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WO2018188922A1 - Method and device for creating and providing a first map - Google Patents

Method and device for creating and providing a first map Download PDF

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Publication number
WO2018188922A1
WO2018188922A1 PCT/EP2018/057132 EP2018057132W WO2018188922A1 WO 2018188922 A1 WO2018188922 A1 WO 2018188922A1 EP 2018057132 W EP2018057132 W EP 2018057132W WO 2018188922 A1 WO2018188922 A1 WO 2018188922A1
Authority
WO
WIPO (PCT)
Prior art keywords
data values
automated vehicle
map
card
environmental data
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/EP2018/057132
Other languages
German (de)
French (fr)
Inventor
David Sola
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 WO2018188922A1 publication Critical patent/WO2018188922A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Definitions

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

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

Abstract

The invention relates to a method (300) and a device (110) for creating (340) and providing (350) a first map (401) having a step of transmitting (320) a control signal for operating at least one automated vehicle (200) in specified surroundings (220), wherein the at least one automated vehicle (200) is operated such that the at least one automated vehicle (200) detects surroundings data values in the specified surroundings (220) in dependence on the control signal, a step of receiving (330) the surroundings data values from the at least one automated vehicle (200), a step of creating (340) the first map (401), in dependence on the surroundings data values and a step of providing (350) the first map (401).

Description

Beschreibung  description

Titel title

Verfahren und Vorrichtung zum Erstellen und Bereitstellen einer ersten Karte  Method and apparatus for creating and providing a first card

Die vorliegende Erfindung betrifft ein Verfahren sowie eine Vorrichtung zum Erstellen und Bereitstellen einer ersten Karte mit einem Schritt des Übertragens eines Steuersignals zum Betreiben wenigstens eines automatisierten Fahrzeugs in einer vorgegebenen Umgebung, einem Schritt des Empfangens der Umgebungsdatenwerte von dem wenigstens einen automatisierten Fahrzeug, einem Schritt des Erstellens der ersten Karte, abhängig von den Umgebungsdatenwerten und einem Schritt des Bereitstellens der ersten Karte The present invention relates to a method and apparatus for creating and providing a first map comprising a step of transmitting a control signal for operating at least one automated vehicle in a predetermined environment, a step of receiving the environmental data values from the at least one automated vehicle, a step of Creating the first map, depending on the environmental data values and a step of providing the first map

Offenbarung der Erfindung Disclosure of the invention

Das erfindungsgemäße Verfahren zum Erstellen und Bereitstellen einer ersten Karte umfasst einen Schritt des Übertragens eines Steuersignals zum Betreiben wenigstens eines automatisierten Fahrzeugs in einer vorgegebenen Umgebung, wobei das wenigstens eine automatisierte Fahrzeug derart betrieben wird, dass das wenigstens eine automatisierte Fahrzeug abhängig von dem Steuersignal Umgebungsdatenwerte in der vorgegebenen Umgebung erfasst. Das Verfahren umfasst weiterhin einen Schritt des Empfangens der Umgebungsdatenwerte von dem wenigstens einen automatisierten Fahrzeug, einen Schritt des Erstellens der ersten Karte, abhängig von den The inventive method for creating and providing a first map comprises a step of transmitting a control signal for operating at least one automated vehicle in a predetermined environment, wherein the at least one automated vehicle is operated such that the at least one automated vehicle depending on the control signal ambient data in captured the given environment. The method further comprises a step of receiving the environmental data values from the at least one automated vehicle, a step of creating the first map, depending on the

Umgebungsdatenwerten und einen Schritt des Bereitstellens der ersten Karte. Environment data values and a step of providing the first map.

Unter einer ersten und/oder zweiten Karte ist eine digitale Karte zu verstehen, welche in Form von (Karten-) Datenwerten auf einem Speichermedium vorliegt. Die erste und/oder zweite Karte ist beispielsweise derart ausgebildet, dass eine oder mehrere A first and / or second card is to be understood as a digital card which is present in the form of (card) data values on a storage medium. The first and / or second card is for example designed such that one or more

Kartenschichten umfasst werden, wobei eine Kartenschicht beispielsweise eine Karte aus der Vogelperspektive (Verlauf und Position von Straßen, Gebäuden, For example, a map layer may include a bird's-eye view map (course and position of streets, buildings,

Landschaftsmerkmalen, etc.) zeigt. Dies entspricht beispielsweise einer Karte eines Navigationssystems. Eine weitere Kartenschicht umfasst beispielsweise eine Radarkarte, wobei die Landscapes, etc.) shows. This corresponds for example to a map of a navigation system. Another map layer includes, for example, a radar map, wherein the

Umgebungsdatenwerte, welche von der Radarkarte umfasst werden, mit einer Environmental data values encompassed by the radar map with a

Radarsignatur hinterlegt sind. Eine weitere Kartenschicht umfasst beispielsweise eine Lidarkarte, wobei die Umgebungsdatenwerte, welche von der Lidarkarte umfasst werden, mit einer Lidarsignatur hinterlegt sind. Eine weitere Kartenschicht umfasst beispielsweise Umgebungsmerkmale (Bauwerke, Landschaftsmerkmale, Infrastrukturmerkmale, etc.) in Form von Umgebungsmerkmalsdatenwerte, wobei die Umgebungsmerkmalsdatenwerte beispielsweise eine Position der Umgebungsmerkmale und/oder weitere Größen, wie Längenangaben zu den Umgebungsmerkmalen und/oder eine Beschreibung, ob die Umgebungsmerkmale dauerhaft oder temporär vorhanden sind, umfassen. Eine weitere Kartenschicht umfasst beispielsweise einen Infrastrukturzustand, insbesondere einen Oberflächenzustand wie beispielsweise einen Reibwert. 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. A further map layer comprises, for example, an infrastructure state, in particular a surface state such as a coefficient of friction.

Unter einem automatisierten Fahrzeug ist beispielsweise ist ein teil-, hoch- oder vollautomatisiertes Fahrzeug zu verstehen. Unter einem Fahrzeug sind ein manuell zu betreibendes Fahrzeug und/oder ein automatisiertes Fahrzeug zu verstehen. An automated vehicle is, for example, a partially, highly or fully automated vehicle to understand. A vehicle is to be understood as a manually operated vehicle and / or an automated vehicle.

Unter einem Betreiben des automatisierten Fahrzeugs in einer vorgegebenen Umgebung ist beispielsweise zu verstehen, dass das automatisierte Fahrzeugs von einem Startpunkt aus, wie beispielsweise eine Garage oder ein Abstellplatz oder ein Parkhaus oder eine Tiefgarage, automatisiert in die vorgegebene Umgebung fährt und/oder innerhalb der Umgebung eine vorgegebene Trajektorie oder eine vorgegebene Fläche abfährt. By operating the automated vehicle in a given environment, it is to be understood, for example, that the automated vehicle automatically moves from a starting point, such as a garage or a parking space or a parking garage or an underground car park, into the given environment and / or within the surroundings a predetermined trajectory or a predetermined area departs.

Unter einer vorgegebenen Umgebung ist beispielsweise ein Bereich entlang eines Verkehrsweges (Autobahn und/oder Landstraße und/oder Feld- bzw. Waldweg, etc.) und/oder eine Fläche (Parkplatz bzw. -haus und/oder Tiefgarage und/oder Abstellplatz und/oder Öffentliche Plätze bzw. Parks, etc.) zu verstehen. Grundsätzlich kann unter einer vorgegebenen Umgebung jede Umgebung zu verstehen, welche mittels des Under a given environment, for example, an area along a traffic route (motorway and / or highway and / or field or forest path, etc.) and / or an area (parking or house and / or underground parking and / or parking space and / or public spaces or parks, etc.). Basically, under a given environment any environment can be understood, which by means of the

automatisierten Fahrzeugs erreichbar und mittels einer Umfeldsensorik des reachable by automated vehicle and by means of an environment sensor of

automatisierten Fahrzeugs erfassbar ist. automated vehicle is detectable.

Das Verfahren hat den Vorteil, dass eine Karte automatisiert erstellt und/oder aktualisiert wird und somit stets eine aktuelle Karte, welche insbesondere die vorgegebene The method has the advantage that a map is automatically created and / or updated and thus always a current map, which in particular the predetermined

Umgebung umfasst, vorliegt und bereitgestellt wird. Vorzugsweise repräsentiert das Steuersignal wenigstens eine Trajektorie derart, dass das wenigstens eine automatisierte Fahrzeug die Umgebungsdatenwerte wenigstens teilweise entlang der wenigstens einen Trajektorie erfasst. Dies erlaubt vorteilhafterweise ein einfacheres Betreiben, insbesondere ein Bewegen, des automatisierten Fahrzeugs, vor allem gegenüber einem Betreiben des automatisierten Fahrzeugs ohne Vorgabe einer Trajektorie. Environment includes, is present and provided. Preferably, the control signal represents at least one trajectory such that the at least one automated vehicle detects the environmental data values at least partially along the at least one trajectory. This advantageously allows a simpler operation, in particular a moving, of the automated vehicle, in particular with respect to an operation of the automated vehicle without specifying a trajectory.

Vorzugsweise erfolgt das Übertragen des Steuersignals zum Betreiben des wenigstens einen automatisierten Fahrzeugs in der vorgegebenen Umgebung, indem die Preferably, the transmission of the control signal for operating the at least one automated vehicle takes place in the given environment by the

vorgegebene Umgebung mittels einer zweiten Karte bestimmt wird, wobei die zweite Karte wenigstens bezüglich der vorgegeben Umgebung nach ersten vorgegebenen Kriterien unvollständig ist. Unter den ersten vorgegebenen Kriterien ist beispielsweise zu verstehen, dass die zweite Karte Lücken aufweist, in denen ein Verkehrsweg nicht vollständig erfasst ist und/oder der zweiten Karte fehlt eine bestimmte Kartenschicht und/oder die zweite Karte umfasst zu allen Umgebungen, welche von der zweiten Karte umfasst werden, einen Zeitstempel, welcher eine Zeit der letzten Aktualisierung angibt, und insbesondere zu der predetermined environment is determined by means of a second card, the second card is incomplete at least with respect to the given environment according to first predetermined criteria. By way of example, the first predetermined criteria is to be understood as meaning that the second map has gaps in which one traffic route is not completely detected and / or the second map is missing a specific map layer and / or the second map comprises all the surroundings, that of the second Card, a timestamp indicating a time of the last update, and in particular to the

vorgegebenen Umgebung ist der Zeitstempel zu alt, also die zweite Karte bezogen auf die vorgegebene Umgebung veraltet. Dies tritt beispielsweise ein, wenn die zweite Karte innerhalb vorgegebener Zeitspannen (1 Tag, Monat, Jahr, etc.) aktualisiert werden muss und die Aktualisierung noch nicht erfolgt ist. Hierin zeigt sich der Vorteil, dass mittels des erfindungsgemäßen Verfahrens given environment the time stamp is too old, so the second card based on the given environment out of date. This occurs, for example, when the second card has to be updated within predetermined time periods (1 day, month, year, etc.) and the update has not yet taken place. This shows the advantage that by means of the method according to the invention

insbesondere veraltete zweite Karten aktualisiert werden. In particular, outdated second cards will be updated.

Besonders bevorzugt repräsentieren die Umgebungsdatenwerte in der vorgegebenen Umgebung einen Infrastrukturzustand, insbesondere einen Reibwert, und/oder einen Wetterzustand und/oder einen Verkehrszustand und/oder einen Umweltzustand. Particularly preferably, the environmental data values in the given environment represent an infrastructure state, in particular a coefficient of friction, and / or a weather state and / or a traffic state and / or an environmental state.

Unter einem Infrastrukturzustand sind beispielsweise der Verlauf eines Verkehrsweges und/oder der Zustand eines Verkehrsweges (Schlaglöcher, Risse, etc.) und/oder der Zustand weiterer Infrastrukturmerkmale (Ampeln, Straßenschilder, Leitplanken, etc.) zu verstehen. Unter einem Reibwert ist ein dimensionsloses Maß für eine Reibungskraft im Verhältnis zur Anpresskraft zwischen zwei Körpern, insbesondere zwischen einem Fahrzeug, bzw. den Reifen des Fahrzeugs, und einem Verkehrsweg, bzw. der Oberfläche des Under an infrastructure state, for example, the course of a traffic route and / or the state of a traffic route (potholes, cracks, etc.) and / or the state of other infrastructure features (traffic lights, street signs, crash barriers, etc.) to understand. Under a coefficient of friction is a dimensionless measure of a friction force in relation to the contact force between two bodies, in particular between a vehicle, or the tires of the vehicle, and a traffic route, or the surface of the

Verkehrsweges, zu verstehen. Unter einem Wetterzustand sind beispielsweise ein Niederschlag (Regen, Schnee, etc.) und/oder Nebel und/oder eine Sonneneinstrahlung und/oder eine Temperatur zu verstehen. Road, to understand. Under a weather condition, for example, a precipitate (rain, snow, etc.) and / or fog and / or solar radiation and / or temperature to understand.

Unter einem Verkehrszustand sind beispielsweise eine Anzahl an Fahrzeugen in der vorgegebenen Umgebung und/oder eine Behinderung eines Verkehrsweges (Unfall, Baustelle, Straßensperre, etc.) zu verstehen. Unter einem Umweltzustand ist Under a traffic condition, for example, a number of vehicles in the given environment and / or obstruction of a traffic route (accident, construction site, roadblock, etc.) to understand. Under an environmental condition is

beispielsweise eine Beschreibung der vorgegebenen Umgebung (Stadt, Dorf, Land, etc.) zu verstehen. For example, to understand a description of the given environment (city, village, countryside, etc.).

Hierin zeigt sich der Vorteil, dass die erste Karte vielfältige Informationen umfasst und somit vielfältig anwendbar ist. This shows the advantage that the first card includes a variety of information and thus is widely applicable.

In einer besonders bevorzugten Ausführungsform erfolgt das Erstellen der ersten Karte, indem die zweite Karte mittels der Umgebungsdatenwerte derart ergänzt wird, dass die zweite Karte nach zweiten vorgegebenen Kriterien nicht mehr unvollständig ist und die erste Karte der ergänzten zweiten Karte entspricht. In a particularly preferred embodiment, the first card is created by supplementing the second card by means of the ambient data values such that the second card is no longer incomplete according to second predetermined criteria and the first card corresponds to the supplemented second card.

Unter den zweiten vorgegebenen Kriterien ist beispielsweise zu verstehen, dass die erste Karte gegenüber der zweiten Karte keine Lücken (mehr) aufweist und/oder die erste Karte eine Aktualisierung einer (beispielsweise gemäß den ersten Kriterien) veralteten zweiten Karte umfasst und/oder die erste Karte gegenüber der zweiten Karte eine neue und/oder aktualisierte Kartenschicht umfasst. By way of example, the second predetermined criteria is to be understood as meaning that the first card has no gaps (more) than the second card and / or the first card comprises an update of a second card (eg according to the first criteria) and / or the first card relative to the second card comprises a new and / or updated map layer.

Hierin zeigt sich der Vorteil, dass insbesondere zweite Karten, die unvollständig sind, aktualisiert werden, indem sie durch vollständigere erste Karten ersetzt werden. This shows the advantage that in particular second cards that are incomplete are updated by being replaced by more complete first cards.

Vorzugsweise werden die Umgebungsdatenwerte mittels wenigstens einer Preferably, the environmental data values are determined by means of at least one

Umfeldsensorik des wenigstens einen automatisierten Fahrzeugs erfasst. Environment sensor of the at least one automated vehicle detected.

Unter der wenigstens einen Umfeldsensorik ist beispielsweise wenigstens ein Video- und/oder wenigstens ein Radar- und/oder wenigstens ein Lidar- und/oder wenigstens ein Ultraschall- und/oder wenigstens ein Beschleunigungs- und/oder wenigstens ein GPS- und/oder wenigstens ein Temperatur- und/oder wenigstens ein weiterer Sensor zu verstehen, welcher dazu ausgebildet ist, die vorgegebene Umgebung des automatisierten Fahrzeugs in Form von Umgebungsdatenwerten zu erfassen. Vorzugsweise erfolgt das Bereitstellen der ersten Karte derart, dass die erste Karte von einer externen Sende- und/oder Empfangseinheit angefordert und empfangen wird. 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 temperature sensor and / or at least one further sensor, which is designed to detect the predetermined environment of the automated vehicle in the form of environmental data values. The provision of the first card preferably takes place in such a way that the first card is requested and received by an external transmitting and / or receiving unit.

Unter einer externen Sende- und/oder Empfangseinheit ist beispielsweise ein Server eines Kartenanbieters, welcher anschließend die erste Karte Endnutzern zur Verfügung stellt und/oder wenigstens ein weiteres Fahrzeug, welches die erste Karte beispielsweise zum Navigieren verwendet und/oder ein Betreiber der Infrastruktur in der vorgegebenen Umgebung (Straßenbauamt, etc.) zu verstehen An external transmitting and / or receiving unit is, for example, a server of a card provider, which subsequently makes the first card available to end users and / or at least one further vehicle, which uses the first card for navigation, for example, and / or an operator of the infrastructure in the given environment (road construction, etc.) to understand

Dies hat den Vorteil, dass die erste Karte und somit aktualisierte Karte jederzeit angefordert und verwendet werden kann, insbesondere wenn (hoch-) aktuelle Karten verwendet werden müssen. This has the advantage that the first card and thus updated card can be requested and used at any time, especially when (up) current cards have to be used.

Die erfindungsgemäße erste Vorrichtung zum Erstellen und Bereitstellen einer ersten Karte umfasst erste Mittel zum Übertragen eines Steuersignals zum Betreiben wenigstens eines automatisierten Fahrzeugs in einer vorgegebenen Umgebung, wobei das wenigstens eine automatisierte Fahrzeug derart betrieben wird, dass das wenigstens eine automatisierte Fahrzeug abhängig von dem Steuersignal Umgebungsdatenwerte in der vorgegebenen Umgebung erfasst. Die erste Vorrichtung umfasst weiterhin zweite Mittel zum Empfangen der Umgebungsdatenwerte von dem wenigstens einen automatisierten Fahrzeug, dritte Mittel zum Erstellen der ersten Karte, abhängig von den The first device according to the invention for producing and providing a first map comprises first means for transmitting a control signal for operating at least one automated vehicle in a predetermined environment, wherein the at least one automated vehicle is operated such that the at least one automated vehicle is environmental data values depending on the control signal detected in the given environment. The first device further comprises second means for receiving the environmental data values from the at least one automated vehicle, third means for creating the first map, depending on the

Umgebungsdatenwerten und vierte Mittel zum Bereitstellen der ersten Karte.  Environment data values and fourth means for providing the first map.

Vorzugsweise sind die ersten Mittel und/oder die zweiten Mittel und/oder die dritten Mittel und/oder die vierten Mittel dazu ausgebildet, ein Verfahren gemäß wenigstens einem der Verfahrensansprüche auszuführen. 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.

Die erfindungsgemäße zweite Vorrichtung zum Erfassen und Übertragen von The second device according to the invention for detecting and transmitting

Umgebungsdatenwerten umfasst Empfangsmittel zum Empfangen eines Steuersignals zum Betreiben eines automatisierten Fahrzeugs, wobei das Steuersignal wenigstens eine Trajektorie repräsentiert, Fahrzeugmittel zum Betreiben des automatisierten Fahrzeugs, abhängig von dem Steuersignal, entlang der wenigstens einen Trajektorie, eine Environmental data includes receiving means for receiving a control signal for operating an automated vehicle, the control signal representing at least one trajectory, vehicle means for operating the automated vehicle, depending on the control signal, along the at least one trajectory

Umfeldsensorik zum Erfassen der Umgebungsdatenwerte, wenigstens teilweise entlang der wenigstens einen Trajektorie und Sendemittel zum Übertragen der Umgebungsdatenwerte. Environment sensor for detecting the ambient data values, at least partially along the at least one trajectory and transmitting means for transmitting the environmental data values.

Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben und in der Beschreibung aufgeführt. Advantageous developments of the invention are specified in the subclaims and listed in the description.

Zeichnungen drawings

Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden in den nachfolgenden Beschreibungen näher erläutert. Es zeigen: Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following descriptions. Show it:

Figur 1 rein beispielhaft ein Ausführungsbeispiel der erfindungsgemäßen ersten Figure 1 purely by way of example an embodiment of the first invention

Vorrichtung; Figur 2 rein beispielhaft ein Ausführungsbeispiel der erfindungsgemäßen zweiten Vorrichtung; Contraption; Figure 2 purely by way of example an embodiment of the second device according to the invention;

Figur 3 rein beispielhaft ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens; Figur 4 rein beispielhaft eine zweite Karte (Figur 4a) und eine erste Karte (Figur 4b); und FIG. 3 purely by way of example an embodiment of the method according to the invention; Figure 4 purely by way of example a second card (Figure 4a) and a first card (Figure 4b); and

Figur 5 rein beispielhaft ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens in Form eines Ablaufdiagramms. Ausführungsformen der Erfindung FIG. 5 purely by way of example an embodiment of the method according to the invention in the form of a flowchart. Embodiments of the invention

Figur 1 zeigt eine - beispielhaft dargestellte - Recheneinheit 100, welche eine erste Vorrichtung 1 10 zum Erstellen 340 und Bereitstellen 350 einer ersten Karte 401 umfasst. Unter einer Recheneinheit 100 ist beispielsweise ein Server zu verstehen. In einer weiteren Ausführungsform ist unter einer Recheneinheit 100 eine Cloud - also ein Verbund wenigstens zweier elektrischer Datenverarbeitungsanlagen - zu verstehen, welche beispielsweise mittels Internet Daten austauschen. In einer weiteren FIG. 1 shows an arithmetic and logic unit 100, which is illustrated by way of example and which comprises a first device 110 for creating 340 and providing 350 of a first card 401. By a computing unit 100 is meant, for example, a server. In a further embodiment, a computing unit 100 is a cloud - that is to say a composite of at least two electrical data processing systems - which exchange data, for example by means of the Internet. In another

Ausführungsform entspricht die Recheneinheit 100 der ersten Vorrichtung 1 10. Embodiment corresponds to the computing unit 100 of the first device 1 10.

Die erste Vorrichtung 1 10 umfasst erste Mittel 1 1 1 zum Übertragen 320 eines The first device 1 10 comprises first means 1 1 1 for transmitting 320 a

Steuersignals zum Betreiben wenigstens eines automatisierten Fahrzeugs 200 in einer vorgegebenen Umgebung 220, wobei das wenigstens eine automatisierte Fahrzeug 200 derart betrieben wird, dass das wenigstens eine automatisierte Fahrzeug 200 abhängig von dem Steuersignal Umgebungsdatenwerte in der vorgegebenen Umgebung 220 erfasst. Die erste Vorrichtung umfasst weiterhin zweite Mittel 1 12 zum Empfangen 330 der Umgebungsdatenwerte von dem wenigstens einen automatisierten Fahrzeug 200, dritte Mittel 1 13 zum Erstellen 340 der ersten Karte 401 , abhängig von den A control signal for operating at least one automated vehicle 200 in a predetermined environment 220, wherein the at least one automated vehicle 200 is operated such that the at least one automated vehicle 200 detects environmental data values in the predetermined environment 220 depending on the control signal. The first device further comprises second means 1 12 for receiving 330 the environmental data values from the at least one automated vehicle 200, third means 1 13 for creating 340 the first map 401, depending on the

Umgebungsdatenwerten und vierte Mittel 1 14 zum Bereitstellen 350 der ersten Karte 401. Ambient data values and fourth means 1 14 for providing 350 of the first card 401.

Die ersten Mittel 1 1 1 und/oder die zweiten Mittel 1 12 und/oder die dritten Mittel 1 13 und/oder die vierten Mittel 1 14 können - abhängig von der jeweiligen Ausführungsform der Recheneinheit 100 - unterschiedlich ausgebildet sein. Ist die Recheneinheit 100 als Server ausgebildet, sind die ersten Mittel 1 1 1 und/oder die zweiten Mittel 1 12 und/oder die dritten Mittel 1 13 und/oder die vierten Mittel 1 14 - bezogen auf den Ort der ersten Vorrichtung 1 10 - am selben Ort lokalisiert. 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.

Ist die Recheneinheit 100 als Cloud ausgebildet, können die ersten Mittel 1 1 1 und/oder die zweiten Mittel 1 12 und/oder die dritten Mittel 1 13 und/oder die vierten Mittel 1 14 an unterschiedlichen Orten, beispielsweise in unterschiedlichen Städten und/oder in unterschiedlichen Ländern, lokalisiert sein, wobei eine Verbindung - wie beispielsweise das Internet - zum Austausch von (elektronischen) Daten zwischen den ersten Mittel 1 1 1 und/oder den zweiten Mittel 1 12 und/oder die dritten Mittel 1 13 und/oder die vierten Mittel 1 14 ausgebildet ist. 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 at different locations, for example in different cities and / or in different countries, wherein a connection - such as the Internet - for the exchange of (electronic) data between the first means 1 1 1 and / or the second means 1 12 and / or the third means 1 13 and / or the fourth means 1 14 is formed.

Die ersten Mittel 1 1 1 sind dazu ausgebildet, ein Steuersignal zum Betreiben wenigstens eines automatisierten Fahrzeugs 200 in einer vorgegebenen Umgebung 220 zu übertragen. Dazu umfassen die ersten Mittel 1 1 1 eine Empfangs- und/oder Sendeeinheit, mittels derer Daten übertragen werden. In einer weiteren Ausführungsform sind die ersten Mittel 1 1 1 derart ausgebildet, dass diese mit einer - ausgehend von der ersten The first means 1 1 1 are adapted to transmit a control signal for operating at least one automated vehicle 200 in a predetermined environment 220. For this purpose, the first means 1 1 1 comprise a receiving and / or transmitting unit, by means of which data is transmitted. In a further embodiment, the first means 1 1 1 are designed such that these with a - starting from the first

Vorrichtung 1 10 - extern angeordneten Sende- und/oder Empfangseinheit 122, mittels einer Kabel- und/oder kabellosen Verbindung 121 , verbunden ist. Weiterhin umfassen die ersten Mittel 1 1 1 elektronische Datenverarbeitungselemente, beispielsweise einen Prozessor, Arbeitsspeicher und eine Festplatte, welche dazu ausgebildet sind, das Steuersignal zu verarbeiten, beispielsweise eine Änderungen und/oder Anpassung des Datenformats auszuführen und anschließend an das wenigstens eine automatisierte Fahrzeug 200 zu übertragen. In einer weiteren Ausführungsform sind die ersten Mittel 1 1 1 derart ausgebildet, das Steuersignal - ohne Datenverarbeitungselemente - an das wenigstens eine automatisierte Fahrzeug 200 zu übertragen. Device 1 10 - externally arranged transmitting and / or receiving unit 122, by means of a cable and / or wireless connection 121, is connected. 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 process the control signal, for example to carry out a modification and / or adaptation of the data format and then to transmit to the at least one automated vehicle 200. In a further embodiment, the first means 1 1 1 are designed to transmit the control signal - without data processing elements - to the at least one automated vehicle 200.

Weiterhin umfasst die erste Vorrichtung zweite Mittel 1 12, welche dazu ausgebildet sind, Umgebungsdatenwerte von dem wenigstens einen automatisierten Fahrzeug 200 zu empfangen. Dazu umfassen die zweiten Mittel 1 12 eine Empfangs- und/oder Furthermore, the first device comprises second means 1 12, which are designed to receive ambient data values from the at least one automated vehicle 200. For this purpose, the second means 1 12 include a receiving and / or

Sendeeinheit, mittels derer Daten angefordert und/oder empfangen werden. In einer weiteren Ausführungsform sind die zweiten Mittel derart ausgebildet, dass diese mit einer - ausgehend von der ersten Vorrichtung 1 10 - extern angeordneten Sende- und/oder Empfangseinheit 122, mittels einer Kabel- und/oder kabellosen Verbindung 121 , verbunden ist. In einer weiteren Ausführungsform sind die Sende- und/oder  Sending 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

Empfangsmittel identisch mit den Sende- und/oder Empfangsmittel der ersten Mittel 1 1 1.  Receiving means identical to the transmitting and / or receiving means of the first means 1 1 1.

Weiterhin umfasst die erste Vorrichtung 1 10 dritte Mittel 1 13 zum Erstellen 340 der ersten Karte 401 , ausgehend von den Umgebungsdatenwerten. Dazu umfassen die dritten Mittel 1 13 elektronische Datenverarbeitungselemente, beispielsweise einen Prozessor, Furthermore, the first device 1 10 comprises third means 1 13 for creating 340 the first map 401 on the basis of the environmental data values. For this purpose, the third means 1 comprise 13 electronic data processing elements, for example a processor,

Arbeitsspeicher und eine Festplatte. Weiterhin umfassen die dritten Mittel 1 13 eine entsprechende Software, welche dazu ausgebildet ist, ausgehend von den Memory and a hard disk. Furthermore, the third means 1 13 comprise a corresponding software, which is adapted, starting from the

Umgebungsdatenwerten die erste Karte 401 zu erstellen. Das Erstellen 340 der ersten Karte 401 erfolgt beispielsweise, indem die zweite Karte 402, welche wenigstens bezüglich der vorgegeben Umgebung 220 nach den ersten vorgegebenen Kriterien unvollständig ist, um die Umgebungsdatenwerte ergänzt wird. Dabei entspricht die erste Karte 401 der um die Umgebungsdatenwerte ergänzten zweiten Karte 402. In einer weiteren Ausführungsform wird als die erste Karte 401 beispielsweise eine neue Karte erstellt, welche anschließend parallel zur zweiten Karte 402 existiert oder die zweite Karte 402 ersetzt, beispielsweise indem die Datenwerte der zweiten Karte 402 durch die Datenwerte der ersten Karte 401 überschrieben werden. Die zweite Karte 402 wird beispielsweise von den dritten Mitteln 1 13 umfasst. Das Ergänzen der zweiten Karte 402, welche anschließend der ersten Karte 401 entspricht, erfolgt beispielsweise, indem ein neuer und/oder veränderter Infrastrukturzustand, insbesondere einen Reibwert betreffend, und/oder ein neuer und/oder veränderter Wetterzustand und/oder ein neuer und/oder veränderter Environment data to create the first card 401. The creation 340 of the first map 401 takes place, for example, by the second map 402, which is at least incomplete according to the predetermined environment 220 according to the first predetermined criteria, being supplemented by the surrounding data values. In this case, the first map 401 corresponds to the second map 402 supplemented with the environmental data values. In another embodiment, a new map is created as the first map 401, for example, which exists parallel to the second map 402 or replaces the second map 402, for example by the data values the second card 402 are overwritten by the data values of the first card 401. The second map 402 is included, for example, by the third means 1 13. The supplementing of the second map 402, which subsequently corresponds to the first map 401, takes place, for example, by a new and / or modified Infrastructure state, in particular a friction coefficient concerning, and / or a new and / or changed weather condition and / or a new and / or modified

Verkehrszustand und/oder ein neuer und/oder veränderter Umweltzustand der zweiten Karte 402 hinzugefügt wird. Unter dem jeweils veränderten Zustand ist ein veränderter Zustand gegenüber dem in der zweiten Karte 402 umfassten Zustand zu verstehen. Traffic status and / or a new and / or changed environmental status of the second card 402 is added. The changed state in each case is to be understood as a changed state with respect to the state included in the second map 402.

In einer weiteren Ausführungsform sind die dritten Mittel 1 13 beispielsweise dazu ausgebildet, vor dem Erstellen 340 der ersten Karte 401 aus den Umgebungsdatenwerten einen Infrastrukturzustand und/oder einen Wetterzustand und/oder einen In a further embodiment, the third means 13 are designed, for example, to generate an infrastructure state and / or a weather state and / or a state of the environment from the environmental data values prior to the creation 340 of the first map 401

Verkehrszustand und/oder einen Umweltzustand zu bestimmen. Dazu umfassen die dritten Mittel 1 13 beispielsweise eine Recheneinheit (Prozessor, Arbeitsspeicher, Festplatte) mit einer entsprechenden Software. Traffic status and / or an environmental status. For this purpose, the third means 1 13 comprise, for example, a computing unit (processor, main memory, hard disk) with corresponding software.

Weiterhin umfasst die erste Vorrichtung 1 10 vierte Mittel 1 14 zum Bereitstellen 350 der ersten Karte 401 . Dazu umfassen die vierte Mittel 1 14 eine Empfangs- und/oder Furthermore, the first device 1 10 comprises fourth means 1 14 for providing 350 of the first card 401. These include the fourth means 1 14 a reception and / or

Sendeeinheit, mittels derer Daten angefordert und/oder empfangen werden. Sending unit, by means of which data is requested and / or received.

In einer weiteren Ausführungsform sind die vierte Mittel 1 14 derart ausgebildet, dass diese mit einer - ausgehend von der ersten Vorrichtung 1 10 - extern angeordneten Sende- und/oder Empfangseinheit 122, mittels einer Kabel- und/oder kabellosen In a further embodiment, the fourth means 1 14 are designed such that they are provided with a transmitting and / or receiving unit 122 arranged externally, starting from the first device 110, by means of a cable and / or cordless

Verbindung 121 , verbunden ist. In einer weiteren Ausführungsform sind die Sende- und/oder Empfangsmittel identisch mit den Sende- und/oder Empfangsmittel der ersten Mittel 1 1 1 und/oder den Sende- und/oder Empfangsmittel der zweiten Mittel 1 12. Weiterhin umfassen die vierte Mittel 1 14 elektronische Datenverarbeitungselemente, beispielsweise einen Prozessor, Arbeitsspeicher und eine Festplatte, welche dazu ausgebildet sind, die erste Karte 401 in Form von Datenwerten zu verarbeiten, beispielsweise eine Änderungen und/oder Anpassung des Datenformats auszuführen und anschließend als erste Karte 401 bereitzustellen. Connection 121, is connected. 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 and / or the transmitting and / or receiving means of the second means 1 12. Furthermore, the fourth means comprise 1 14th electronic data processing elements, such as a processor, memory and a hard disk, which are adapted to process the first card 401 in the form of data values, for example to perform a change and / or adaptation of the data format and then provide as a first card 401.

Figur 2 zeigt ein automatisiertes Fahrzeug, welches eine zweite Vorrichtung 210 zum Erfassen und Übertragen von Umgebungsdatenwerten umfasst. Das automatisierte Fahrzeug 200 ist hierbei als PKW ausgebildet. In weiteren Ausführungsformen ist das automatisierte Fahrzeug 200 insbesondere als LKW oder als zweirädriges Fahrzeug ausgebildet. Die zweite Vorrichtung 210 umfasst Empfangsmittel 21 1 zum Empfangen eines FIG. 2 shows an automated vehicle comprising a second device 210 for acquiring and transmitting environmental data values. The automated vehicle 200 is designed here as a car. In further embodiments, the automated vehicle 200 is designed in particular as a truck or as a two-wheeled vehicle. The second device 210 comprises receiving means 21 1 for receiving a

Steuersignals zum Betreiben des automatisierten Fahrzeugs 200, wobei das Steuersignal wenigstens eine Trajektorie 230 repräsentiert, Fahrzeugmittel 212 zum Betreiben des automatisierten Fahrzeugs 200, abhängig von dem Steuersignal, entlang der wenigstens einen Trajektorie 230, eine Umfeldsensorik 201 zum Erfassen der A control signal for operating the automated vehicle 200, wherein the control signal represents at least one trajectory 230, vehicle means 212 for operating the automated vehicle 200, depending on the control signal, along the at least one trajectory 230, an environment sensor system 201 for detecting the

Umgebungsdatenwerte, wenigstens teilweise entlang der wenigstens einen Trajektorie 230 und Sendemittel 213 zum Übertragen der Umgebungsdatenwerte.  Ambient data values at least partially along the at least one trajectory 230 and transmitting means 213 for transmitting the environmental data values.

Die Empfangsmittel 21 1 sind dazu ausgebildet, ein Steuersignal zu empfangen. Dazu umfassen die Empfangsmittel 21 1 eine Empfangseinheit, mittels derer Steuersignale angefordert und/oder empfangen werden. In einer weiteren Ausführungsform sind die Empfangsmittel 21 1 derart ausgebildet, dass diese mit einer - ausgehend von der zweiten Vorrichtung 210 - extern angeordneten Sende- und/oder Empfangseinheit, mittels einer Kabel- und/oder kabellosen Verbindung, verbunden ist. Dabei kann es sich beispielsweise um ein Navigationssystem, welches von dem automatisierten Fahrzeug 200 umfasst wird, handeln. The receiving means 21 1 are adapted to receive a control signal. For this purpose, the receiving means 21 1 comprise a receiving unit, by means of which control signals are requested and / or received. In a further embodiment, the receiving means 21 1 are designed such that they are connected to a transmitting and / or receiving unit arranged externally, starting from the second device 210, by means of a cable and / or wireless connection. This may be, for example, a navigation system which is included in the automated vehicle 200.

In einer weiteren Ausführungsform sind die Empfangsmittel 21 1 derart ausgebildet, dass diese mit einem mobilen Empfangsgerät - insbesondere ein Smartphone - verbunden sind. Diese Verbindung kann beispielsweise mittels einer Kabel- und/oder einer kabellosen Verbindung, wie beispielsweise Bluetooth, erfolgen. In a further embodiment, the receiving means 21 1 are designed such that they are connected to a mobile receiving device - in particular a smartphone. This connection can be made for example by means of a cable and / or a wireless connection, such as Bluetooth.

Weiterhin sind die Empfangsmittel 21 1 derart ausgebildet, das empfangene Steuersignal an die Fahrzeugmittel 212 weiterzuleiten. Furthermore, the receiving means 21 1 are designed to forward the received control signal to the vehicle means 212.

In einer weiteren Ausführungsform umfassen die Empfangsmittel 21 1 elektronische Datenverarbeitungselemente, beispielsweise einen Prozessor, Arbeitsspeicher und eine Festplatte, welche dazu ausgebildet sind, das empfangene Steuersignal zu verarbeiten, beispielsweise eine Änderungen und/oder Anpassung des Datenformats auszuführen, und anschließend an die Fahrzeugmittel 212 weiterzuleiten. In a further embodiment, the receiving means 21 1 comprise electronic data processing elements, for example a processor, main memory and a hard disk, which are designed to process the received control signal, for example to carry out a modification and / or adaptation of the data format, and then forward it to the vehicle means 212 ,

Weiterhin umfasst die zweite Vorrichtung 210 Fahrzeugmittel 212 zum Betreiben des automatisierten Fahrzeugs 200. Dazu sind die Fahrzeugmittel 212 beispielsweise derart ausgebildet, das mittels der Empfangsmittel 21 1 empfangene Steuersignal an ein Furthermore, the second device 210 comprises vehicle means 212 for operating the automated vehicle 200. For this purpose, the vehicle means 212 are designed, for example, to receive the control signal received by the receiving means 21 1

Steuergerät des automatisierten Fahrzeugs 200 weiterzuleiten. In einer weiteren Forward control unit of the automated vehicle 200. In another

Ausführungsform sind die Fahrzeugmittel 212 dazu ausgebildet, ausgehend von dem Steuersignal einen Einfluss auf das Fahrverhalten des automatisierten Fahrzeugs 200, beispielsweise in Form einer Richtungs- und/oder einer Geschwindigkeitsänderung, zu nehmen. In einer weiteren Ausführungsform wird von den Fahrzeugmitteln 212 zum Betreiben des automatisierten Fahrzeugs entlang der wenigstens einen Trajektorie 230, zudem eine Lokalisierungseinheit umfasst, welche eine (hoch-) genaue Lokalisierung des automatisierten Fahrzeugs 200 ausführt. Embodiment, the vehicle means 212 are adapted to starting from the Control signal to influence the driving behavior of the automated vehicle 200, for example in the form of a direction and / or a speed change to take. In a further embodiment, of the vehicle means 212 for operating the automated vehicle along the at least one trajectory 230, in addition a localization unit is carried out, which performs a (highly) accurate localization of the automated vehicle 200.

Die zweite Vorrichtung 210 umfasst eine Umfeldsensorik 201 zum Erfassen der The second device 210 comprises an environment sensor 201 for detecting the

Umgebungsdatenwerte, welche insbesondere die vorgegebene Umgebung 220 umfassen. Die Umfeldsensorik 201 umfasst wenigstens einen Sensor und eine Environmental data values, which in particular include the predetermined environment 220. The environment sensor system 201 comprises at least one sensor and one

Auswerteeinheit um die erfassten Umgebungsdatenwerte auszuwerten. In einer weiteren Ausführungsform wird die Umfeldsensorik 201 nicht von der zweiten Vorrichtung 210, sondern von dem automatisierten Fahrzeug 200 umfasst. Dabei ist die zweite Vorrichtung 210 dazu ausgebildet, die Umgebungsdatenwerte von der Umfeldsensorik 201 zu empfangen.  Evaluation unit to evaluate the acquired environmental data values. In a further embodiment, the environment sensor system 201 is not comprised by the second device 210 but by the automated vehicle 200. In this case, the second device 210 is configured to receive the environmental data values from the environment sensor system 201.

Dabei ist der wenigstens eine Sensor beispielsweise als Video- und/oder Radar- und/oder Ultraschall- und/oder Lidarsensor und/oder als weiterer Sensortyp - welche dazu geeignet ist, die Umgebung des automatisierten Fahrzeugs 200 zu erfassen - ausgebildet. In this case, the at least one sensor is designed, for example, as a video and / or radar and / or ultrasound and / or lidar sensor and / or as a further type of sensor - which is suitable for detecting the surroundings of the automated vehicle 200.

In einer weiteren Ausführungsform ist die Umfeldsensorik 201 derart ausgebildet, dass diese beispielsweise eine Recheneinheit (Prozessor, Arbeitsspeicher, Festplatte, In a further embodiment, the environment sensor system 201 is designed such that it, for example, a computing unit (processor, memory, hard disk,

Software) umfasst, wobei die Recheneinheit dazu ausgebildet ist, eine Klassifizierung und/oder Beschreibung der Umgebungsdatenwerte auszuführen. Software), wherein the computing unit is configured to perform a classification and / or description of the environmental data values.

Beispielsweise sind die Recheneinheit sowie die entsprechende Software dazu ausgebildet, aus den Umgebungsdatenwerten einen Infrastrukturzustand und/oder einen Wetterzustand und/oder einen Verkehrszustand und/oder einen Umweltzustand zu bestimmen. For example, the arithmetic unit and the corresponding software are designed to determine from the environmental data values an infrastructure state and / or a weather state and / or a traffic state and / or an environmental state.

Die zweite Vorrichtung 210 umfasst weiterhin Sendemittel 213 zum Übertragen der Umgebungsdatenwerte, wobei die Sendemittel 213 dazu ausgebildet sind, die The second device 210 further comprises transmitting means 213 for transmitting the environmental data values, wherein the transmitting means 213 are adapted to the

Umgebungsdatenwerte mittels einer Funkverbindung an die erste Vorrichtung 1 10 zu übertragen. In einer weiteren Ausführungsform sind die Sendemittel 213 derart ausgebildet, dass diese mit einer - ausgehend von der zweiten Vorrichtung 210 - extern angeordneten Sende- und/oder Empfangseinheit, mittels einer Kabel- und/oder kabellosen Verbindung, verbunden sind. Dabei kann es sich beispielsweise um ein Navigationssystem, welches von dem Fahrzeug 200 umfasst wird, handeln. Transmit ambient data values to the first device 110 via a radio link. In a further embodiment, the transmission means 213 are designed such that they are connected to a transmission and / or reception unit arranged externally, starting from the second device 210, by means of a cable and / or wireless connection. This may be, for example, a navigation system, which is included in the vehicle 200.

In einer weiteren Ausführungsform sind die Sendemittel 213 derart ausgebildet, dass diese mit einem mobilen Empfangsgerät - insbesondere ein Smartphone - verbunden sind. Diese Verbindung kann beispielsweise mittels einer Kabel- und/oder einer kabellosen Verbindung, wie beispielsweise Bluetooth, erfolgen. In a further embodiment, the transmission means 213 are designed such that they are connected to a mobile receiver - in particular a smartphone. This connection can be made for example by means of a cable and / or a wireless connection, such as Bluetooth.

In einer weiteren Ausführungsform umfassen die Sendemittel 213 elektronische In a further embodiment, the transmission means 213 comprise electronic

Datenverarbeitungselemente, beispielsweise einen Prozessor, Arbeitsspeicher und eine Festplatte, welche dazu ausgebildet sind, die Umgebungsdatenwerte zu verarbeiten, beispielsweise eine Änderungen und/oder Anpassung des Datenformats auszuführen, und anschließend an die erste Vorrichtung 1 10 zu übertragen. Data processing elements, for example a processor, main memory and a hard disk, which are designed to process the environmental data values, for example to carry out a modification and / or adaptation of the data format, and then to transmit them to the first device 110.

In einer weiteren Ausführungsform sind die Empfangsmittel 21 1 und die Sendemittel 213 - entsprechend den oben ausgeführten Beschreibungen - als gemeinsame Sende- und Empfangsmittel ausgebildet. In a further embodiment, the receiving means 21 1 and the transmitting means 213 - in accordance with the descriptions set out above - are designed as common transmitting and receiving means.

Figur 3 zeigt ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens 300. Dabei befindet sich ein automatisiertes Fahrzeug 200 auf einer Straße, welche sich zumindest teilweise in einer vorgegebenen Umgebung 220 befindet, die nach vorgegebenen ersten Kriterien nicht vollständig von einer zweiten Karte 402 umfasst wird. FIG. 3 shows an exemplary embodiment of the method 300 according to the invention. In this case, an automated vehicle 200 is located on a road which is at least partially located in a predetermined environment 220 which is not completely covered by a second map 402 according to predefined first criteria.

Das Erstellen 340 der ersten Karte 401 erfolgt, indem die erste Vorrichtung 1 10, welche hier beispielhaft von einem Server 100 umfasst wird, ein Steuersignal an das The creation 340 of the first card 401 is performed by the first device 1 10, which is here exemplified by a server 100, a control signal to the

automatisierte Fahrzeug 200 derart überträgt, dass das automatisierte Fahrzeug 200 automatisiert entlang wenigstens einer Trajektorie 230 die vorgegebene Umgebung 220 anfährt und diese vorgegebene Umgebung 220 in Form von Umgebungsdatenwerten erfasst. automated vehicle 200 transmits such that the automated vehicle 200 automatically approaches the predetermined environment 220 along at least one trajectory 230 and detects this predetermined environment 220 in the form of environmental data values.

Die erfassten Umgebungsdatenwerte werden anschließend an die erste Vorrichtung 1 10 übertragen und von der ersten Vorrichtung 1 10 empfangen. Die erste Vorrichtung erstellt abhängig von den Umgebungsdatenwerten die erste Karte 401 und stellt diese derart bereit, dass die erste Karte 401 von einer externen Sende- und/oder Empfangseinheit 500 angefordert und empfangen werden kann. The acquired environmental data values are then transmitted to the first device 110 and received by the first device 110. The first device creates and sets the first map 401 depending on the environmental data values ready that the first card 401 can be requested and received by an external transmitting and / or receiving unit 500.

Figur 4 zeigt beispielhaft eine zweite Karte 402 (Figur 4a), welche gegenüber der ebenfalls beispielhaft gezeigten ersten Karte 401 (Figur 4b), nach ersten vorgegebenen Kriterien unvollständig ist. FIG. 4 shows, by way of example, a second map 402 (FIG. 4a), which is incomplete in comparison with the first map 401 (FIG. 4b), likewise shown by way of example, according to first predetermined criteria.

Hierbei ist die zweite Karte 402 derart unvollständig, dass wenigstens die vorgegebene Umgebung 220 in Form von Datenwerten fehlt. In einer weiteren Ausführungsform ist beispielsweise der Straßenverlauf vollständig von der zweiten Karte 402 umfasst, aber es fehlt eine Beschreibung eines Infrastrukturzustands, insbesondere einen Reibwert betreffend, und/oder eines Wetterzustands und/oder eines Verkehrszustands und/oder eines Umweltzustands. Die erste Karte 401 entspricht der ergänzten zweiten Karte 402, indem die zweite Karte 402 mittels Umgebungsdatenwerte derart ergänzt wird, dass die zweite Karte 402 nach zweiten vorgegebenen Kriterien nicht mehr unvollständig ist. Here, the second map 402 is so incomplete that at least the predetermined environment 220 is missing in the form of data values. In a further embodiment, for example, the road course is completely covered by the second map 402, but a description of an infrastructure state, in particular a friction value, and / or a weather state and / or a traffic state and / or an environmental state is missing. The first card 401 corresponds to the supplemented second card 402 in that the second card 402 is supplemented by means of ambient data values such that the second card 402 is no longer incomplete according to second predetermined criteria.

Figur 5 zeigt ein Ausführungsbeispiel eines Verfahrens 300 zum Erstellen 340 und Bereitstellen 350 einer ersten Karte 401. In Schritt 310 startet das Verfahren 300. FIG. 5 shows an embodiment of a method 300 for creating 340 and providing 350 of a first card 401. In step 310, the method 300 starts.

In Schritt wird ein Steuersignals zum Betreiben wenigstens eines automatisierten In step, a control signal for operating at least one automated one

Fahrzeugs 200 in einer vorgegebenen Umgebung 220 übertragen, wobei das wenigstens eine automatisierte Fahrzeug 200 derart betrieben wird, dass das wenigstens eine automatisierte Fahrzeug 200 abhängig von dem Steuersignal Umgebungsdatenwerte in der vorgegebenen Umgebung 220 erfasst. Vehicle 200 is transmitted in a predetermined environment 220, wherein the at least one automated vehicle 200 is operated such that the at least one automated vehicle 200 detects ambient data values in the predetermined environment 220 depending on the control signal.

In Schritt 330 werden die Umgebungsdatenwerte von dem wenigstens einen In step 330, the environmental data values of the at least one

automatisierten Fahrzeug 200 empfangen. automated vehicle 200 received.

In Schritt 340 wird die erste Karte 401 , abhängig von den Umgebungsdatenwerten, erstellt. In step 340, the first map 401 is created, depending on the environmental data values.

In Schritt 350 wird die erste Karte 401 bereitgestellt. In step 350, the first card 401 is provided.

In Schritt 360 endet das Verfahren 300. In step 360, the method 300 ends.

Claims

Ansprüche  claims Verfahren (300) zum Erstellen (340) und Bereitstellen (350) einer ersten Karte (401 ) mit folgenden Schritten: A method (300) for creating (340) and providing (350) a first map (401), comprising the steps of: - Übertragen (320) eines Steuersignals zum Betreiben wenigstens eines  - transmitting (320) a control signal for operating at least one automatisierten Fahrzeugs (200) in einer vorgegebenen Umgebung (220), o wobei das wenigstens eine automatisierte Fahrzeug (200) derart  automated vehicle (200) in a given environment (220), o wherein the at least one automated vehicle (200) is such betrieben wird, dass das wenigstens eine automatisierte Fahrzeug (200) abhängig von dem Steuersignal Umgebungsdatenwerte in der vorgegebenen Umgebung (220) erfasst;  operating the at least one automated vehicle (200) in response to the control signal to acquire environmental data values in the predetermined environment (220); - Empfangen (330) der Umgebungsdatenwerte von dem wenigstens einen  Receiving (330) the environmental data values from the at least one automatisierten Fahrzeug (200);  automated vehicle (200); - Erstellen (340) der ersten Karte (401 ),  Creating (340) the first card (401), o abhängig von den Umgebungsdatenwerten; und  o depending on the environmental data values; and - Bereitstellen (350) der ersten Karte (401 ).  - providing (350) the first card (401). Verfahren (300) nach Anspruch 1 , dadurch gekennzeichnet, dass Method (300) according to claim 1, characterized in that • das Steuersignal wenigstens eine Trajektorie (230) derart repräsentiert, dass das wenigstens eine automatisierte Fahrzeug (200) die Umgebungsdatenwerte wenigstens teilweise entlang der wenigstens einen Trajektorie (230) erfasst.  • the control signal represents at least one trajectory (230) such that the at least one automated vehicle (200) detects the environmental data values at least partially along the at least one trajectory (230). Verfahren (300) nach Anspruch 1 , dadurch gekennzeichnet, dass Method (300) according to claim 1, characterized in that • das Übertragen (320) des Steuersignals zum Betreiben des wenigstens einen automatisierten Fahrzeugs (200) in der vorgegebenen Umgebung (220) erfolgt,  Transmitting (320) the control signal for operating the at least one automated vehicle (200) in the predetermined environment (220), o indem die vorgegebene Umgebung (220) mittels einer zweiten Karte (402) bestimmt wird, wobei die zweite Karte (402) wenigstens bezüglich der vorgegeben Umgebung (220) nach ersten  o by determining the predetermined environment (220) by means of a second map (402), wherein the second map (402) after at least the predetermined environment (220) after first vorgegebenen Kriterien unvollständig ist. Verfahren (300) nach Anspruch 1 , dadurch gekennzeichnet, dass predetermined criteria is incomplete. Method (300) according to claim 1, characterized in that • die Umgebungsdatenwerte in der vorgegebenen Umgebung (220)  • the environmental data values in the given environment (220) o einen Infrastrukturzustand,  o an infrastructure condition, ■ insbesondere einen Reibwert, ■ in particular a coefficient of friction, und/oder  and or o einen Wetterzustand und/oder  o a weather condition and / or o einen Verkehrszustand und/oder  o a traffic condition and / or o einen Umweltzustand  o an environmental condition repräsentieren.  represent. Verfahren (300) nach Anspruch 3, dadurch gekennzeichnet, dass Method (300) according to claim 3, characterized in that • das Erstellen (340) der ersten Karte (401 ) erfolgt,  The creation (340) of the first card (401) takes place, o indem die zweite Karte (402) mittels der Umgebungsdatenwerte derart ergänzt wird, dass die zweite Karte (402) nach zweiten vorgegebenen Kriterien nicht mehr unvollständig ist und o die erste Karte (401 ) der ergänzten zweiten Karte (402) entspricht.  o in that the second map (402) is supplemented by means of the environment data values such that the second map (402) is no longer incomplete according to second predetermined criteria and o corresponds to the first map (401) of the supplemented second map (402). Verfahren (300) nach Anspruch 2, dadurch gekennzeichnet, dass Method (300) according to claim 2, characterized in that • die Umgebungsdatenwerte mittels wenigstens einer Umfeldsensorik (201 ) des wenigstens einen automatisierten Fahrzeugs (200) erfasst werden.  The environmental data values are detected by means of at least one environmental sensor system (201) of the at least one automated vehicle (200). Verfahren (300) nach Anspruch 1 , dadurch gekennzeichnet, dass Method (300) according to claim 1, characterized in that • das Bereitstellen (350) der ersten Karte (401 ) derart erfolgt,  The provision of (350) the first card (401) takes place in such a way o dass die erste Karte (401 ) von einer externen Sende- und/oder Empfangseinheit (500) angefordert und empfangen wird. o that the first card (401) from an external transmitting and / or receiving unit (500) is requested and received. Erste Vorrichtung (1 10) zum Erstellen (340) und Bereitstellen (350) einer ersten Karte (401 ) mit folgenden Mitteln: First apparatus (110) for creating (340) and providing (350) a first card (401) by the following means: - Erste Mittel (1 1 1 ) zum Übertragen (320) eines Steuersignals zum Betreiben wenigstens eines automatisierten Fahrzeugs (200) in einer vorgegebenen Umgebung (220),  First means (1 1 1) for transmitting (320) a control signal for operating at least one automated vehicle (200) in a predetermined environment (220), o wobei das wenigstens eine automatisierte Fahrzeug (200) derart  o wherein the at least one automated vehicle (200) is such betrieben wird, dass das wenigstens eine automatisierte Fahrzeug (200) abhängig von dem Steuersignal Umgebungsdatenwerte in der vorgegebenen Umgebung (220) erfasst;  operating the at least one automated vehicle (200) in response to the control signal to acquire environmental data values in the predetermined environment (220); - Zweite Mittel (1 12) zum Empfangen (330) der Umgebungsdatenwerte von dem wenigstens einen automatisierten Fahrzeug (200);  Second means (1 12) for receiving (330) the environmental data values from the at least one automated vehicle (200); - Dritte Mittel (1 13) zum Erstellen (340) der ersten Karte (401 ),  Third means (13) for creating (340) the first map (401), o abhängig von den Umgebungsdatenwerten; und  o depending on the environmental data values; and - Vierte Mittel (1 14) zum Bereitstellen (350) der ersten Karte (401 ).  - Fourth means (1 14) for providing (350) the first card (401). Erste Vorrichtung (1 10) nach Anspruch 8, dadurch gekennzeichnet, dass First device (1 10) according to claim 8, characterized in that • die ersten Mittel (1 1 1 ) und/oder die zweiten Mittel (1 12) und/oder die dritten Mittel (1 13) und/oder die vierten Mittel (1 14) dazu ausgebildet sind, ein Verfahren (300) gemäß wenigstens einem der Verfahrensansprüche 2 bis 7 auszuführen.  • 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 7. 10. Zweite Vorrichtung (210) zum Erfassen und Übertragen von 10. Second device (210) for detecting and transmitting Umgebungsdatenwerten mit folgenden Mitteln:  Environmental data values by the following means: - Empfangsmittel (21 1 ) zum Empfangen eines Steuersignals zum Betreiben eines automatisierten Fahrzeugs (200),  - receiving means (21 1) for receiving a control signal for operating an automated vehicle (200), o wobei das Steuersignal wenigstens eine Trajektorie (230) repräsentiert; o wherein the control signal represents at least one trajectory (230); - Fahrzeugmittel (212) zum Betreiben des automatisierten Fahrzeugs (200), o abhängig von dem Steuersignal, Vehicle means (212) for operating the automated vehicle (200), o depending on the control signal, o entlang der wenigstens einen Trajektorie (230);  o along the at least one trajectory (230); - Umfeldsensorik (201 ) zum Erfassen der Umgebungsdatenwerte,  Environment sensor system (201) for acquiring the environmental data values, o wenigstens teilweise entlang der wenigstens einen Trajektorie (230); und  o at least partially along the at least one trajectory (230); and - Sendemittel (213) zum Übertragen der Umgebungsdatenwerte.  - transmitting means (213) for transmitting the environmental data values.
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