# US 12,007,247 B2 · Creation and updating of maps in the off-street area

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- Number: US 12,007,247 B2
- Document ID: US12007247B2
- Status: Granted
- Kind: B2
- Application number: 17/273,196
- Filed: 2019-10-30
- Published: 2021-10-21
- Granted: 2024-06-11
- Earliest claimed: 2018-11-12
- Assignees: Robert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Csaba Beleznai; Christian Matthies; Manuel Maier; Michael Wolf; Patrik Zips
- Web page: https://patentgrep.com/patent/US12007247B2

## CPC

- G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles}
- G01C 21/3807: {characterised by the type of data}
- G01C 21/3848: {Data obtained from both position sensors and additional sensors}
- G01C 21/3867: {Geometry of map features, e.g. shape points, polygons or for simplified maps}
- G06F 18/25: Fusion techniques
- 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 1/0141: {for traffic information dissemination}
- G08G 1/04: using optical or ultrasonic detectors
- G08G 1/096827: {where the route is computed onboard}
- G08G 1/09685: {where the complete route is computed only once and not updated}
- G08G 1/143: {inside the vehicles}
- G08G 1/147: {where the parking area is within an open public zone, e.g. city centre}
- G08G 1/148: {Management of a network of parking areas}
- 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)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- 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})

## Abstract

A method for creating a map of at least one parking infrastructure. Unoccupied parking spaces inside the parking infrastructure are registered. Items of path information and items of environmental information are received by an external server unit. Items of path information are subdivided into path segments. The path segments are rectified by the external server unit. A loop recognition is carried out in order to create a geometrical map of the parking infrastructure. On the basis of the items of environmental information, occupied and unoccupied parking spaces along the path are acquired in order to ascertain unoccupied parking spaces inside the parking infrastructure. An external server unit and a system are also described.

## Claims

### Claim 1

A method for creating a map of at least one parking infrastructure by a server unit, unoccupied parking spaces inside the parking infrastructure being registered, the method comprising the following steps:
receiving, by the server unit, items of path information and items of environmental information ascertained by a vehicle sensor system of at least one vehicle about a path of the at least one vehicle;
subdividing the path information into path segments;
rectifying, by the external server unit, the path segments to compensate errors, and using the rectified path segments to create or update a geometrical map of the parking infrastructure; and
based on the items of environmental information and based on the rectified path segments, acquiring occupied and unoccupied parking spaces along the path of the at least one vehicle to ascertain unoccupied parking spaces inside the parking infrastructure,
wherein the rectified path segments are combined to form loops, wherein each loop of the loops form a vertical level of the parking infrastructure, wherein changes of a parking space level are determined based on the ascertained occupied and unoccupied parking spaces along the path of the at least one vehicle, and being taken into account in the creation or updating of the map, and wherein changes of a level in the environmental information are determined.

### Claim 2 (depends on 1)

The method as recited in claim 1, wherein points in the items of path information having maximum curvature are ascertained, and the items of path information are subdivided into approximately linear path segments that are bounded by the points of maximum curvature.

### Claim 3 (depends on 2)

The method as recited in claim 2, wherein the rectification of the path segments is carried out based on geometrical regularities of a plurality of the items of path information, the points of maximum curvature being defined as turning points having an angle, and being used for the rectification of the path segments.

### Claim 4 (depends on 1)

The method as recited in claim 1, wherein a position of an entrance to the parking infrastructure is ascertained, and the items of path information are adapted to the position of the entrance in such a way that the items of path information begin at the position of the entrance.

### Claim 5 (depends on 1)

The method as recited in claim 1, wherein the maximum curvature is ascertained by scanning the items of path information using a circle, a path of the path information being routed through a circle midpoint, and two vectors, between an entry point of the path of the path information into the circle and the circle midpoint and between the circle midpoint and an exit point of the path of the path information out of the circle, being used to ascertain the maximum curvature.

### Claim 6 (depends on 1)

The method as recited in claim 1, a plurality of the items of path information are combined with one another at points of maximum curvature.

### Claim 7 (depends on 1)

The method as recited in claim 1, wherein the ascertained geographical map and the ascertained unoccupied parking spaces are provided for retrieval.

### Claim 8 (depends on 1)

The method as recited in claim 1, wherein ascertained items of environmental information from a plurality of vehicle sensors are fused using a calculation of similarity criteria.

### Claim 9 (depends on 1)

The method as recited in claim 1, wherein the items of path information are ascertained using odometry measurement of the at least one vehicle.

### Claim 10

An external server unit configured to create a map of at least one parking infrastructure by a server unit, unoccupied parking spaces inside the parking infrastructure being registered, the external server unit being configured to:
receive items of path information and items of environmental information ascertained by a vehicle sensor system of at least one vehicle about a path of the at least one vehicle;
subdivide the path information into path segments;
rectify the path segments to compensate errors, and use the rectified path segments to create or update a geometrical map of the parking infrastructure; and
based on the items of environmental information and based on the rectified path segments, acquire occupied and unoccupied parking spaces along the path of the at least one vehicle to ascertain unoccupied parking spaces inside the parking infrastructure,
wherein the rectified path segments are combined to form loops, wherein each loop of the loops form a vertical level of the parking infrastructure, wherein changes of a parking space level are determined based on the ascertained occupied and unoccupied parking spaces along the path of the at least one vehicle, and being taken into account in the creation or updating of the map, and wherein changes of a level in the environmental information are determined.

### Claim 11

A system, comprising:
at least one vehicle each having a vehicle sensor system including at least one environmental sensor, at least one odometer, and a control device for receiving and evaluating sensor data of the vehicle sensor system; and
at least one external server unit configured to create a map of at least one parking infrastructure by a server unit, unoccupied parking spaces inside the parking infrastructure being registered, the external server unit being configured to:
receive items of path information and items of environmental information ascertained by the vehicle sensor system of the at least one vehicle about a path of the at least one vehicle,
subdivide the path information into path segments,
rectify the path segments to compensate errors, and use the rectified path segments to create or update a geometrical map of the parking infrastructure, and
based on the items of environmental information and based on the rectified path segments, acquire occupied and unoccupied parking spaces along the path of the at least one vehicle to ascertain unoccupied parking spaces inside the parking infrastructure,
wherein the rectified path segments are combined to form loops, wherein each loop of the loops form a vertical level of the parking infrastructure, wherein changes of a parking space level are determined based on the ascertained occupied and unoccupied parking spaces along the path of the at least one vehicle, and being taken into account in the creation or updating of the map, and wherein changes of a level in the environmental information are determined.