NAVIGATION MAP FOR AN AT LEAST PARTIALLY AUTOMATED MOBILE PLATFORM

Abstract

A navigation map for an at least partially automated mobile platform (130) is proposed, comprising: Descriptions of courses of a plurality of lanes (120), each lane (120) of the plurality of lanes having a plurality of lane segments (150); and Off-road environment data (140) of the plurality of lanes (120), wherein the off-road environment data is assigned to respective lane segments (150) of the respective lane (120), and wherein the off-road environment data includes an emergency drivability rating for an off-road environment (140) of the respective lane segment (150).

Claims

1. A navigation map for an at least partially automated mobile platform, comprising: data for descriptions of courses of a plurality of lanes, wherein each of the plurality of lanes has a plurality of lane segments; and data for an off-road environment of the plurality of lanes, wherein the data for the off-road environment is associated with the respective lane segments of respective lanes of the plurality of lanes, and wherein the data for the off-road environment data includes an emergency drivability rating for an off-road environment of the respective one of the plurality of lane segments.

2. The navigation map according to claim 1, wherein the navigation map is a high-resolution digital navigation map.

3. The navigation map according to claim 1, wherein the respective data of the off-road environment comprises a plurality of parameters for specification of the off-road environment, and wherein the respective parameter is associated with a drivability rating.

4. The navigation map according to claim 3, wherein the plurality of parameters describe an extent and/or an accessibility and/or a hazard potential of the off-road environment.

5. The navigation map according to claim 3, wherein the plurality of parameters comprises at least one of the following: Traversability to the off-road environment; Type of a surface material of the off-road environment; Cross slope of the off-road environment; Type of vegetation of the off-road environment; Probability value for a presence of vulnerable traffic users; Areal extent of the drivable off-road environment; Extent of the drivable off-road environment perpendicular to the roadway boundary; Extent of the drivable off-road environment parallel to the respective one of the plurality of lane; or Potential hazard for safe disembarkation in the off-road environment.

6. The navigation map according to claim 3, an emergency drivability rating is determined using the drivability rating of the plurality of parameters of the respective off-road environment.

7. The navigation map according to claim 6, wherein the emergency drivability rating is determined using the plurality of parameters of the respective off-road environment such that the drivability of the respective off-road environment is determined to be impossible if a measure of the drivability of the off-road environment is below a predetermined threshold.

8. A method for determining an emergency trajectory for a mobile platform, comprising: determining a location of the mobile platform; determining an associated lane segment of a navigation map with respect to the location of the mobile platform; identifying adjacent off-road environments associated with adjacent lane segments of the determined associated lane segment; assigning emergency drivability ratings to the adjacent off-road environments; and determining the emergency trajectory comprising at least one of the adjacent off-road environments from the determined location of the mobile platform to a stopping position, taking into account the emergency drivability rating of the at least one of the adjacent off-road environments.

9. The method according to claim 8, wherein the stop position of the emergency trajectory is determined in an adjacent one of the off-road environments and the emergency trajectory comprises another adjacent one of the off-road environments different therefrom.

10. The method according to claim 8, wherein a representation of the environment of the environment perception of the mobile platform is additionally taken into account for determining the emergency trajectory.

11. A method for selecting a route for an at least partially automated platform, using a navigation map which comprises: data for descriptions of courses of a plurality of lanes, wherein each of the plurality of lanes has a plurality of lane segments; and data for an off-road environment of the plurality of lanes, wherein the data for the off-road environment is associated with the respective lane segments of respective lanes of the plurality of lanes, and wherein the data for the off-road environment data includes an emergency drivability rating for an off-road environment of the respective one of the plurality of lane segments, wherein the route comprises the plurality of lane segments, and wherein the method comprises: selecting the route such that an emergency drivability rating of the off-road environment of the plurality of lane segments along possible routes is determined; and optimizing the route by taking into account accumulated emergency drivability ratings of the plurality of lane segments along the route.

12. The method according to claim 8, further comprising providing at least one of: a control signal for controlling an at least partially automated vehicle; or based on the determined emergency trajectory, a warning signal for warning a vehicle occupant.

13. An apparatus configured to determine an emergency trajectory for a mobile platform, comprising: a computer arrangement configured to: a) determine a location of the mobile platform, b) determine an associated lane segment of a navigation map with respect to the location of the mobile platform, c) identify adjacent off-road environments associated with adjacent lane segments of the determined associated lane segment, d) assign emergency drivability ratings to the adjacent off-road environments, and e) determine the emergency trajectory comprising at least one of the adjacent off-road environments from the determined location of the mobile platform to a stopping position, taking into account the emergency drivability rating of the at least one of the adjacent off-road environments.

14. A computer program for determining an emergency trajectory for a mobile platform, the computer program comprising instructions, which, when the computer program is executed by a computer, configures the computer program to perform procedures comprising: a) determining a location of the mobile platform; b) determining an associated lane segment of a navigation map with respect to the location of the mobile platform; c) identifying adjacent off-road environments associated with adjacent lane segments of the determined associated lane segment; d) assigning emergency drivability ratings to the adjacent off-road environments; and e) determining the emergency trajectory comprising at least one of the adjacent off-road environments from the determined location of the mobile platform to a stopping position, taking into account the emergency drivability rating of the at least one of the adjacent off-road environments.

15. A machine-readable storage medium which includes a computer program thereon for a mobile platform, wherein, when the computer program is executed by a computer, configures the computer program to perform procedures comprising: a) determining a location of the mobile platform; b) determining an associated lane segment of a navigation map with respect to the location of the mobile platform; c) identifying adjacent off-road environments associated with adjacent lane segments of the determined associated lane segment; d) assigning emergency drivability ratings to the adjacent off-road environments; and e) determining the emergency trajectory comprising at least one of the adjacent off-road environments from the determined location of the mobile platform to a stopping position, taking into account the emergency drivability rating of the at least one of the adjacent off-road environments.

16. A machine-readable storage medium which includes a computer program thereon for providing a navigation map for an at least partially automated mobile platform, wherein the navigation map comprises: data for descriptions of courses of a plurality of lanes, wherein each of the plurality of lanes has a plurality of lane segments; and data for an off-road environment of the plurality of lanes, wherein the data for the off-road environment is associated with the respective lane segments of respective lanes of the plurality of lanes, and wherein the data for the off-road environment data includes an emergency drivability rating for an off-road environment of the respective one of the plurality of lane segments.

Description

EXAMPLES OF EMBODIMENTS

[0051] Examples of embodiments of the invention are illustrated with reference to FIG. 1 and explained in more detail below. It shows:

[0052] FIG. 1 a section of a navigation map for an at least partially automated mobile platform with a plurality of lanes.

[0053] FIG. 1 sketches an exemplary section 110 of a navigation map for an at least partially automated mobile platform 130, which has a description of courses of a plurality of lanes 120, wherein the respective lane 120 of the plurality of lanes has a plurality of lane segments 150. Further, the portion 110 of the navigation map has off-road environment data of the plurality of lanes 120, wherein the off-road environment data is assigned to respective lane segments 150 of the respective lane, and wherein the off-road environment data has an emergency drivability rating for an off-road environment 140 of the respective lane segment 150.

[0054] In this regard, the line 155 outlines a boundary between the lane 120 and the off-road environment 140, and it is further outlined that, by way of example, the off-road environment 140 of the respective lane segment 150 is assigned to the respective lane segments according to an extension of the lane segments 150 indicated by a dashed line. In this regard, a line 160 delimits the respective off-road environment 140 classified with an emergency drivability rating to a remainder of the environment. The line 155 outlines a transition between the respective lane segment 150 and the associated off-road environment 140.