# US 2024/0200976 A1 · Method and device for creating a digital map and for operating an automated vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0200976 A1 - Document ID: US20240200976A1 - Status: Published application - Kind: A1 - Application number: 18/527,677 - Filed: 2023-12-04 - Published: 2024-06-20 - Earliest claimed: 2022-12-15 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Andre Wagner; Erik Einhorn; Julian Lindner; Matthias Roland; Maurice Seer; Nicolas Fischer; Pierre Lothe; Tobias Ritter - Web page: https://patentgrep.com/patent/US20240200976A1 ## CPC - G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles} - B60W 40/04: Traffic conditions - B60W 60/001: {Planning or execution of driving tasks} - G01C 21/3815: {Road data} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2556/40: High definition maps - 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) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## 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. ## Claims ### Claim 1 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. ### Claim 2 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. ### Claim 3 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. ### Claim 4 (depends on 3) The method according to claim 3, wherein the digital map is created by: 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. ### Claim 5 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. ### Claim 6 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.