Method and device for producing road and street data for a digital map

• US 20020085095A1
• Filed: 12/19/2001
• Published: 07/04/2002
• Est. Priority Date: 12/28/2000
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Janssen, Holger
• Granted Patent: US 7,345,699 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network

Abstract

The method for producing road or street section data for a digital map includes providing a vehicle (7) with an image producing device (1) for generating image data of surroundings of the vehicle and a position determining device (4) for generating vehicle position data; driving the vehicle over at least one road or street section (8) and at the same time simultaneously collecting the image data with the image producing device (1) and acquiring the vehicle position data with the position determining device (4); analyzing the image data with an image processing device (2), in order to assemble a road or street section description; and correlating the vehicle position data and the road or street section description with a correlation device, in order to produce the road or street section data for the digital map. The invention also includes an apparatus for producing the road or street section description according to the method of the invention.

Claims

1. A method for producing road or street section data for a digital map, said method comprising the steps of:

a) providing a vehicle (7) with an image producing device (1) and a position determining device (4), said image producing device (1) comprising means for generating image data of surroundings of the vehicle and said position determining device (4) comprising means for generating vehicle position data;

b) driving said vehicle over at least one road or street section (8);

c) during the driving of the vehicle of step b), simultaneously collecting said image data with said image producing device (1) and acquiring said vehicle position data with said position determining device (4);

d) analyzing said image data with an image processing means (2), in order to put together or assemble a road or street section description; and

e) correlating said vehicle position data and said road or street section description with a correlation means (5), in order to produce said road or street section data for said digital map.

2. The method as defined in claim 1, wherein said image producing device (1) comprises at least one camera.

3. The method as defined in claim 1, wherein said image producing device (1) comprises a monocular image generating device or a stereoscopic image generating device.

4. The method as defined in claim 1, wherein said vehicle position data comprises at least one absolute position of said vehicle (7) in relation to a fixed first coordinate system (24).

5. The method as defined in claim 1, wherein the vehicle position data comprises an orientation of said vehicle in relation to an origin of a fixed first coordinate system (24).

6. The method as defined in claim 1, wherein said road or street section description includes a course of the at least one road or street section (8) relative to the vehicle (7), a spacing (10) between a vehicle longitudinal axis (A) and a street or road edge (E), a width (12) of the at least one street or road section (8), a number of lanes (9) on the at least one road or street section (8), a width (11) of a lane (9) in which the vehicle (7) travels, a curvature of the at least one street or road section (8), standing or parking space information, cycle lane information, lane quality information, traffic sign information, building information or alternative lane guidance.

7. The method as defined in claim 1, wherein the road or street section data includes the road or street section description at least partially defined in relation to a first coordinate system (24).

8. The method as defined in claim 1, wherein the road or street section data includes a statement regarding a course of at least one road or street section (8) in relation to a fixed first coordinate system (24).

9. The method as defined in claim 1, further comprising comparing said road or street section data with pre-existing road or street section data from a pre-existing digital map (19) by means of a comparison means (21), in order to detect contingent deviations.

10. The method as defined in claim 9, further comprising correcting or updating said pre-existing digital map with said contingent deviations obtained during the comparing.

11. The method as defined in claim 9 or 10, further comprising transmitting said contingent deviations or said road or street section data to a central station (26) for reception by the central station (26).

13. The device as defined in claim 12, wherein said road or street section description includes a course of the at least one road or street section (8) relative to the vehicle (7), a spacing (10) between a vehicle longitudinal axis (A) and a street or road edge (E), a width (12) of the at least one street or road section (8), a number of lanes (9) on the at least one road or street section (8), a width (11) of a lane (9) in which the vehicle (7) travels, a curvature of the at least one street or road section (8), standing or parking space information, cycle lane information, lane quality information, traffic sign information, building information or alternative lane guidance.

14. The device as defined in claim 12, further comprising comparison means (21) for comparing said road or street section data that are produced with corresponding pre-existing road or street section data of a pre-existing digital map (19) in order to detect contingent deviations.

15. The device as defined in claim 12, further comprising communication means (23) for transmission of information entities to a central station (26) for reception by said central station.

16. The device as defined in claim 12, further comprising communication means (23) for exchange of information entities with a central station (26).

17. The device as defined in claim 12, further comprising an interface device for supplying said road or street section description to said correlation means, and wherein said interface device is a hardware device or a software device.

18. The device as defined in claim 12, further comprising an interface device for supplying said vehicle position data to said correlation means, and wherein said interface device is a hardware device or a software device.

12. A device for producing road or street section data for a digital map, said device comprising

a vehicle (7) for traveling over roads or streets, said vehicle comprising an image producing device (1) for generating image data of surroundings of the vehicle and a position determining device (4) for generating vehicle position data in relation to a fixed first coordinate system (24);

image processing means (2) for analyzing said image data to produce a road or street section description, said road or street section description including at least one statement regarding a course of at least one road or street section (8) over which said vehicle travels in relation to a movable second coordinate system (25), said movable second coordinate system (25) being movable in relation to said fixed first coordinate system (24); and

correlation means (5) for correlating said vehicle position data and said road or street section description in order to produce said road or street section data for said digital map in relation to said fixed first coordinate system (24).