WO2020020570A1 - Method for updating map data - Google Patents

Abstract

The invention relates to a method for updating map data (D) of a digital map (K) for vehicles (2.1 to 2.n), wherein a surroundings of a vehicle is detected by vehicle sensor equipment (2.1.1 to 2.n.1) of a vehicle (2.1 to 2.n). According to the invention, detected surroundings data is compared to the map data (D) and deviations (A) in the surroundings data from the map data (D) are transmitted to a vehicle-external computing unit (3). Alternatively, or in addition, detected surroundings data is transmitted to the vehicle-external computing unit (3). The deviations (A) transmitted are saved within the vehicle-external computing unit (3) as dynamic map data (D') and/or the deviations (A) are determined by means of the vehicle-external computing unit (3) based on a comparison of the surroundings data transmitted with the map data (D). The deviations (A) are classified by means of the vehicle-external computing unit (3) in respect of the effect thereof during use in a vehicle (2.1 to 2.n) during an autonomous or semi-autonomous driving operation. The classification is made according to the invention as a function of a degree of automation of a vehicle (2.1 to 2.n) using the map data (D).

Description

 Procedure for updating map data

The invention relates to a method for updating map data of a digital map of a vehicle according to the preamble of claim 1.

A method for updating a digital map of a vehicle is known from DE 10 2008 012 661 A1, the method comprising the following steps:

 Acquisition of measured values by an acquisition unit in the vehicle;

 Transmission of measurement data based on the measurement values from the vehicle to a control center;

 Creation of update data based on the measurement data in the central office;

 Transmitting the update data, which are based on the measurement data, from the control center to an update device;

 Update of the digital map based on the update data.

The invention is based on the object of specifying an improved method compared to the prior art for updating map data of a digital map of a vehicle.

The object is achieved with a method which the in

Features specified claim 1.

Advantageous embodiments of the invention are the subject of the dependent claims.

In the method for updating map data of a digital map for vehicles, a vehicle environment is detected by means of a vehicle's own sensor system. According to the invention, recorded environmental data are compared with the map data and deviations of the environmental data from the map data are reported to a

Processing unit external to the vehicle transmitted. Alternatively or additionally, recorded environmental data are transmitted to the computing unit external to the vehicle. The transmitted deviations are stored as dynamic map data within the vehicle-external computing unit and / or the deviations are determined by means of a comparison of the transmitted environmental data with the map data by means of the vehicle-external computing unit. Furthermore, the deviations are calculated using the

Computing unit external to the vehicle is classified with regard to its effect when used in a vehicle during an autonomous or semi-autonomous ferry operation. This classification is based on the degree of automation of a vehicle using the map data.

For highly automated or autonomous driving, it is necessary that a

Vehicle always has current map data. It is known here that, via a communication link between the vehicle and a computing unit external to the vehicle, map data for a vehicle environment are continuously reloaded in a new version thereof. In this case, problems are problematic in which map data itself is updated on the computing unit external to the vehicle while the vehicle is traveling. For example, the vehicle may have received map data in a first version as a current data record for a first area, the first version being current for a second area at the time of a download on the vehicle-external computing unit. Are in the vehicle external while driving

If the computing unit updates the map data to the second version for both the first area and the second area and later requests the vehicle for map data for the second area, the vehicle-external computing unit returns the second version as the current version, so that the map is now in the vehicle Data for the first area is available in the first version and for the second area in the second version. At the

The transition between the two areas can lead to inconsistencies due to the different versions, such as an offset of a road geometry. A subsequent download of the map data for the first area in the second version restores a consistent map status in the vehicle, but requires a change of the data record during operation, which can result in a problem

smooth running of a vehicle control difficult or a complexity this greatly increased. In addition, an autonomous journey is problematic from a point in time when errors in the map data were recognized until a point in time of a new version the card data. Vehicles must know faulty positions during this time.

The method according to the invention enables the vehicles to always have these

know faulty positions and thus an adapted operation of the vehicles, especially depending on their degree of automation, also known as SAE level, is possible. This significantly increases traffic safety and comfort for vehicle users.

Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.

It shows:

Fig. 1 shows schematically a block diagram of a device for updating

 Map data of a digital map for vehicles.

In the single Figure 1 is a block diagram of a possible embodiment of a device 1 for updating map data D of a digital map K for

Vehicles 2.1 to 2.n shown.

The vehicles 2.1 to 2.n are designed for a highly automated or autonomous or semi-autonomous ferry operation, it being necessary for safe ferry operation that the vehicles 2.1 to 2.n always have current map data D.

The update of the map data D is divided into the following two phases:

 Error detection and

 Error correction.

The error detection is carried out by driving on a route with at least one vehicle 2.1 to 2.n, a vehicle environment being detected by means of an in-vehicle sensor system 2.1.1 to 2.n.1 of the at least one vehicle 2.1 to 2.n. In this case, the vehicle 2.1 to 2.n detects deviations A of the environmental data from the current data in a comparison of the recorded environmental data with the map data D.

Vehicle 2.1 to 2 n existing map data D and transmits the deviations A. a computing unit 3 external to the vehicle. A deviation A can result, for example, from a newly set up construction site or a measurement error in the map data D.

Once such deviations A, i.e. H. Card errors have been detected, the transmitted deviations A as dynamic map data D 'within the

Computing unit 3 external to the vehicle is stored and, by means of this, classified with regard to its effect when used in a vehicle 2.1 to 2.n during an autonomous or partially autonomous ferry operation, since autonomously driving vehicles 2.1 to 2.n react differently to the deviations A depending on the severity of the deviations A.

The deviations A can be classified and taken into account in the following way. If there are fundamental deviations A, an autonomous or

semi-autonomous ferry operation of the corresponding vehicle 2.1 to 2.n is deactivated and a driving task is handed over to a driver and / or a section of the route having the deviations A is avoided. For example, if

Speed limit increased, is with the same, d. H. lower speed, continued. If, on the other hand, a speed limit has been reduced, the vehicle continues to drive at a reduced speed. If a priority rule has been changed, the corresponding section of the route is avoided and bypassed. Are considered

Deviations A detected minor changes in a track geometry, continues, if necessary with adaptation of a corresponding control algorithm. If changes A of certain parts of a track geometry are recorded as deviations A, these parts are weighted weaker in a control. If, for example, a course of a right-hand lane marking was changed, the vehicle 2.1 to 2.n could be informed that it should be based on the left-hand lane marking instead of the right-hand lane marking. If average changes in a lane geometry are recorded as deviations A, under ideal conditions, for example in good weather, in daylight, in heavy traffic (other vehicles 2.1 to 2.n serve as orientation),

drove. In difficult conditions, for example, an autonomous or partially autonomous ferry operation of the corresponding vehicle 2.1 to 2.n is deactivated and a driving task is handed over to a driver and / or a section of the route having the deviations A is avoided. If major changes in a track geometry are recorded as deviations A, they become autonomous or semi-autonomous

Ferry operation of the corresponding vehicle 2.1 to 2.n is deactivated and a driving task is handed over to a driver and / or one having the deviations A.

The route section is bypassed. If it is a highly automated driving function, for example according to the so-called SAE Level 3, the driver can be asked to take over the driving task as a relapse strategy. With a fully automated driving function,

For example, according to the so-called SAE Level 4 or 5, no driver is available. Strict protection of the driving task is therefore necessary in order to ensure that the corresponding vehicle 2.1 to 2.n is able to continue safely and comfortably at all times. For this reason, the deviations A are classified as a function of an automation level, also referred to as SAE level, of a vehicle 2.1 to 2.n using the map data D.

As a rule, the observation of deviations A by a single one is sufficient

Vehicle 2.1 to 2.n not out to correct the map data D. From this, the deviations A are determined and taken into account by communicating a plurality of vehicles 2.1 to 2.n, including vehicles 2.1 to 2.n that cannot be operated autonomously, and / or by driving through a measuring vehicle from a card manufacturer or card operator.

If this averaging and / or driving has been carried out with a measuring vehicle, the map data D are corrected and updated and a new version of the map data D is thus generated and made available to the vehicles 2.1 to 2.n.

The vehicles 2.1 to 2.n drive autonomously, for example, as described below. First, if there is a new version of map data D compared to an installed version, only one before the start of the journey

Vehicle 2.1 to 2.n the new version transmitted to the corresponding vehicle 2.1 to 2.n. The autonomous journey then starts. During the journey, further map contents for the currently installed version of the map data D may be downloaded, even if in the meantime a newer version is available on the computing unit 3 external to the vehicle. Furthermore, there is a continuous

Update of the dynamic map data D 'for an area to be traveled and, if necessary, an update of a route and / or

Speed adjustment in the case of newly recorded and / or received deviations A. At the end of the autonomous journey or before the start of the next journey, the map data D may be updated to a new version. In order to implement this method, when the map data D is updated on the computing unit 3 external to the vehicle, the first version is made available from a first version to a second version at least for a maximum duration of an autonomous car journey. During this time, references to the dynamic map data D 'are also made available in a suitable manner for both versions of the map data D.

 Due to an immediate spread of positions with deviations, i. H.

Map errors, the dynamic map data D 'and a message or

slowed down of corresponding sections of the route by autonomous

Vehicles 2.1 to 2.n can complete an autonomous journey even if the digital map K is updated with an outdated map version without a security risk. In the worst case, a route that has already been corrected is not used and a non-optimal route is therefore driven. The duration of a trip is short compared to the time required between error detection and error correction in the digital map K. At the same time, a great simplification of the system in the vehicle 2.1 to 2.n is achieved, since the autonomous drive with the same and in itself from start to finish

consistent digital map K can be performed.

In a further refinement, cases are taken into account in which an ongoing error correction of the map data D is not known to the computing unit 3 external to the vehicle and instead map data D which are updated immediately are provided by a map supplier. It is then analyzed in detail by the computing unit 3 external to the vehicle which differences between the different versions of the

Map data D exist and how this could affect the driving function. For the vehicles 2.1 to 2.n which are currently driving on the basis of map data D of the first version, dynamic map data D 'are then generated in accordance with the abovementioned criteria, so that the driving style is adapted there accordingly and / or route sections with deviations A Be avoided.

Claims

claims 1. Method for updating map data (D) of a digital map (K) for  Vehicles (2.1 to 2.n), using a vehicle's own  Sensors (2.1.1 to 2.n.1) of a vehicle (2.1 to 2.n) a vehicle environment is detected,  characterized in that  - recorded environmental data compared with the map data (D) and  Deviations (A) of the environmental data from the map data (D) are transmitted to a computing unit (3) external to the vehicle and / or  - recorded environmental data are transmitted to the computing unit (3) external to the vehicle,  - The transmitted deviations (A) are stored as dynamic map data (□ ') within the computer unit (3) external to the vehicle and / or by means of the  Computation unit (3) external to the vehicle, the deviations (A) are determined on the basis of a comparison of the transmitted environmental data with the map data (D) and their effects when used in a vehicle (2.1 to 2.n) during an autonomous use of the computation unit (3) external to the vehicle or semi-autonomous ferry operations and  - the classification depending on the degree of automation of a  Map data (D) using vehicle (2.1 to 2.n) takes place. 2. The method according to claim 1,  characterized in that depending on the classification  - an autonomous or semi-autonomous ferry operation is deactivated and a driving task is handed over to a driver,  - A route section having the deviations (A) is bypassed and / or - a speed of the vehicle (2.1 to 2.n) is adjusted. 3. The method according to claim 1 or 2,  characterized in that if there is a new version of map data (D) compared to an installed version, the new version is transmitted to the vehicle (2.1 to 2.n) only before the start of a vehicle (2.1 to 2.n).