# US 12,000,711 B2 · Method for verifying a digital map of a higher-level automated vehicle, corresponding device and computer program

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- Number: US 12,000,711 B2
- Document ID: US12000711B2
- Status: Granted
- Kind: B2
- Application number: 16/628,517
- Filed: 2018-06-04
- Published: 2020-06-11
- Granted: 2024-06-04
- Earliest claimed: 2017-07-07
- Assignees: Robert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Ali Alawieh; Carsten Hasberg; Danny Hiendriana; Fabian Dominik Reister; Jan-Hendrik Pauls; Muhammad Sheraz Khan; Philipp Rasp; Valentin Frommherz
- Web page: https://patentgrep.com/patent/US12000711B2

## CPC

- G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles}
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G08G 1/0129: {for creating historical data or processing based on historical data}
- G08G 1/0145: {for active traffic flow control}
- H04W 4/46: for vehicle-to-vehicle communication [V2V]
- G01S 19/42: Determining position
- H04W 4/02: Services making use of location information
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A method is described for verifying a digital map of a higher-level automated vehicle (HAV), in particular a highly automated vehicle, including the steps: S1 providing a digital map, preferably a highly accurate digital map: S2 determining an instantaneous reference position and localizing the reference position in the digital map; S3 establishing at least one actual feature property of a feature in the surroundings of the reference position, the establishment being carried out with the aid of at least one information source; S4 comparing the actual feature property to a setpoint feature property of the feature and ascertaining at least one difference value as the result of the comparison. A corresponding device and a computer program are also described.

## Claims

### Claim 1

A method comprising the following steps:
providing 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.

### Claim 2 (depends on 1)

The method as recited in claim 1, wherein the vehicle is a highly automated vehicle.

### Claim 3 (depends on 1)

The method as recited in claim 1, wherein the digital map is a highly accurate digital map.

### Claim 4 (depends on 1)

The method as recited in claim 1, wherein the method is performed by executing a program that provides for updating the map in response to the difference value exceeding the predefined threshold deviation.

### Claim 5 (depends on 1)

The method as recited in claim 1, wherein the one or more sensors include sensors that are available by at least one of:
car-to-infrastructure systems which transmit data to vehicles or gather data from vehicles;
car-to-car systems which transmit data to other vehicles via a wireless communication network;
vehicle systems which access the Internet and ascertain instantaneous data from databases; and
driver assistance systems encompassing one or multiple system(s) from the following sub-groups:
lane-keeping systems which ascertain a lane using camera-based systems and steer a vehicle back into the lane when the lane has been unintentionally exited;
road-sign systems, which ascertain a specified speed on the basis of visual systems including video cameras;
object-detection systems, which utilize visual sensors including video cameras; and
smartphones, including cameras of the smartphones.

### Claim 6 (depends on 5)

The method as recited in claim 5, wherein the actual feature properties are obtained by filtering and combining pieces of information delivered by multiple ones of the sensors with the aid of algorithms.

### Claim 7 (depends on 1)

The method as recited in claim 1, wherein the method further comprises the following step:
transmitting a piece of information regarding the reference position and the difference value to a central server.

### Claim 8 (depends on 4)

The method as recited in claim 4, wherein the updating of the map includes at least one of the following actions being carried out:
requesting a central server to update the digital map; and
requesting a dispatch of a mapping vehicle for mapping the surroundings of the reference position.

### Claim 9 (depends on 8)

The method as recited in claim 8, wherein the mapping vehicle is a motor vehicle or an aircraft.

### Claim 10 (depends on 1)

The method as recited in claim 1, wherein the determining of whether under the current state the setpoint feature properties are expected to be sufficiently detectable includes:
obtaining a first model that defines for each of the setpoint feature properties, a respective one or more of the sensors required for detection of the respective setpoint feature property and a respective type of use of the respective one or more of the sensors for the detection of the respective setpoint feature property;
obtaining a second model that indicates, for each of one or more of the respective sensors of the first model, a respective current availability of the respective sensor, which indicates for the respective setpoint feature properties whether the respective sensors identified in the first model for the respective setpoint feature properties are available for the respective types of uses of the sensors identified in the first model for the respective setpoint feature properties;
obtaining a third model that identifies for each of the setpoint feature properties, whether the respective setpoint feature property is expected to be currently blocked from view by one or more static or dynamic objects in surroundings of the vehicle, wherein the determining of the whether the respective setpoint feature properties are expected be sufficiently detectable is performed so that the setpoint feature properties determined to be expected to be sufficiently detectable include only those respective setpoint feature properties for which both (a) the sensor and type of use defined in the first model for the respective setpoint feature property are indicated to be available by the second model and (b) the third model does not identify an expectation to be currently blocked.

### Claim 11 (depends on 1)

The method as recited in claim 1, wherein the plurality of features includes at least one of a road marking, a reflector post, a guardrail, a light signal system, a road sign, a trafficable space, a traffic density, a 3D world model, and a speed profile.

### Claim 12 (depends on 1)

The method as recited in claim 1, wherein the setpoint feature properties include at least one of: geographical position, dimensions, color, and relative position with respect to an information source.

### Claim 13

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.

### Claim 14

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.