WO2018188923A1 - Method and device for creating and providing a map - Google Patents

Abstract

The invention relates to a method (300) and a device (110) for creating (340) and providing (350) a map (400) of a surrounding area (220) having a step of receiving (320) surface characteristic data values, which represent surface characteristics (231-234) of at least one traffic route (230) in the surrounding area (220), a step of receiving (330) weather condition characteristic data values, which represent weather condition characteristics of the surrounding area (220), a step of creating (340) the map (400) of the surrounding area (220), in dependence on the surface characteristics (231-234) and in dependence on the weather condition characteristics, and a step of providing (350) the map (400).

Description

 Description title

 The present invention relates to a method and apparatus for creating and providing a map of a surrounding area, comprising a step of receiving surface feature data values, a step of receiving

Weather condition feature data, a step of creating the map of the surrounding area, depending on the surface features and weather condition characteristics, and a step of providing the map.

Disclosure of the invention

The inventive method for creating and providing a map of a surrounding area comprises a step of receiving

 Surface feature data values representing surface features of at least one traffic route in the surrounding area, and a step of

Receiving weather condition feature data values representing weather condition characteristics of the surrounding area. The method further comprises a step of creating the map of the surrounding area depending on the

 Surface features and depending on the weather condition features and a step of providing the map.

A card is to be understood as a digital card which exists in the form of (card) data values on a storage medium. By way of example, the card is designed such that one or more card layers are covered, wherein a card layer shows, for example, a bird's-eye view map (course and position of streets, buildings, landscape features, etc.). This matches with

for example, a map of a navigation system. Another map layer includes, for example, a radar map, wherein the

Environmental data values encompassed by the radar map with a

Radar signature are deposited. 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.

The card additionally or alternatively comprises a card layer in the form of a card

A surface feature map that maps surface features to a surrounding area. In this case, for example, a parameter (for example a coefficient of friction) is assigned to a certain area (surrounding area) on the basis of the surface features which occur in this area. Under a surface, for example, the surface of a traffic route to understand.

By a coefficient of friction is, for example, 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

Surface on which the vehicle moves to understand.

Under a weather condition feature, for example, a precipitate (rain, snow, etc.) and / or fog and / or sunlight and / or a

Temperature and / or wind conditions to understand.

For example, under a surrounding area is an area along a

Traffic route (highway and / or highway and / or field or forest path, etc.) and / or an area (parking and / or parking space and / or public spaces or parks, etc.) to understand.

The inventive method has the advantage that the thus created and

provided map interconnects both static features, such as the surface features, with dynamic features, such as the weather condition features, and provides as a unified map. Preferably, the surface features are detected by means of at least one surroundings sensor system of at least one vehicle in the surrounding area and / or by means of at least one infrastructure sensor in the surrounding area. By way of example, 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 is provided under the at least one environmental sensor system a temperature and / or at least one further sensor to understand, which is adapted to the surface features in the form of

To capture surface feature data values.

The at least one infrastructure sensor is, for example, a temperature sensor, which is embedded in the surface and thus measures a temperature of the surface, and / or a sensor for detecting the water layer thickness on the surface and / or a sensor for detecting solar radiation and / or sensor for Detecting a number of vehicles in the surrounding area (video, radar, lidar, etc.) to understand.

Preferably, the weather condition features are transmitted by at least one weather station.

This shows the advantage that the weather condition can be received at many arbitrary times and / or surrounding areas. Preferably, the provision of the card takes place such that at least one further vehicle and / or the at least one vehicle are operated depending on the card.

This shows the advantage that the operation of the at least one further

Vehicle and / or the at least one vehicle by using the card is safer.

For example, operating a vehicle means that the map is provided to a navigation system of the vehicle. In a further embodiment, the card is for example a (partial or high or full) automated vehicle provided such that the automated vehicle is moved depending on the map.

It is particularly preferable to create the map of the surrounding area by dividing the surrounding area into surrounding sections and assigning the surface features and / or the weather status features to at least one surrounding section and / or the surface features and / or

Weather state characteristics of each environment section are divided into feature classes, each feature class is assigned a parameter, and the map of the surrounding area includes the parameter of each environment section.

By a surrounding section are for example a predetermined (in particular rectangular or hexagonal) area and / or a traffic route section and / or an adaptation to environmental features (rivers, lakes, cities, roads, forests, etc.) to understand.

This shows the advantage that the map comprises a detailed assignment in any depth of detail, depending on the size and / or shape of the surrounding areas, of parameters.

Preferably, the surface features and / or the weather condition features of each environment section in each feature class are plausibility-checked according to predetermined criteria. By this is meant, for example, that the surface feature "wet" a surface, although a corresponding weather condition characteristic for the same

Ambient range "30 ° C" is incorrect or temporary.

This is advantageous as the quality of the card increases, if not wrong

Surface features and / or weather condition characteristics for the creation of the map are taken into account, whereby the safety increases when operating a vehicle, depending on the map.

Particularly preferred are the surface features and / or the

Weather condition features each feature class of each environment section each assigned a probability, each probability a goodness and / or summing all probabilities of each feature class of each environment section into a sum in combination with their respective quality and / or determining the weighted average of all probabilities and determining the parameter of each environment section depending on the sum and / or the weighted average ,

This advantageously represents a fast and high-quality method for creating the map. Preferably, the parameter of each environment section is determined depending on the sum by means of a logistic regression.

This advantageously represents an efficient method for creating the card. The device according to the invention for creating and providing a map of a surrounding area comprises first means for receiving

Surface feature data values representing surface features of at least one traffic route in the surrounding area, second means for receiving weather condition feature data values representing weather condition characteristics of the surrounding area, third means for generating the map of the environment area

 Surrounding area, depending on the surface features and weather condition features, and fourth means for providing the map.

Preferably, 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.

Advantageous developments of the invention are specified in the subclaims and listed in the description.

drawings

Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following descriptions. Show it:

Figure 1 purely by way of example an embodiment of the device according to the invention; FIG. 2 purely by way of example an embodiment of the method according to the invention; and FIG. 3 purely by way of example a map; and

Figure 4 purely by way of example an embodiment of the method according to the invention in the form of a flow chart.

Embodiments of the invention

FIG. 1 shows a computing unit 100, which is illustrated by way of example, which has a first device 110 for creating and providing a card 400 of a computer

Surrounding area 220 includes. By a computing unit 100 is meant, for example, a server. In a further embodiment, a computing unit 100 is to be understood as meaning a cloud-that is, a composite of at least two electrical data processing systems-which exchange data, for example, via the Internet. In a further embodiment, the computing unit 100 corresponds to the first device 1 10.

The first device 1 10 comprises first means 1 1 1 for receiving 320 of

Surface feature data values representing surface features 231-234 of at least one traffic route 230 in the surrounding area 220, and second means 1 12 for receiving 330 weather state feature data values representing weather condition features of the surrounding area 220. The first

Device 1 10 further comprises third means 1 13 for creating 340 the map 400, depending on the surface features 231-234 and depending on the

 Weather condition features and fourth means 1 14 for providing 350 of the card 400.

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. If the arithmetic unit 100 is designed as a cloud, 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 to different locations, for example in different cities and / or in different countries, a connection - such as the Internet - for the exchange of (electronic) data between the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 is formed.

The first means 1 1 1 are adapted to receive surface feature data values. In this case, the first means 1 1 1 include a receiving and / or

Sending unit, by means of which data is requested and / or received. In a further embodiment, the first means 1 1 1 are formed such that it is connected to a - starting from the first device 1 10 - externally arranged transmitting and / or receiving unit 122, by means of a cable and / or wireless connection 121 , Furthermore, the first means 1 1 1 electronic

Data processing elements, for example a processor, main memory and a hard disk, which are designed to store and / or process the environmental data values, for example to carry out a modification and / or adaptation of the data format and then forward them to the third means 13. In a further embodiment, the first means 1 1 1 are designed such that the received ambient data values - without data processing elements - are forwarded to the third means 1 13.

Furthermore, the first device comprises second means 1 12, which are adapted to weather status feature data values, which weather condition characteristics of the

Surround area 220 represent to receive. For this purpose, the second means 1 12 comprise a receiving and / or transmitting unit, by means of which data is requested and / or received. In a further embodiment, 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. In a further embodiment, the transmitting and / or receiving means are identical to the transmitting and / or

Receiving means of the first means 1 1 1.

Furthermore, the first device 1 10 comprises third means 1 13 for creating 340 the map 400, depending on the surface features 231-234 and depending on the

Weather condition characteristics. These include the third means 1 13 electronic

Data processing elements, such as a processor, memory and a Hard disk. Furthermore, the third means 13 comprise corresponding software which is designed to produce the card 400 depending on the surface features 231-234 and depending on the weather condition characteristics. The creation 340 of the map 400 is done, for example, by supplementing and / or updating a rough map, which is incomplete at least with respect to the surrounding area 220 and / or the surface features 231-234 and weather condition features, with the surface features 231-234 and weather condition features. The card 400 corresponds to the surface features 231-234 and

Weather state features supplemented rough map. In another embodiment, as the map 400, for example, a new map is created which subsequently includes the surface features 231-234 and weather state features (each in conjunction with their location, for example, in GPS coordinates). Alternatively, the map 400 is created by using additional data values representing, for example, a navigation map and adding the surface features 231-234 and weather condition features to the navigation map (similar to a map of a navigation system). The navigation map is, for example, from the third means 1 13 comprises or by means of the first means 1 1 1 and / or second means 1 12 and / or the fourth means 1 14 requested from a card provider and

receive.

Furthermore, the first device 1 10 comprises fourth means 1 14 for providing 350 of the card 400. To this end, the fourth means 1 14 comprise a receiving and / or transmitting unit, by means of which data are requested and / or received. In another

Embodiment, the fourth means 1 14 are formed such that it is connected to a - starting from the first device 1 10 - externally arranged transmitting and / or receiving unit 122, by means of a cable and / or wireless connection 121. In a further embodiment, the transmitting and / or

Receiving means 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 12th

Furthermore, the fourth means 1 14 comprise electronic data processing elements, for example a processor, main memory and a hard disk, which are designed to process the card 400 in the form of data values, for example to carry out a modification and / or adaptation of the data format and then to provide it as a card 400 , FIG. 2 shows an embodiment of the inventive method 300 for creating 340 and providing 350 a map 400 of a surrounding area 220. Surface feature data values representing surface features 231-234 of at least one traffic route 230 in the surrounding area 220 are received by the first device 110.

The surface features 231-234 are detected by at least one environment sensor system of at least one vehicle 200 in the surrounding area 220 and / or by at least one infrastructure sensor 240 (moisture sensor, temperature sensor, etc.) in the surrounding area 220.

The surface feature data values include as surface features 231-234, for example, wet and / or wet spots 231 and / or road damage 232, such as cracks and / or potholes, and / or other damage, and / or

 Smooth ice spots 233 and / or slippery spots 234, for example due to (small) stones and / or wet foliage.

Furthermore, weather condition feature data becomes which

Weather status features of the surrounding area 220, received by the first device 1 10, the weather condition characteristics are transmitted, for example, from at least one weather station 260 and / or another weather service (Internet, radio stations, etc.). Further, the map 400 of the surrounding area 220 becomes dependent on the

 Surface features 231-234 and depending on the weather condition characteristics, and then provided, for example, such that at least one further vehicle 270 and / or the at least one vehicle 200 are operated depending on the map 400.

For example, the operation of the further vehicle 270 and / or the at least one vehicle 200 takes place in that, depending on the map 400, a trajectory is calculated, which is subsequently made available to a control device such that the further vehicle 270 and / or the at least one vehicle 200 depending on the trajectory, for example by one of the control unit

Outgoing lateral and / or longitudinal control is moved. This is card 400 due The included surface features 231 234 are particularly useful for braking and / or acceleration operations.

FIG. 3 a shows a map 400 which is produced by means of the method 300 according to the invention. The map 400 shows at least one traffic route and surrounding cuts 221-224. The map 400 is created by associating the surface features 231-234 and / or the weather condition features with at least one surrounding section 221-224, respectively. The surface features 231-234 and / or

Weather state features of each environment section 221 - 224 are stored in

Characteristic classes are divided, each feature class is assigned a parameter Pi - P ₄ . A subdivision of the feature classes includes, for example, a subdivision into the features dry and / or wet and / or warm and / or cold and / or iced and / or slippery and / or smooth and / or rocky and / or rough and / or any combination of previous features, with other features are possible.

In one possible embodiment, the surface features 231-234 and / or the weather condition features of each environment portion 221-224 in each feature class are plausibility-checked according to predetermined criteria.

In another possible embodiment, for example, the

Surface features 231-234 and / or the weather condition features of each feature class of each environment section 221-224, respectively, are assigned a probability, for example, by means of a logistic regression, each one

Probability is assigned a goodness and / or all the probabilities of each feature class of each environment section 221-224 are summed in combination with their respective goodness to a sum and / or the weighted average is determined. Subsequently, the parameters Pi - P _{4 of} each environment section 221 - 224 are determined depending on the sum. In this case, for example, in a first step, according to predetermined probability distributions, all surface features 231-234 and / or all weather condition features of each feature class are each

Environment portion 221 - 224 associated with a probability. For example, the so-called binomial logistic regression model serves this purpose. In a second step, each probability is determined by means of the Hosmer Lemeshow tests assigned a goodness. In a third step, all

Probabilities of each feature class of each environment section 221-224 are summed in combination with their respective quality into a sum. In a further possible embodiment, the values of the parameters Pi-P _{4 are} determined, for example on the basis of the respective probability of the feature classes, the respective values being adapted depending on the respective probability and / or depending on their respective quality. FIG. 3b shows a card 400 which is produced by means of the method 300 according to the invention. The map 400 shows at least one traffic route and surrounding cuts 221-224. The map 400 is created by, for example, following the above

described each environmental section 221 - 224 each have a parameter Pi - P _{4 is} assigned. The parameters Pi - P ₄ describe, for example, a coefficient of friction.

FIG. 4 shows an embodiment of a method 300 for creating 340 and providing 350 a map 400 of a surrounding area 220. In step 310, the method 300 starts.

In step 320, surface feature data values representing surface features 231-234 of at least one traffic route 230 in the environment region 220 are received.

In step 330, weather condition feature data becomes

Weather condition features of the surrounding area 220 represent received.

In step 340, the map 400 of the surrounding area 220 is created, depending on the surface features 231-234 and depending on the weather condition characteristics.

In step 350, the card 400 is provided.

In step 360, the method 300 ends.

Claims

 claims 1 . Method (300) for creating (340) and providing (350) a map (400)  a surrounding area (220) with the following steps:  Receiving (320) surface feature data values,  o which surface features (231-234) at least one  Traffic route (230) in the environment area (220); Receiving (330) weather condition feature data values,  o which weather condition characteristics of the surrounding area (220)  represent;  Creating (340) the map (400) of the surrounding area (220),  o depending on the surface features (231-234) and o depending on the weather condition characteristics; and  - providing (350) the card (400). Method (300) according to claim 1, characterized in that  • the surface features (231 - 234) by means of at least one environment sensor system of at least one vehicle (200) in the  Surrounding area (220) and / or detected by at least one infrastructure sensor (240) in the surrounding area (220). Method (300) according to claim 1, characterized in that  The weather status characteristics are transmitted by at least one weather station (260). 4. The method (300) according to claim 1, characterized in that Providing the card (400) (350) such that at least one further vehicle (270) and / or the at least one vehicle (200) are operated in dependence on the card (400). 5. The method (300) according to claim 1, characterized in that  The creation (340) of the map (400) of the surrounding area (220) takes place by  o the surrounding area (220) is subdivided into environmental sections (221 - 22X) and  o the surface features (231 - 234) and / or the  Weather status features at least one environment section (221 - 22X) and / or  o the surface features (231 - 234) and / or  Weather state characteristics of each environment section (221 - 22X) are divided into feature classes, o each feature class is assigned a parameter (Pi - P ₄ ), and o the map (400) of the surrounding area (220) comprises the parameter (Pi - P ₄ ) of each surrounding area (221 - 22X). 6. The method (300) according to claim 5, characterized in that  • the surface features (231 - 234) and / or the  Weather status characteristics of each environment section (221 - 22X) in each feature class according to predetermined criteria are plausibility. 7. Method (300) according to claim 5, characterized in that  • the surface features (231 - 234) and / or the  Weather condition features of each feature class each  Environment section (221 - 22X) each assigned a probability,  • where every probability is assigned a quality, and / or • all probabilities of each feature class each  Environment section (221 - 22X) are summed in combination with their respective quality in a sum and / or the weighted average of all probabilities is determined, and • the parameter (Pi - P ₄ ) of each environment section (221 - 22X) is determined depending on the sum and / or the weighted average. 8. The method (300) according to claim 7, characterized in that • the parameter (Pi - P ₄ ) of each environment section (221 - 22X) is determined depending on the sum by means of a logistic regression. 9. A device (110) for creating (340) and providing (350) a map (400) of a surrounding area (220) by the following means:  - First means (1 1 1) for receiving (320) from  Surface feature data values  o which surface features (231-234) at least one Traffic route (230) in the environment area (220); Second means (1 12) for receiving (330) from  Weather condition characteristic data values  o which weather condition characteristics of the surrounding area (220)  represent;  Third means (13) for creating (340) the map (400) of the surrounding area (220),  o depending on the surface features (231-234) and o depending on the weather condition characteristics; and  - Fourth means (1 14) for providing (350) the card (400). 10. Device (1 10) according to claim 9, characterized in that  • 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) are adapted to a method (300) according to at least to carry out one of the method claims 2 to 8.