position of the vehicle, depending on a comparison of the captured environment with the attribute map (for example with a map level of the attribute map which corresponds to a localization map or comprises the localization map), a step of determining at least one attribute, depending on the position of the vehicle, and a step of operating the vehicle depending on the at least one attribute.
  • the vehicle is to be understood as meaning, for example, an automated vehicle that is designed in accordance with one of SAE levels 1 to 5 (see standard SAE J3016), or a manually operated vehicle, in accordance with SAE level 0.
  • the method according to the invention advantageously solves the problem of providing a method for operating a vehicle. Under one operation is included
  • driver assistance functions for example, the execution of safety-related functions and / or the execution of so-called driver assistance functions, such as the execution of a
  • the vehicle is operated as a function of at least one attribute, this at least one attribute being taken from a so-called attribute map as a function of a position of the vehicle.
  • This enables a simple, quick and safe possibility to advantageously execute a corresponding (above) function or to decide whether or when such a corresponding function is to be carried out.
  • the at least one attribute is preferably determined by determining a selected area in the attribute map as a function of the position and providing the at least one attribute as a function of the selected area.
  • the vehicle is preferably operated by activating or not activating or deactivating a driving function as a function of the at least one attribute.
  • a driving function is, for example, dependent on the design of the
  • Activation or non-activation is understood to mean that the corresponding driving function was deactivated beforehand and a corresponding selection is now taking place, that is, an - at least temporary - activation takes place, if this is in accordance with Attribute is possible, or a non-activation (the driving function remains deactivated) takes place if a
  • a deactivation is to be understood as meaning that a driving function activated beforehand, depending on a corresponding attribute, should no longer be activated.
  • the device according to the invention in particular a control unit, is set up to carry out all steps of the method according to one of the method claims for operating a vehicle.
  • the device is designed, for example, as a control unit of the vehicle and comprises a computing unit (processor, main memory, hard disk) and suitable software to carry out the method according to one of the method claims for operating the vehicle.
  • the device comprises a transmitting and / or receiving unit which is designed to exchange data values - in particular with an external server or a cloud and / or an infrastructure unit.
  • the device comprises
  • the device comprises, for example, a data interface for requesting and / or
  • a computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to execute a method according to one of the method claims for operating a vehicle.
  • the computer program corresponds to the software comprised by the device.
  • Figure 1 shows an embodiment of the method according to the invention
  • FIG. 2 shows an exemplary embodiment of the method according to the invention for creating an attribute map in the form of a flow chart
  • FIG. 3 shows an exemplary embodiment of the method according to the invention for operating a vehicle in the form of a flow chart
  • FIG. 1 shows an embodiment.
  • a vehicle 200 is located in an area which, for example, corresponds to a selected area 230 of an attribute map. This area or the corresponding selected area 230 is pure here shown as an example of a motorway section.
  • the vehicle 200 comprises a device 210, in particular a control device, which is set up to carry out all the steps of a method 400 for operating a vehicle 200.
  • an attribute map is provided, this being encompassed and loaded, for example, by the device 210, retrieved from a memory source external to the device 210 or requested and / or received from an external server.
  • the external server corresponds, for example, to a device 110 which is set up to carry out all steps of a method 300 for creating 340 an attribute map.
  • the attribute map for example, features of the surroundings detected by a vehicle are received by the device 110 and used to determine the position of this vehicle. This has the advantage that the localization map does not have to be transmitted at all and the attribute map only partially has to be transmitted, which leads to a lower communication effort or a lower data transmission rate.
  • surroundings 220 of vehicle 200 are recorded, surroundings 220 including at least one localization feature 221.
  • a position of the vehicle 200 is then determined as a function of a comparison of the captured surroundings 220 with the attribute map and / or localization map.
  • a comparison is to be understood here, for example, that a position of the
  • Vehicle 200 relative to the at least one localization feature 221 - for example in the form of a distance and / or an orientation (for example as an angle between a first theoretical line between localization feature 221 and vehicle 200 and a second theoretical line that represents the current
  • Localization feature 221 - for example by means of vector addition - determined.
  • At least one attribute is determined as a function of the position of the vehicle 200 in that the at least one attribute is read out from the attribute map in relation to the position of the vehicle 200.
  • the vehicle 200 is then operated as a function of the at least one attribute.
  • FIG. 2 shows an exemplary embodiment of a method 300 for creating 340 an attribute map.
  • the method 300 begins in step 301.
  • step 310 a localization map is provided, the localization map comprising localization features.
  • step 320 selected areas are determined in the localization map in such a way that each area is uniquely determined as a function of the localization features.
  • step 330 attributes are determined depending on a particular configuration of each individual area, with at least one attribute being assigned to each individual area.
  • step 340 the attribute map is created on the basis of the localization map, the attribute map comprising the assigned attributes.
  • the method 300 ends in step 350.
  • FIG. 3 shows an exemplary embodiment of a method 400 for operating 450 a vehicle 200.
  • the method 400 begins in step 401.
  • step 410 an attribute map is provided which was created according to a method 300 for creating 340 an attribute map.
  • step 420 surroundings 220 of vehicle 200 are recorded, surroundings 220 including at least one localization feature 221.
  • a position of the vehicle 200 is determined as a function of a comparison of the captured surroundings 220 with the attribute map.
  • step 440 at least one attribute is determined as a function of the position of the vehicle 200.
  • step 450 the vehicle 200 is operated depending on the at least one attribute.
  • the method 400 ends in step 460.
  • step 420 takes place first, an environment 220 of the vehicle 200 being recorded, the environment 220 at least one
  • Localization feature 221 includes.
  • the environment 220 is then transmitted in the form of environment data values to a server, which for example corresponds to the device 110, so that a position of the vehicle 200 is determined by means of the server.
  • a server which for example corresponds to the device 110
  • step 410 with only a section of the attribute map that is relevant - depending on the position of the vehicle 200 - being provided in such a way that the vehicle 200 can receive this relevant section.
  • step 430 is omitted and steps 440 and 450 then follow as described above.
  • the server-side position determination takes place here
  • the server side for example, by comparing the environmental data values with a digital positioning map (which corresponds to the localization map, for example) on the server side.
  • a digital positioning map which corresponds to the localization map, for example

Abstract

L'invention concerne un procédé (300) pour créer (340) une carte d'attributs, comportant une étape de fourniture (310) d'une carte de localisation, une étape de détermination (320) de zones choisies dans la carte de localisation, une étape de détermination (330) d'attributs et une étape de création (340) de la carte d'attributs, à partir de la carte de localisation. L'invention concerne également un procédé (400) pour faire fonctionner (450) un véhicule, comportant une étape de fourniture (410) d'une carte d'attributs créée selon un procédé (300) de création d'une carte d'attributs, une étape de détection (420) d'un environnement du véhicule, une étape de détermination (430) d'une position du véhicule, une étape de détermination (440) d'au moins un attribut en fonction de la position du véhicule, et une étape de fonctionnement (450) du véhicule en fonction de l'au moins un attribut.
PCT/EP2020/065801 2019-07-26 2020-06-08 Procédé et dispositif pour créer une carte et faire fonctionner un véhicule WO2021018448A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019211137.8 2019-07-26
DE102019211137.8A DE102019211137A1 (de) 2019-07-26 2019-07-26 Verfahren und Vorrichtung zum Erstellen einer Karte und zum Betreiben eines Fahrzeugs

Publications (1)

Publication Number Publication Date
WO2021018448A1 true WO2021018448A1 (fr) 2021-02-04

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Application Number Title Priority Date Filing Date
PCT/EP2020/065801 WO2021018448A1 (fr) 2019-07-26 2020-06-08 Procédé et dispositif pour créer une carte et faire fonctionner un véhicule

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DE (1) DE102019211137A1 (fr)
WO (1) WO2021018448A1 (fr)

Citations (3)

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US9188985B1 (en) * 2012-09-28 2015-11-17 Google Inc. Suggesting a route based on desired amount of driver interaction
EP2972096A1 (fr) * 2013-03-15 2016-01-20 Volkswagen Aktiengesellschaft Application de planification d'itinéraire pour conduite automatique
US20180224286A1 (en) * 2017-02-09 2018-08-09 GM Global Technology Operations LLC Methods and systems to convey autonomous/semi-autonomous feature available roadways

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DE102011116245B4 (de) * 2011-10-18 2018-10-25 Audi Ag Verfahren zur Ermittlung aktueller Streckeninformationen einer digitalen Karte
DE102012004625A1 (de) * 2012-03-06 2013-09-12 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Aktualisierung und Anpassung von Karteninformationen in einem Navigationssystem
DE102012212740A1 (de) * 2012-07-19 2014-05-22 Continental Automotive Gmbh System und Verfahren zum Aktualisieren einer digitalen Karte eines Fahrerassistenzsystems
DE102012016802A1 (de) * 2012-08-23 2014-02-27 Audi Ag Verfahren zur Steuerung eines autonomen Fahrzeugsystems und Kraftfahrzeug
DE102013209729A1 (de) * 2013-05-24 2014-11-27 Robert Bosch Gmbh Fahrerassistenzsystem mit zusätzlichen Informationen zu einer Straßenkarte
DE102015217371A1 (de) * 2015-09-11 2017-03-16 Continental Automotive Gmbh Verfahren zum automatisierten Fahren mit Nutzung von Kartendaten
DE102017220242A1 (de) * 2017-11-14 2019-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Erstellen und Bereitstellen einer Karte

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9188985B1 (en) * 2012-09-28 2015-11-17 Google Inc. Suggesting a route based on desired amount of driver interaction
EP2972096A1 (fr) * 2013-03-15 2016-01-20 Volkswagen Aktiengesellschaft Application de planification d'itinéraire pour conduite automatique
US20180224286A1 (en) * 2017-02-09 2018-08-09 GM Global Technology Operations LLC Methods and systems to convey autonomous/semi-autonomous feature available roadways

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