METHOD FOR VERIFYING A DIGITAL MAP OF A MORE HIGHLY AUTOMATED VEHICLE (HAV), ESPECIALLY OF A HIGHLY AUTOMATED VEHICLE

• US 20200133304A1
• Filed: 06/04/2018
• Published: 04/30/2020
• Est. Priority Date: 07/07/2017
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hasberg, Carsten, Pauls, Jan-Hendrik
• Granted Patent: US 11,435,757 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04W 4/02 Services making use of location information

Abstract

A method for verifying a digital-map of a more highly-automated-vehicle (HAV), especially of an HAV, including: S1—providing a digital-map or a highly accurate digital-map, in an HAV driver-assistance-system; S2—determining a present vehicle-position and locating the vehicle-position in the digital-map; S3—providing at least one setpoint-feature-property of at least one feature in an HAV-environment; S4—detecting at least one actual-feature-property of a feature in the HAV-environment based at least in part on the setpoint-feature-property, the detection being performed with at least one sensor; S5—comparing the actual-feature-property to the setpoint-feature-property and determining at least one difference-value based on the comparison; S6—verifying the digital-map based at least in part on the difference-value, the digital-map being classified as not up-to-date if the difference-value reaches/exceeds a specified-threshold-value of a deviation, and being classified as up-to-date if the difference-value remains below the specified-threshold-value of the deviation. The invention also relates to a corresponding system and computer program.

Claims

1-11. -11. (canceled)

12. A method for verifying a digital map of a more highly automated vehicle (HAV) or a highly automated vehicle (HAV), the method comprising:

providing a digital map, including a highly accurate digital map, in a driver assistance system of the HAV;

determining a present vehicle position and locating the vehicle position in the digital map;

providing at least one setpoint feature property of at least one feature in an environment of the HAV;

detecting at least one actual feature property of a feature in the environment of the HAV at least in part based on the setpoint feature property, the detection being carried out with the aid of at least one sensor;

comparing the actual feature property to the setpoint feature property and determining at least one difference value as a result of the comparison;

verifying the digital map at least in part based on the difference value, the digital map being classified as not up-to-date if the difference value reaches or exceeds a specified threshold value of a deviation, and being classified as up-to-date if the difference value remains below the specified threshold value of the deviation.

13. The method of claim 12, further comprising:

passing on information regarding the vehicle position and the difference value to a central server.

14. The method of claim 12, wherein if the map is classified as not up-to-date, the driver assistance system requests an update of the digital map from a central server.

15. The method of claim 12, wherein the at least one setpoint feature property of the at least one feature is stored in the digital map, and wherein a plurality of setpoint feature properties of in turn a plurality of features is stored in the digital map.

16. The method of claim 12, wherein a plurality of sensors are used to detect the at least one feature property.

17. The method of claim 12, wherein the providing of the setpoint feature property of at least one feature includes the selection of at least one of a multitude of possible features, the selection being made by performing the following:

creating a feature model, the feature model describing with which available sensors and under what conditions, especially at what observation angle and/or at what distance a feature is able to be observed;

creating a sensor model, the sensor model describing which part of the map the sensors available in each instance are currently able to sense with what specification, especially with what resolution and/or with what noise performance;

creating an environment model, the environment model describing whether a feature is currently detectable or is hidden by static or dynamic objects in the environment of the HAV;

wherein information regarding static objects is taken from the digital map, while dynamic objects are ascertained from processed sensor data of the at least one sensor.

18. The method of claim 17, wherein the method includes the task that from the feature model, the sensor model and the environment model, an expectation hypothesis is generated for a selected feature, and verified.

19. The method of claim 12, wherein the feature includes at least one of a road marking, a reflector post, a guardrail, a traffic light, a traffic sign, a passable area, a traffic density, a 3-D world model and/or a speed profile.

20. The method of claim 12, wherein the setpoint feature property and the actual feature property are in each case at least one property of the following properties of the feature:

a geographic position, dimensions, a color, and a location relative to the HAV.

21. A driver assistance system for controlling a more highly automated vehicle (HAV) or a highly automated vehicle (HAV), comprising:

at least one sensor for sensing an actual feature property of a feature in the environment of the HAV;

a storage module for storing a digital map, including a highly accurate digital map, the storage module including a storage module integrated into the HAV or a central server;

a position module for determining a position of the HAV, the position module including a global positioning system (GPS) module; and

a control device to exchange data with the storage module, the sensor and the position module and to locate the vehicle position, determined by the position module, in the digital map;

wherein the control device is configured for verifying the digital map of the more highly automated vehicle (HAV) or a highly automated vehicle (HAV), by performing the following;

providing the digital map, including a highly accurate digital map, in a driver assistance system of the HAV;

determining a present vehicle position and locating the vehicle position in the digital map;

providing at least one setpoint feature property of at least one feature in an environment of the HAV;

detecting at least one actual feature property of a feature in the environment of the HAV at least in part based on the setpoint feature property, the detection being carried out with the aid of at least one sensor;

comparing the actual feature property to the setpoint feature property and determining at least one difference value as a result of the comparison;

verifying the digital map at least in part based on the difference value, the digital map being classified as not up-to-date if the difference value reaches or exceeds a specified threshold value of a deviation, and being classified as up-to-date if the difference value remains below the specified threshold value of the deviation.

22. A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for verifying a digital map of a more highly automated vehicle (HAV), especially of a highly automated vehicle, by performing the following;

providing a digital map, including a highly accurate digital map, in a driver assistance system of the HAV;

determining a present vehicle position and locating the vehicle position in the digital map;

providing at least one setpoint feature property of at least one feature in an environment of the HAV;

detecting at least one actual feature property of a feature in the environment of the HAV at least in part based on the setpoint feature property, the detection being carried out with the aid of at least one sensor;

comparing the actual feature property to the setpoint feature property and determining at least one difference value as a result of the comparison;

verifying the digital map at least in part based on the difference value, the digital map being classified as not up-to-date if the difference value reaches or exceeds a specified threshold value of a deviation, and being classified as up-to-date if the difference value remains below the specified threshold value of the deviation.