System and method for updating a digital map in a driver assistance system

• US 9,733,085 B2
• Filed: 07/19/2013
• Issued: 08/15/2017
• Est. Priority Date: 07/19/2012
• Status: Active Grant

• Current Assignee: Continental Automotive GmbH (Continental AG)
• Original Assignee: Continental Automotive GmbH (Continental AG)
• Inventors: Sthlin, Ulrich, Eckert, Alfred
• Primary Examiner(s): Do, Truc M
• Assistant Examiner(s): WHITTINGTON, JESS G
• Application Number:
  US13/946,809
• Publication Number:
  US 20140025292A1
• Time in Patent Office: 1,488 Days
• Field of Search: None
• CPC Class Codes: G01C 21/3896 Transmission of map data from central databases
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0141 for traffic information dissemination

Abstract

A system and method for updating a digital map for a driver assistance system in a vehicle. The digital map contains map data having coordinates and attributes for characterizing subregions of an overall region of the digital map. The system includes a base station and a plurality of vehicles, each equipped with a driver assistance system. The base station has at least one transmission unit for sending updated map data having updated attributes to the driver assistance systems. The driver assistance system has a memory unit for storing map data from at least a portion of the digital map, a receiver unit for receiving the updated map data sent by the base station and a control unit for updating the stored map data using the received updated map data.

Claims

1. A system that updates a digital map of a driver assistance system in a vehicle, wherein the digital map contains map data having coordinates and attributes characterizing subregions of an overall region depicted by the digital map, wherein the system comprises:

a base station; and

a plurality of vehicles, each vehicle having a driver assistance system having;

a memory configured to store map data from at least a portion of the digital map;

a receiver configured to receive updated map data; and

a control unit configured to update the stored map data using the received updated map data;

a navigation receiver configured to ascertain coordinates of the vehicle; and

a transmitter configured to send the coordinates of the vehicle to the base station;

the base station having;

at least one base station transmitter configured to send the updated map data having updated attributes to the receiver of the driver assistance systems;

a base station receiver configured to receive the coordinates of the vehicles;

a base station memory configured to store the coordinates of the vehicles; and

a computation unit configured to select, for each of the subregions, those of the stored coordinates of the vehicles that are situated within the subregion, and to use these stored coordinates of the vehicle to update the attributes of this subregion,

wherein each of the subregions is defined as a single square grid segment, each subregion covering a uniform area of the overall region defined by the digital map,

wherein at least one of the vehicles has a respective sensor system configured to capture at least one driving dynamics measured variable from the vehicle, the sensor system being connected to the driver assistance system of the vehicle and transmitting the at least one driving dynamics measured variable,

wherein each driver assistance system is configured to send the at least one driving dynamics measured variable together with the coordinates of the vehicle to the base station,

wherein the computation unit of the base station is configured to update the attributes of the digital map using at least the received driving dynamics measured variables and the coordinates of the vehicles, the received driving dynamics measured variables and the coordinates of the vehicles being validated against one another and processed using statistical data evaluations by the computation unit of the base station, and to transmit the updated attributes of the digital map to the driver assistance systems of the vehicles,

wherein the driver assistance systems are configured to actively engage in controlling the respective vehicles in which the driver assistance systems are located, based on the updated attributes of the digital map received from the base station,

wherein the computation unit of the base station is configured to determine a time of the update of each of the attributes by the computation unit and to actuate the base station transmitter to send the times when each of the attributes were updated by the computation unit together with the updated attributes to the driver assistance systems, and

wherein the time of the update of each of the attributes is used to determine whether the attributes are admissible for a particular driver assistance function of the driver assistance systems.

2. The system as claimed in claim 1,

wherein at least one of the control units is configured to use the coordinates of the respective vehicle to check the attributes of the digital map that are stored for these coordinates of the vehicle and to send a result of this check to the base station,

wherein the computation unit of the base station updates the attributes based at least in part on the result.

3. The system as claimed in claim 2,

wherein the map data contains one or more attributes comprising:

association of the subregion with a traffic network,

association of the subregion with a road network,

association of the subregion with a traffic route in the traffic network,

association of the subregion with a road,

association of the subregion with a traffic lane on the traffic route,

curvature of the traffic route,

curve of the traffic route lane information from the traffic route, including at least one selected from the group consisting of lane direction, lane change options, and turn off options,

presence of an obstruction within the subregion, including at least one selected from the group consisting of presence of roadwork, closure, diversion in the course of the traffic route from an original course of the traffic route, and a current deviation in the course of the traffic route from an original course of the traffic route,

type of the traffic route,

nature of the traffic route and

current state of the traffic route,

current state of a negotiable surface of the traffic route.

4. The system as claimed in claim 1,

wherein a plurality of or all the vehicles have a respective sensor system configured to capture at least one driving dynamic measured variable from the vehicle, the respective sensor system connected to the driver assistance system of the vehicle to transmit the at least one driving dynamics measured variable,

wherein each of the respective driver assistance systems uses the driving dynamics measured variables to check stored attributes associated with the coordinates of the vehicle and to send the result of this check to the base station,

wherein the computation unit of the base station is configured to update the attributes of the digital map using the results received from these vehicles for checks on the attributes.

5. The system as claimed in claim 1, wherein the at least one driving dynamics measured variable from the vehicle captured by the sensor system of the vehicle is at least one selected from the group consisting of:

speed of the vehicle,

longitudinal acceleration of the vehicle,

transverse acceleration of the vehicle,

vertical acceleration of the vehicle,

rev counts for an engine of the vehicle,

rev counts for one wheels of the vehicle,

rev counts for a plurality of or all the wheels of the vehicle,

steering wheel angle of the vehicle,

side slip angle of the vehicle,

yaw rate of the vehicle,

roll rate of the vehicle,

pitch rate of the vehicle,

slippage of the wheels of the vehicle,

coefficient of friction of the wheels of the vehicle, and

energy consumption of the vehicle.

6. The system as claimed in claim 1, wherein the map data from each of the subregions contains at least one attribute characterizing the subregion comprising:

a statistical distribution function for one or more of the driving dynamics measured variables of the vehicles in this subregion, particularly a speed distribution and/or acceleration distribution for the subregion,

a statistical measured variable, derived from a statistical distribution function for at least one driving dynamic measured variables of the vehicles in this subregion, comprising at least one of a mean, a median, a standard deviation, a minimum and/or a maximum of the driving dynamics measured variable or a correlation of the driving dynamics measured variables, particularly an average speed of the vehicles in this subregion,

a functional relationship between a plurality of the driving dynamics measured variables;

a functional relationship between the speed and transverse acceleration of the vehicles within the subregion,

a typical driving style of the vehicles in this subregion, particularly a sporty driving style or a uniform driving style,

an average energy consumption of the vehicles within the subregion,

wherein the computation unit of the base station is configured to update this at least one attribute by using the driving dynamics measured variables received from the vehicles for each of the subregions.

7. The system as claimed in claim 1,

wherein the driver assistance systems of the vehicles are configured to send to the base station at least one feature characterizing the vehicle comprising:

vehicle type,

vehicle weight,

propulsion type of the vehicle,

type of tires on the vehicle,

type of motorization of the vehicle,

average energy consumption of the vehicle,

wherein the computation unit of the base station is configured to update the attributes of the digital map by taking this feature into account.

8. The system as claimed in claim 1,

wherein a plurality of the driver assistance systems of the vehicles are configured to send at least one feature characterizing a driver comprising

age of the driver,

sex of the driver,

driving style of the driver,

to the base station,

wherein the computation unit of the base station is configured to update the attributes of the digital map based at least in part on the at least one feature of the driver.

9. The system as claimed in claim 1,

wherein the control units of a plurality of the driver assistance systems are configured to automatically determine at least one selected from the group consisting of a type, scope and time of the updated map data required by the base station, using at least one selected from the group consisting of current coordinates of the vehicle, a driving style of a driver, a current speed of the vehicle and inputs from the driver, and to send an appropriate request signal to the base station,

wherein the computation unit of the base station is configured to transmit the updated map data to the driver assistance systems based at least in part on request signals received from the driver assistance systems.

10. A method for updating a digital map for a driver assistance system in a vehicle, wherein the digital map contains map data having coordinates and attributes for characterizing subregions of an overall region depicted by the digital map, wherein a plurality of vehicles each have a driver assistance system having a memory, comprising:

storing at least one portion of the map data by each of the memories;

receiving, by receivers in the driver assistance systems, updated map data having updated attributes to the driver assistance systems from at least one base station transmitter;

updating the map data stored in the respective memory of the driver assistance systems by the control units of the driver assistance systems using the received updated map data;

ascertaining coordinates for each of the vehicles using a navigation receiver in the driver assistance system of each of the vehicles;

sending the coordinates to the base station by a transmitter in each of the driver assistance systems;

receiving the coordinates by the base station using a receiver in the base station;

storing the coordinates using a memory in the base station;

selecting the stored coordinates of the vehicles that are situated within the subregion for each of the respective subregions by a computation unit in the base station; and

updating the attributes of the subregion using the selected stored coordinates of the vehicles,

wherein each of the subregions is defined as a single square grid segment, each subregion covering a uniform area of the overall region defined by the digital map,

wherein at least one of the vehicles has a respective sensor system each respective sensor system capturing at least one driving dynamics measured variable from the vehicle, the sensor system connected to the driver assistance system of the vehicle transmitting the at least one driving dynamics measured variable,

wherein each driver assistance system sends the at least one driving dynamics measured variable together with the coordinates of the vehicle to the base station,

wherein the computation unit of the base station updates the attributes of the digital map using at least the received driving dynamics measured variables and the coordinates of the vehicles, the received driving dynamics measured variables and the coordinates of the vehicles being validated against one another and processed using statistical data evaluations by the computation unit of the base station, and transmits the updated attributes of the digital map to the driver assistance systems of the vehicles,

wherein the driver assistance systems actively engage in controlling the respective vehicle in which the driver assistance systems are located, based on the updated attributes of the digital map received from the base station,

wherein the computation unit of the base station is configured to determine a time of the update of each of the attributes by the computation unit and to actuate the base station transmitter to send the times when each of the attributes were updated by the computation unit together with the updated attributes to the driver assistance systems, and

wherein the time of the update of each of the attributes is used to determine whether the attributes are admissible for a particular driver assistance function of the driver assistance systems.