METHOD AND DEVICE FOR CREATING A FIRST MAP

Abstract

A method for creating a first map. The method includes providing a second map, the second map including at least one predefined path; receiving map data, the map data representing at least one trajectory and at least one further object; and creating the first map starting from the map data, an alignment based on a superimposition of the at least one predefined path and the at least one trajectory being carried out, and subsequently a displacement of the at least one further object being carried out starting from the alignment. A device for carrying out the method for creating a first map is also described.

Claims

1-6. (canceled)

7. A method for creating a first map, comprising: providing a second map, the second map encompassing at least one predefined path; receiving map data, the map data representing at least one trajectory and at least one further object; and creating the first map starting from the map data, including carrying out an alignment based on a superimposition of the at least one predefined path and the at least one trajectory, and subsequent to carrying out the alignment, carrying out a displacement of the at least one further object starting from the alignment.

8. The method as recited in claim 7, wherein the at least one trajectory represents an optimized trajectory that is ascertained in advance using a SLAM method starting from a plurality of trajectories.

9. The method as recited in claim 7, wherein the map data encompass two trajectories and the second map encompasses at least two predefined paths, the alignment being based on a superimposition of the at least two predefined paths and the at least two trajectories, each of the at least two predefined paths and each of the at least two trajectories being assigned to one driving lane of a traffic road.

10. A device, comprising a processing unit configured to create a first map, the processing unit configured to: provide a second map, the second map encompassing at least one predefined path; receive map data, the map data representing at least one trajectory and at least one further object; and create the first map starting from the map data, including carrying out an alignment based on a superimposition of the at least one predefined path and the at least one trajectory, and subsequent to carrying out the alignment, carrying out a displacement of the at least one further object starting from the alignment.

11. A non-transitory machine-readable memory medium on is stored a computer program for creating a first map, the computer program, when executed by a computer, causing the computer to perform the following steps: providing a second map, the second map encompassing at least one predefined path; receiving map data, the map data representing at least one trajectory and at least one further object; and creating the first map starting from the map data, including carrying out an alignment based on a superimposition of the at least one predefined path and the at least one trajectory, and subsequent to carrying out the alignment, carrying out a displacement of the at least one further object starting from the alignment.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Exemplary embodiments of the present invention are illustrated in the figures and explained in greater detail in the description below.

[0023] FIG. 1 shows one exemplary embodiment of the method according to the present invention in the form of a flowchart.

[0024] FIGS. 2A-2C show an exemplary embodiment of the method according to the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0025] FIG. 1 shows one exemplary embodiment of method 300 according to the present invention in the form of a flowchart. It is elucidated in the following, among other things, how creating 330 of the first map, starting from the map data, takes place, for example.

[0026] Method 300 starts in step 301.

[0027] In step 310, a second map is provided, the second map encompassing at least one predefined path 100.

[0028] In one possible specific embodiment, the second map is a so-called planning map, for example, which contains semantic information about a road segment (connections between driving lanes, classification of the driving lanes, etc.). The first map is a so-called localization map, for example, which is designed in such a way that a vehicle may highly precisely localize itself with the aid of this map. “Highly precisely localize” is, for example, to be understood to mean a position determination in the GNSS coordinates that is precise up to few centimeters (maximally+/−10 cm). This has the advantage, for example, that—if the first and the second maps are aligned in relation to one another after carrying out method 300—it is simultaneously possible with the aid of both maps for the (automated) vehicle to be localized and the position within the planning map to be determined.

[0029] In step 320, map data are received, the map data representing at least one trajectory 200 and at least one further object. To make it possible for the first map to be created, at least one trajectory 200 is necessary that is received for this purpose, for example from a vehicle. In one possible specific embodiment, a plurality of trajectories 200 are received, for example, this plurality of trajectories 200 being traveled with the aid of a vehicle fleet, for example, stored and transferred—directly or indirectly—to the device according to the present invention for carrying out method 300 according to the present invention. Starting from the plurality of trajectories 200, an optimization of the plurality of trajectories 200, which results in an optimized trajectory being created, is subsequently carried out with the aid of a SLAM method in particular. In one possible specific embodiment, one optimized trajectory per driving lane of a traffic road is created, for example.

[0030] In step 330, the first map is created starting from the map data. In this case, an alignment is carried out that is based on a superimposition of at least one predefined path 100 and of at least one trajectory 200. Subsequently, a displacement of the at least one further object is carried out starting from the alignment. This is for example understood to mean an adaptation of the coordinates of the at least one further object with the aid of vector addition.

[0031] The alignment and the displacement are ultimately used to create the first map in such a way that it is aligned in relation to the second map. This alignment is carried out, for example, because the contents of the first and the second maps are to be combined. In a further specific embodiment, the alignment takes place because this makes it possible to correct potentially present erroneous partial data sets of the map data.

[0032] Method 300 ends in step 340.

[0033] FIGS. 2A-2C show an example of the alignment of at least one (three in the present case by way of example) trajectory 200 (FIG. 2A) of at least one (also three in the present case by way of example) predefined path 100 (FIG. 2B). This takes place, for example, with the aid of a suitable algorithm or a suitable software (for example based on mathematical optimization processes) that optimally aligns at least one trajectory 200 to at least one predefined path 100 (FIG. 2C). This alignment is, for example, an approximation, since at least one trajectory 200 and at least one predefined path 100 are not exactly identical or do not have an exactly identical course. Starting from the alignment, the displacement may now take place, i.e., for example the adapting of the first map and of the second map to one another. In the following, both maps may now be used together, for example.