Method for verifying a digital map of a higher-level automated vehicle, corresponding device and computer program

A device comprising:

• sensors;
• a memory module storing a digital map;
• and
• a processor, wherein the processor is configured to perform a method, the method comprising:
• determining an instantaneous reference position and localizing the reference position as a map position in the digital map;
• obtaining in a memory device an identification of a plurality of features associated with the localized map position, wherein the memory device further identifies a respective one or more setpoint feature properties for each of the plurality of features;
• detecting surroundings at the instantaneous reference position;
• based on the detected surroundings, for each of the identified plurality of features, determining whether under a current state the setpoint feature properties identified for the respective feature are expected to be sufficiently detectable using one or more of the sensors for performance of a comparison test;
• based on the determination, using the one or more sensors selectively to detect actual feature properties corresponding to the identified respective one or more setpoint feature properties of only those of the one or more of the plurality of features whose associated setpoint feature properties have been determined to be expected to be sufficiently detectable under the current state;
• comparing the detected actual feature properties to the setpoint feature properties to which the detected actual feature properties correspond to thereby ascertain a difference value;
• determining whether the difference value exceeds a predefined threshold deviation;
• and
• in response to a result of the determination regarding the difference value being that the difference value does not exceed the predefined threshold deviation, operating a vehicle based on the digital map.

A non-transitory memory medium on which is stored a computer program including program code that is executable by a computer and that, when executed by the computer, causes the computer to perform a method, the method comprising the following steps:

• obtaining a digital map;
• determining an instantaneous reference position and localizing the reference position as a map position in the digital map;
• obtaining in a memory device an identification of a plurality of features associated with the localized map position, wherein the memory device further identifies a respective one or more setpoint feature properties for each of the plurality of features;
• detecting surroundings at the instantaneous reference position;
• based on the detected surroundings, for each of the identified plurality of features, determining whether under a current state the setpoint feature properties identified for the respective feature are expected to be sufficiently detectable using one or more sensors for performance of a comparison test;
• based on the determination, using the one or more sensors selectively to detect actual feature properties corresponding to the identified respective one or more setpoint feature properties of only those of the one or more of the plurality of features whose associated setpoint feature properties have been determined to be expected to be sufficiently detectable under the current state;
• comparing the detected actual feature properties to the setpoint feature properties to which the detected actual feature properties correspond to thereby ascertain a difference value;
• determining whether the difference value exceeds a predefined threshold deviation;
• and
• in response to a result of the determination regarding the difference value being that the difference value does not exceed the predefined threshold deviation, operating a vehicle based on the digital map.