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US 2024/0200976 A1Published application
Method and device for creating a digital map and for operating an automated vehicle
AssigneeRobert Bosch GmbH
InventorsAndre Wagner, Erik Einhorn, Julian Lindner, Matthias Roland, Maurice Seer, Nicolas Fischer, Pierre Lothe, Tobias Ritter
Life of this patent
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Abstract
A method and first device for creating a digital map. The digital map represents at least one region along a traffic route. A method and second device for operating an automated vehicle along a traffic route is also described.
Claims6
A method for creating a digital map, wherein the digital map represents at least one region along a traffic route, comprising:
- receiving a plurality of data sets, wherein each respective data set of the data sets is transmitted from a respective vehicle that travels through the region along a respective trajectory of the respective vehicle, wherein each respective data set includes the respective trajectory of the respective vehicle and surrounding area data values, wherein the surrounding area data values include radar data values and video data values, wherein the radar data values are detected using a radar sensor and the radar data values represent surrounding area features in the region via a radar signature, wherein the video data values are detected using a video sensor and represent at least boundary features along the traffic route in the region;
- and
- creating the digital map based on the surrounding area data values of the data sets, wherein in a first sub-step, the radar data values of the respective data sets are combined, starting from the respective trajectories of the vehicles, wherein in a second sub-step, previously combined trajectories and thus the surrounding area features represented by the radar data values are aligned relative to one another, depending on the boundary features.
A first device, comprising:
- a computing unit configured to create a digital map, wherein the digital map represents at least one region along a traffic route, the computing unit configured to:
- receive a plurality of data sets, wherein each respective data set of the data sets is transmitted from a respective vehicle that travels through the region along its own trajectory, wherein each respective data set includes a respective trajectory of the respective vehicle and surrounding area data values, wherein the surrounding area data values include radar data values and video data values, wherein the radar data values are detected using a radar sensor and the radar data values represent surrounding area features in the region via a radar signature, wherein the video data values are detected using a video sensor and represent at least boundary features along the traffic route in the region, and
- create the digital map based on the surrounding area data values of the data sets, wherein in a first sub-step, the radar data values of the respective data sets are combined, starting from the respective trajectories of the vehicles, wherein in a second sub-step, previously combined trajectories and thus the surrounding area features represented by the radar data values are aligned relative to one another, depending on the boundary features.
A method for operating an automated vehicle along a traffic route, comprising the following steps:
- detecting boundary features of the traffic route, wherein the boundary features are detected using at least one video sensor of the automated vehicle;
- detecting a surrounding area of the automated vehicle along the traffic route, wherein the surrounding area is detected using at least one radar sensor of the automated vehicle;
- providing a digital map which includes a first sub-map and a second sub-map, wherein the first sub-map corresponds to a radar map which includes surrounding area features in the surrounding area along the traffic route via a radar signature, wherein the second sub-map includes boundary features via a video signature;
- determining a first position of the automated vehicle depending on a first comparison of the detected surrounding area with the first sub-map;
- determining a second position depending on the first position and depending on a second comparison of the detected boundary features with the second sub-map;
- and
- operating the automated vehicle along the traffic route depending on the second position.
4 more elements
A second device, comprising:
- a control device configured to operate an automated vehicle along a traffic route, the control device configured to:
- detect boundary features of the traffic route, wherein the boundary features are detected using at least one video sensor of the automated vehicle,
- detect a surrounding area of the automated vehicle along the traffic route, wherein the surrounding area is detected using at least one radar sensor of the automated vehicle,
- provide a digital map which includes a first sub-map and a second sub-map, wherein the first sub-map corresponds to a radar map which includes surrounding area features in the surrounding area along the traffic route via a radar signature, wherein the second sub-map includes boundary features via a video signature,
- determine a first position of the automated vehicle depending on a first comparison of the detected surrounding area with the first sub-map,
- determine a second position depending on the first position and depending on a second comparison of the detected boundary features with the second sub-map, and
- operate the automated vehicle along the traffic route depending on the second position.
4 more elements
A non-transitory machine-readable storage medium on which is stored a computer program for operating an automated vehicle along a traffic route, the computer program, when executed by a computer, causing the computer to perform the following steps:
- detecting boundary features of the traffic route, wherein the boundary features are detected using at least one video sensor of the automated vehicle;
- detecting a surrounding area of the automated vehicle along the traffic route, wherein the surrounding area is detected using at least one radar sensor of the automated vehicle;
- providing a digital map which includes a first sub-map and a second sub-map, wherein the first sub-map corresponds to a radar map which includes surrounding area features in the surrounding area along the traffic route via a radar signature, wherein the second sub-map includes boundary features via a video signature;
- determining a first position of the automated vehicle depending on a first comparison of the detected surrounding area with the first sub-map;
- determining a second position depending on the first position and depending on a second comparison of the detected boundary features with the second sub-map;
- and
- operating the automated vehicle along the traffic route depending on the second position.
4 more elements
Dependencies are inferred from the claim text.