Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
  • G01C21/3804—Creation or updating of map data
  • G01C21/3833—Creation or updating of map data characterised by the source of data
  • G01C21/3848—Data obtained from both position sensors and additional sensors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
  • G01C21/30—Map- or contour-matching
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
  • H04L67/00—Network arrangements or protocols for supporting network services or applications
  • H04L67/01—Protocols
  • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04W—WIRELESS COMMUNICATION NETWORKS
  • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
  • H04W4/02—Services making use of location information
  • H04W4/024—Guidance services
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04W—WIRELESS COMMUNICATION NETWORKS
  • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
  • H04W4/30—Services specially adapted for particular environments, situations or purposes
  • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
  • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/408—Radar; Laser, e.g. lidar

Definitions

• the invention relates to the use of digital maps in vehicles. More particularly, the invention relates to an evaluation module for evaluating data of a digital map, a driver assistance system for a vehicle having such an evaluation module, a security system for a vehicle having such an evaluation module, a vehicle having an evaluation module, a method for evaluating data of a digital map for a vehicle, a program element and a computer readable medium.
• the navigation devices use digital maps.
• the navigation devices are permanently installed in the vehicle or can be mounted as mobile units in the vehicle.
• the described embodiments equally relate to the evaluation module, the driver assistance system, the security system, the vehicle, the method, the program element and the computer-readable medium.
• the features mentioned below for example with regard to the assessment module, the driver assistance system, the safety system or the vehicle, can also be implemented in the method, the program element or the computer-readable medium, and vice versa.
• an evaluation module for evaluating data of a digital map for a vehicle which has a computing unit and an interface.
• the arithmetic unit is used to receive data from the digital map and to carry out the evaluation of the data on the basis of a card's own quality information and / or on the basis of measurement data of an environment sensor system of the vehicle.
• the interface is to pass the rating to Driver assistance system and / or run on a security system of the vehicle, wherein the driver assistance system and / or the security system uses data of the digital map based on the evaluation.
• the arithmetic unit can perform a verification or validation of the digital map data or the entire digital map in the vehicle. This evaluation can be done either on the basis of card-specific quality characteristics or on the basis of sensor data or on the basis of a combination of quality characteristics and sensor data.
• the result of the evaluation is then transferred via the interface to the driver assistance system and / or a safety system of the vehicle.
• the system can then decide based on the rating to what extent it wants to use the digital map data. For example, if the evaluation result has been very positive, the driver assistance system and / or the security system can rely relatively heavily on the corresponding data of the digital map. If, on the other hand, the evaluation result has been relatively poor (for example, because the digital map is out of date or inaccurate at this particular location), the information from the digital map will flow only to a limited extent into driver assistance or safety control.
• digital maps should also be understood to mean maps for Advanced Driver Assistance Systems (ADAS) without navigation.
• ADAS Advanced Driver Assistance Systems
• the vehicle is, for example, a motor vehicle, such as a car, bus or truck, or else a rail vehicle, a ship, an aircraft, - A -
• GPS is representative of all
• GNSS Global Navigation Satellite Systems
• GPS Global Navigation Satellite Systems
• Galileo GPS
• GLONASS Russian
• Compass China
• IRNSS India
• GNSS Global Navigation Satellite Systems
• the position determination of the vehicle can also take place via a cell positioning. This is particularly useful when using GSM or UMTS networks.
• the evaluation of the data of the digital map comprises the determination of a quality and / or a validity of the data.
• map data for driver assistance systems is currently specified and defined by the ADASIS forum or in the MAPS & ADAS project.
• An evaluation of the quality of the data makes it possible to use them to a greater extent than hitherto for driver assistance systems or safety systems. So far, such systems must always assume that the quality of the data is low.
• the evaluation module is designed to determine the validity of the data on the basis of the measurement data of the environmental sensor system.
• the measurement data which are measured by the environment sensors of the environmental sensor system, are therefore used to validate the data.
• This validation may be upstream or downstream of further evaluation steps.
• the validation can for example, take place in a fusion module, which is connected downstream of the arithmetic unit for evaluating the digital map. Also, this fusion module can be housed in the same processing unit (processor). It is also possible that a validation takes place first, followed by an evaluation of the data.
• the card's own quality information comprises information selected from the group consisting of time stamp information, information regarding a measurement accuracy with which the corresponding data was recorded, information regarding a deviation between a measured position of the vehicle and a map. Matching position, information regarding a density of the data and information regarding a type of data on.
• the evaluation of the data comprises an authentication of the data.
• an authentication can be done, for example, by reading out a corresponding certificate with which the digital card is provided.
• the evaluation of the data comprises a determination of an actuality of the data Data, wherein the evaluation module is designed to determine the timeliness of the data via a return channel to a central office.
• the central office is a service provider.
• the environmental sensor measurement data used to evaluate the data are selected from the group consisting of information regarding a traffic lane, a road sign, a structure and a vegetation.
• the environment sensor or environment sensors thus observe the surroundings of the vehicle. With the acquired measurement data can then be determined whether the digital map or the digital map used matches the environment, that is valid.
• the evaluation module is designed to evaluate data of a digital map of a mobile device.
• the evaluation and the evaluated digital map data are then transferred to the driver assistance system and / or the security system of the vehicle. This system can then use the data of the digital map of the mobile device based on the rating.
• the data transmitted to the driver assistance system and / or the safety system via the interface also have, in addition to the evaluation, the corresponding measured position data of the vehicle including corresponding attributes.
• a driver assistance system for a vehicle which has an evaluation module described above.
• a safety system for a vehicle is provided with an evaluation module described above.
• a vehicle is specified with an evaluation module described above.
• a method for evaluating data of a digital map for a vehicle in which data of the digital map are received by a computing unit. This is followed by carrying out an evaluation of the data on the basis of a card-specific quality information and / or on the basis of measurement data of an environment sensor of the vehicle. Furthermore, the evaluation, if necessary together with the evaluated digital map data, is transmitted to a driver assistance system and / or a security system of the vehicle, which uses the data of the digital map on the basis of the evaluation.
• Driver assistance system or the security system is designed such that it can determine on the basis of the evaluation, to which extent the digital map data for the execution of the corresponding assistance functions or safety functions of the vehicle to be used.
• a program element is specified which, when on a processor executes the processor to perform the steps described above.
• the program element z. B be part of a software that is stored on a processor of the vehicle management.
• the processor can also be the subject of the invention.
• this embodiment of the invention comprises a computer program element, which already uses the invention from the beginning, as well as a computer program element, which by updating
• a computer-readable medium having stored thereon a program element which, when executed on a processor, instructs the processor to perform the steps described above.
• FIG. 1 shows an evaluation module and a driver assistance system or safety system according to an embodiment of the invention.
• Fig. 2 shows a vehicle with a center according to an embodiment of the invention.
• FIG. 3 shows a flowchart of a method according to an embodiment of the invention.
• 4 shows an exemplary embodiment for different information levels of a digital map.
• FIG. 1 shows an evaluation module for evaluating data of a digital map for a vehicle and a driver assistance system or safety system 104, 105 connected thereto and corresponding environment sensor system 103.
• the evaluation module has two sub-modules 100, 101.
• the first sub-module 100 is provided with digital map data from z. B. a head unit 102 of a so-called infotainment system or a PND 102, so a primary navigation system
• the first subunit 106 compares timestamp data of the digital map data with the current time.
• the second subunit 107 performs an evaluation of the measurement accuracy of the digital map data.
• the third subunit 108 detects a deviation between a measured GPS position of the vehicle and a map matching position of the vehicle.
• the fourth subunit 109 measures the frequency and density of the digital map data and the fifth subunit 110 determines the type of description of the data.
• the results from the calculations of the subunits are fed to a first arithmetic unit 111, which then makes a comprehensive evaluation of the digital map data, in particular of the digital map data, which correspond to the current position of the vehicle on the basis of this data.
• the corresponding evaluation result is then transferred via the data line 117 to the second sub-module 101, which is, for example, a fusion module which carries out a validation of the digital map data by measuring data of the surroundings sensor system 103.
• the second sub-module 101 which is, for example, a fusion module which carries out a validation of the digital map data by measuring data of the surroundings sensor system 103.
• the environment sensor system 103 has, for example, a camera 114, a radar sensor 115 and / or a lidar sensor 116. Also, ESP sensors can be consulted, which can help to determine the current position of the vehicle (for example, by detecting peculiarities of the roadway, such as crossing a railway sleeper or a sharp bend).
• the measured environment data are likewise transferred to the arithmetic unit 112 of the fusion module 101.
• the arithmetic unit 112 may be combined with the arithmetic unit 111, whereby the data exchange via the data line 117 can be avoided.
• an interface 113 is provided, via which the evaluation in the form of a final result, if appropriate together with the corresponding digital map data, can be transferred to a driver assistance system or a security system 104, 105.
• map data are used for driver assistance systems or safety systems, these systems can so far say nothing about the quality (quality) or the validity (validity) of the map information. However, this is necessary for the purposes of functional safety to support decisions or actions of the systems, such as an autonomous braking or steering intervention, with the map information.
• the evaluation module (which may be composed of two sub-modules 100, 101 or even of a combined overall module), the digital map data are evaluated for quality before being passed on to the driver assistance systems or security systems.
• the evaluation module can also be referred to as a "safety map module”.
• each piece of information in the card receives a timestamp indicating when this information was taken.
• Each position in the map still contains information about the measurement accuracy with which this data was recorded (eg the measurement accuracy of the used (D) GPS hardware). The better this measurement accuracy, the higher the quality of the data is rated.
• certificates or confirmed with other methods of authentication In order to ensure the authenticity of the information in the card, they must be provided with certificates or confirmed with other methods of authentication.
• the type of certificate or the authentication can also be used to evaluate the quality or reliability of the card data. For example, certificates or authentication methods from official bodies (and therefore from third parties) receive a higher quality rating than certificates from manufacturers or individuals.
• the actuality of the data can also be evaluated in real time via a return channel to a service provider. there the actuality of the data can be checked. This way, even data with an old timestamp can still be up to date if no changes have yet been made.
• Authentication can also be used to verify that a card is up-to-date with the manufacturer. This may be significant when a mobile navigation terminal passes the map data to a driver assistance system.
• the authentication certificates can be present in the vehicle as well as obtained from a vehicle external body, eg. B. via a service provider.
• the method described can also be used to provide dynamic information, such as. Congestion information.
• the lanes Via a camera, the lanes can be detected and their course and number are compared with the map data.
• Traffic signs, traffic lights or other traffic signs can be recognized via a camera and compared with the entries in the map.
• Information about bridges, buildings on the roadside, other structures, vegetation can be detected via a camera. This information can be compared with the additional information in the map to evaluate their timeliness.
• Guard rails and other objects can be detected by a radar or lidar sensor. This information can also be compared with the map data.
• the driver assistance system and / or the security system can then make more or less use of the map data.
• an ACC system Adaptive Cruise Control System
• the ACC relies almost exclusively on the environment sensor (eg radar).
• Fig. 1 serves as a basis for the following embodiment.
• the map data are stored in a database.
• the time stamp and the measuring accuracy are linked to the respective data via links and thus represent a kind of "attribute” or "meta-attribute” for this data.
• the current position belongs to the current position Record loaded from the database and the module 100 with the computing unit 111 via z. B. provided a CAN bus.
• This module is referred to below as the "Safety Map Module” (SMM).
• the SMM now evaluates this data and uses the quantities listed above (such as timestamps,
• Measurement accuracy 10.1.10
• an overall assessment is determined from the individual quality assessments.
• the data set now consists of the actual position data including the attributes, the quality ratings and the overall rating.
• a fusion module 101 via CAN bus 117.
• the map data is compared with information from environment sensors 114, 115, 116, as stated above. With these validated data, the so-called e-horizon is now created, which is then made available to the individual driver assistance and system modules 104, 105 via the CAN bus 113 via the interface 113.
• SMM and fusion module can also be integrated on a computing unit, whereby the CAN bus connection 117 is saved.
• the quality of map data can be evaluated using in-card quality information. Further, authentication of the map data, the
• Quality information and up-to-dateness by means of certificates or other authentication mechanisms can be assessed by the type of authentication method and a Validation of the map data by environment sensors done.
• map data from mobile devices can also be used by means of this quality assessment.
• FIG. 2 shows a vehicle 200 according to an exemplary embodiment of the invention and a control center 202 communicating therewith, for example in the form of a service provider.
• the vehicle 200 has the evaluation modules 100, 101, which are combined to form an overall module. Furthermore, a communication device 201 is provided, which is provided for data exchange with the center 202. Furthermore, the vehicle 200 has a camera 114 or one or more other environment sensors, with which the environment can be observed.
• the module 100, 101 makes an evaluation of the digital map data from the memory 102 and forwards the evaluation to the driver assistance system 104 and the security system 105.
• step 301 data of a digital map is accepted by a computing unit.
• this arithmetic unit performs an evaluation of the data based on the card's own quality information.
• step 303 a further evaluation of the data is based on
• Digital maps are often stored in different "layers" in a database, which correspond to these layers different resolutions or different details (roads, signs, ).
• GeoHorizon or eHorizon is used. This gives the systems information about how the road or track looks in front of the vehicle.
• map data For safety applications (driver assistance systems or other safety systems) up-to-date and reliable map data is necessary. However, not all data elements must meet the same requirements. Therefore, the requirements for the different levels of the map data are different.
• MMU memory management unit
• the different levels can be divided according to the quality levels of the respective data to be fulfilled.
• the data are summarized, to which the same quality requirements are put by the applications. This quality level then determines how often the data has to be updated.
• the accuracy of the linking of the various levels can be made dependent on the security requirements.
• a strong link between the levels is realized, e.g. per element, and at less safety-critical levels only per area.
• GeoHorizon or eHorizon only data can be used that corresponds to a certain quality level and / or for which a certain degree of up-to-dateness is ensured or / and which come from a control unit which has a certain security level. It can also be a separation between consumer data (only interesting for navigation and additional services) and security data (important for ADAS and / or
• ADAS or / and security systems have all the necessary data via the GeoHorizon or eHorizon, without insecure user data (consumer data) resulting in quality losses.
• a high-quality, secured data level can be used to validate the data of a data level with lower quality. Only the validated data will be used for ADAS and / or security applications.
• ADAS Advanced Driver Assistance Systems
• a high-quality data plane (for example, certified by a government agency) contains data on road signs.
• a lower quality data level contains data on schools, playgrounds, etc.
• the processing can also be split up and thus used e.g. to create a redundancy.
• FIG. 4 shows an exemplary embodiment for various information levels of a digital map and, based on this, various quality levels, memory locations and update paths.
• a safety-related memory 402 of a central control unit 401 On a safety-related memory 402 of a central control unit 401, all the geometry data of a digital map are stored, such as e.g. Road courses, etc. On a less secure memory 403 of the HeadUnit 102 are then additionally the street names, points of interest, etc. stored.
• the eHorizon (represented by box 405) is provided by the central control unit and only the
• an evaluation module which has a first memory area for storing first data of the digital map, wherein the first memory area satisfies first security requirements. Furthermore, the evaluation module has a second storage area for storing second data of the digital map, wherein the second storage area satisfies second security requirements that differ from the first security requirements.
• the two memory areas may be arranged on different storage media, or on the same storage medium, in which case they are separated from one another, for example by an MMU. It should be noted at this point that the principle of separate memory areas for digital cards can generally be used. An evaluation of the map data is not required.

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• Engineering & Computer Science (AREA)
• Remote Sensing (AREA)
• Radar, Positioning & Navigation (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• Signal Processing (AREA)
• Computer Networks & Wireless Communication (AREA)
• General Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Mathematical Physics (AREA)
• Health & Medical Sciences (AREA)
• Computing Systems (AREA)
• General Health & Medical Sciences (AREA)
• Medical Informatics (AREA)
• Navigation (AREA)
• Traffic Control Systems (AREA)
• Instructional Devices (AREA)

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• 2008
  • 2008-10-28 DE DE102008053531A patent/DE102008053531A1/de not_active Withdrawn
  • 2008-10-28 US US12/740,173 patent/US9310210B2/en active Active
  • 2008-10-28 JP JP2010532545A patent/JP2011503563A/ja active Pending
  • 2008-10-28 CN CN200880114405A patent/CN101842662A/zh active Pending
  • 2008-10-28 WO PCT/EP2008/064578 patent/WO2009056533A1/de active Application Filing
  • 2008-10-28 EP EP08846020A patent/EP2208023A1/de not_active Withdrawn
  • 2008-10-28 RU RU2010121523/11A patent/RU2010121523A/ru unknown
  • 2008-10-28 KR KR1020107012009A patent/KR20100100842A/ko not_active Application Discontinuation

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