Method and apparatus for creating a digital map

An apparatus, comprising:

• a computing unit, wherein, for vehicle navigation using a digital map that represents at least one region along a traffic route, the computing unit is configured to:
• receive a plurality of surrounding area data value sets, wherein each surrounding area data value set includes (a) surrounding area features detected, during a respective sensing instance of an at least partially automated vehicle that is traveling along the traffic route, by an environmental sensor system of the vehicle and (b) sensor-based position information associated with of the surrounding area features;
• identify, from the surrounding area features comprised by different ones of the surrounding area data value sets and based on the sensor-based position information, a plurality of feature groups, each of the feature groups comprising a respective plurality of distinct ones of the surrounding area features that are located within a predefined spatial proximity and that collectively define a spatial arrangement relative to one another;
• for each of the feature groups, determine, based on satellite-based position information received from a satellite-based positioning system that indicates differing absolute positions for respective ones of the surrounding area features of the respective feature group, an adjusted absolute positioning of the respective feature group in a global coordinate system by modifying the absolute positions associated with one or more of the surrounding area features of the respective feature group in a coordinated manner, subject to a constraint that the spatial arrangement of the surrounding area features of the respective feature group relative to one another is maintained unchanged;
• create the digital map based on the adjusted absolute positioning of the feature groups;
• and
• navigate the vehicle, including controlling longitudinal and/or lateral motion of the vehicle, during continued travel along the traffic route, using the digital map created based on the adjusted absolute positioning of the feature groups.

A non-transitory machine-readable storage medium on which is stored a computer program for vehicle navigation using a digital map that represents at least one region along a traffic route, the computer program, when executed by a computer, causing the computer to perform the following steps:

• receiving a plurality of surrounding area data value sets, wherein each surrounding area data value set includes (a) surrounding area features detected, during a respective sensing instance of an at least partially automated vehicle that is traveling along the traffic route, by an environmental sensor system of the vehicle and (b) sensor-based position information associated with the surrounding area features;
• identifying, from the surrounding area features comprised by different ones of the surrounding area data value sets and based on the sensor-based position information, a plurality of feature groups, each of the feature groups comprising a respective plurality of distinct ones of the surrounding area features that are located within a predefined spatial proximity and that collectively define a spatial arrangement relative to one another;
• for each of the feature groups, determining, based on satellite-based position information received from a satellite-based positioning system that indicates differing absolute positions for respective ones of the surrounding area features of the respective feature group, an adjusted absolute positioning of the respective feature group in a global coordinate system by modifying the absolute positions associated with one or more of the surrounding area features of the respective feature group in a coordinated manner, subject to a constraint that the spatial arrangement of the surrounding area features of the respective feature group relative to one another is maintained unchanged;
• creating the digital map based on the adjusted absolute positioning of the feature groups;
• and
• navigating the vehicle, including controlling longitudinal and/or lateral motion of the vehicle, during continued travel along the traffic route, using the digital map created based on the adjusted absolute positioning of the feature groups.