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WO2018188923A1 - Procédé et dispositif servant à créer et à fournir une carte - Google Patents

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

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Publication number
WO2018188923A1
WO2018188923A1 PCT/EP2018/057134 EP2018057134W WO2018188923A1 WO 2018188923 A1 WO2018188923 A1 WO 2018188923A1 EP 2018057134 W EP2018057134 W EP 2018057134W WO 2018188923 A1 WO2018188923 A1 WO 2018188923A1
Authority
WO
WIPO (PCT)
Prior art keywords
surrounding area
map
surface features
weather condition
features
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2018/057134
Other languages
German (de)
English (en)
Inventor
Christian Lellmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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 WO2018188923A1 publication Critical patent/WO2018188923A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
    • 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
    • G01C21/3822—Road feature data, e.g. slope data
    • 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
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2556/65—Data transmitted between vehicles

Definitions

  • 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.
  • the inventive method for creating and providing a map of a surrounding area comprises a step of receiving
  • the method further comprises a step of creating the map of the surrounding area depending on the
  • a card is to be understood as a digital card which exists in the form of (card) data values on a storage medium.
  • 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
  • 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.
  • 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.
  • a parameter for example a coefficient of friction
  • a certain area surrounding area
  • 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
  • a weather condition feature for example, a precipitate (rain, snow, etc.) and / or fog and / or sunlight and / or a
  • a surrounding area is an area along a
  • Traffic route highway and / or highway and / or field or forest path, etc.
  • area parking and / or parking space and / or public spaces or parks, etc.
  • 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.
  • 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.
  • 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
  • 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.
  • the weather condition features are transmitted by at least one weather station.
  • the weather condition can be received at many arbitrary times and / or surrounding areas.
  • 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.
  • Vehicle and / or the at least one vehicle by using the card is safer.
  • operating a vehicle means that the map is provided to a navigation system of the vehicle.
  • 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.
  • 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.
  • 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.
  • the surface features and / or the weather condition features of each environment section in each feature class are plausibility-checked according to predetermined criteria.
  • predetermined criteria for example, that the surface feature "wet" a surface, although a corresponding weather condition characteristic for the same
  • 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 ,
  • the parameter of each environment section is determined depending on the sum by means of a logistic regression.
  • the device according to the invention for creating and providing a map of a surrounding area comprises first means for receiving
  • 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.
  • FIG. 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
  • FIG. 3 purely by way of example a map
  • Figure 4 purely by way of example an embodiment of the method according to the invention in the form of a flow chart.
  • 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.
  • a computing unit 100 is meant, for example, a server.
  • 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.
  • 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
  • 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.
  • the arithmetic unit 100 is designed as a cloud, the first means 1 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.
  • 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.
  • the first means 1 1 1 include a receiving and / or
  • 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.
  • 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.
  • the first device comprises second means 1 12, which are adapted to weather status feature data values, which weather condition characteristics of the
  • the second means 1 12 comprise a receiving and / or transmitting unit, by means of which data is requested and / or received.
  • 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 transmitting and / or receiving means are identical to the transmitting and / or
  • Receiving means of the first means 1 1 1.
  • 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
  • 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.
  • 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).
  • 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
  • the first device 1 10 comprises fourth means 1 14 for providing 350 of the card 400.
  • the fourth means 1 14 comprise a receiving and / or transmitting unit, by means of which data are requested and / or received.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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
  • each probability is determined by means of the Hosmer Lemeshow tests assigned a goodness.
  • all probability is determined by means of the Hosmer Lemeshow tests assigned a goodness.
  • 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
  • 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.
  • the method 300 starts.
  • 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.
  • step 330 weather condition feature data becomes
  • Weather condition features of the surrounding area 220 represent received.
  • 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.
  • step 350 the card 400 is provided.
  • step 360 the method 300 ends.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Databases & Information Systems (AREA)
  • Atmospheric Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Navigation (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 carte (400) d'une zone environnante (220). Le procédé selon l'invention comprend les étapes consistant à recevoir (320) des valeurs de données de caractéristiques de surface qui représentent des caractéristiques de surface (231 - 234) d'au moins une voie de communication (230) dans la zone environnante (220), recevoir (330) des valeurs de données de caractéristiques de conditions météorologiques qui représentent des caractéristiques de conditions météorologiques de la zone environnante (220), créer (340) la carte (400) de la zone environnante (220) en fonction des caractéristiques de surface (231 - 234) et en fonction des caractéristiques de conditions météorologiques, et fournir (350) la carte (400).
PCT/EP2018/057134 2017-04-10 2018-03-21 Procédé et dispositif servant à créer et à fournir une carte Ceased WO2018188923A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017206125.1A DE102017206125A1 (de) 2017-04-10 2017-04-10 Verfahren und Vorrichtung zum Erstellen und Bereitstellen einer Karte
DE102017206125.1 2017-04-10

Publications (1)

Publication Number Publication Date
WO2018188923A1 true WO2018188923A1 (fr) 2018-10-18

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DE (1) DE102017206125A1 (fr)
WO (1) WO2018188923A1 (fr)

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CN112629547A (zh) * 2019-09-24 2021-04-09 罗伯特·博世有限公司 用于创建定位地图的方法和设备
CN112649008A (zh) * 2019-10-09 2021-04-13 罗伯特·博世有限公司 用于提供用于车辆的数字定位地图的方法

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DE102019200126A1 (de) * 2019-01-08 2020-07-09 Zf Friedrichshafen Ag Radar-Monitoring von Fahrbahn- und Straßenverhältnissen
DE102019205074B4 (de) * 2019-04-09 2023-03-09 Zf Friedrichshafen Ag Bestimmung eines maximalen Kraftschlusskoeffizienten
DE102019216746A1 (de) * 2019-10-30 2021-05-06 Zf Active Safety Gmbh Verfahren zum assistierten Betreiben eines Fahrzeugs, Verfahren zum Bereitstellen eines Assistenzsystemparameters, Fahrerassistenzsystem und System
DE102019217658A1 (de) * 2019-11-15 2021-05-20 Robert Bosch Gmbh Verfahren zum Extrahieren von Merkmalen aus crowd-basiert gesammelten Messdaten
JP2022187356A (ja) * 2021-06-07 2022-12-19 トヨタ自動車株式会社 車両制御装置、車両制御プログラム及び車両制御システム

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