Situation-dependent sharing of map messages to improve digital maps

Abstract

A system for creating a digital map for driver assistance systems of a vehicle, includes a communications unit for exchanging messages between vehicles. A position acquisition unit acquires the position of the individual vehicle. A map unit stores and processes a digital map. A detection unit detects ambiguities of a driving situation in relation to a position in the digital map. Upon detection of an ambiguity, a message including map data and/or a warning message is/are output.

Claims

1. A system for creating a digital map for driver assistance systems of a vehicle, the system comprising: a communications unit configured to exchange messages between vehicles; a position acquisition unit configured to acquire the position of the vehicle; a map unit configured to store and process a digital map; and a detection unit configured to detect collision-warning-system ambiguities of a driving situation in relation to a position in the digital map, wherein the collision-warning-system ambiguities of the driving situation are caused erroneously based on a first road extending as an overpass above a second road at one or more positions at which the first road and the second road intersect, overlap, and/or extend in parallel with each other; the detection unit further configured to output a message comprising map data and/or a warning message in response to detection of a collision-warning-system ambiguity by the detection unit.

2. The system according to claim 1, wherein the detection unit is configured to detect collision-warning-system ambiguities based on traffic structures.

3. The system according to claim 2, wherein the traffic structures are at least one of: bridges, tunnels, curves, multiple stretches of road which are adjacent, lead away from one another or merge, ramps, and multi-lane intersections.

4. The system according to claim 1, wherein the communications unit is further configured to receive messages comprising map data and the map unit is configured to save those messages comprising the map data.

5. The system according to claim 4, wherein the detection unit is further configured to detect collision-warning-system ambiguities based on received messages comprising map data.

6. The system according to claim 1, wherein the detection unit is configured to output the message with a time interval and/or route distance prior to reaching the position.

7. The system according to claim 1, wherein the detection unit is configured to check, prior to outputting a message, whether a message comprising map data in relation to a position has already been sent by another vehicle.

8. The system according to claim 1, wherein the detection unit is configured that, upon receipt of a message comprising map data, it is checked whether the sender of the message is located within a predefined plausibility check radius around the position.

9. The system according to claim 1, wherein the message is a MAP message.

10. The system according to claim 1, wherein the detection unit is configured in such a manner that, upon detection of an ambiguous driving situation, only a warning message is sent.

11. The system according to claim 1, wherein the map unit is configured to integrate the map data in the messages into the digital map of the vehicle such that messages having a high usage value are integrated into, and saved in, the digital map of the individual vehicle, and forwarded to another vehicle.

12. A method for creating a digital map for driver assistance systems of a vehicle utilizing a system including a communications unit for exchanging messages between vehicles, a position acquisition unit for acquiring the position of the individual vehicle, a map unit for storing and processing a digital map, and a detection unit for detecting collision-warning-system ambiguities of a driving situation in relation to a position in the digital map, the method comprising: detecting, at the detection unit, collision-warning-system ambiguities of a driving situation in relation to a position in the digital map utilizing the detection unit, wherein the ambiguities of the driving situation are caused erroneously based on a first road extending as an overpass above a second road at one or more positions at which the first road and the second road intersect, overlap, and/or extend in parallel with each other; and outputting, from the detection unit, a message comprising map data and/or a warning message upon detection of a collision-warning-system ambiguity.

13. The method according to claim 12, further comprising: acquiring a time interval and/or route distance between the individual vehicle position and the position having the collision-warning-system ambiguous driving situation and/or the position in relation to at least one other vehicle; and outputting a message comprising map data and/or a warning message prior to reaching a threshold of the time interval and/or route distance.

14. The method according to claim 12, wherein, prior to outputting a message, it is to be checked whether a message comprising map data in relation to a position has already been sent by another vehicle.

15. The system according claim 1, wherein the detection unit is configured in such a manner as to detect collision-warning-system ambiguities of driving situations which have been erroneously caused on the strength of information in a received vehicle-to-X message.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention will be described in more detail below with reference to an embodiment example and a FIGURE, wherein:

(2) FIG. 1 shows a driving situation with multiple vehicles, which can be ambiguously interpreted.

DETAILED DESCRIPTION

(3) FIG. 1 shows two roads S1, S2, which intersect at a first position P1 and which overlap in sections and extend in parallel at a second position P2. In this case, the first road S1 extends as an overpass above the second road S2 at the two indicated positions P1, P2. Two vehicles F1, F2, which are equipped with a system 1 as described herein, are respectively located on the roads S1, S2. There are, additionally, two further vehicles F3, F4, which are equipped with the system 1 as described herein, but which have digital maps which are not complete and/or which are out-of-date. The direction of travel of the vehicles F1-F4 is represented with a corresponding arrow.

(4) The question of which type of driver assistance systems is installed in these vehicles can be left open. It should be assumed in this example that all of the vehicles F1-F4 are equipped with a collision warning system.

(5) The system 1 includes a communications unit for exchanging messages between vehicles, a position acquisition unit for acquiring the position of the individual vehicle, a map unit for storing and processing a digital map, and a detection unit for detecting ambiguities of a driving situation in relation to a position in the digital map. If the detection unit detects an ambiguity of a driving situation, as is the case at the positions P1 and P2, the system 1 outputs a message comprising map data which are received by the other vehicles F3 or respectively F4 in the surroundings. In this way, it is possible to prevent a collision warning system activating a warning in the vehicles F3, F4.

(6) At the position P1, due to the simple configuration of the digital map, the vehicle F4 may not detect whether this is an overpass or an intersection. Consequently, an ambiguity regarding its own driving situation exists for the vehicle F2, where it cannot clearly decide between an intersection and an overpass. The collision warning system of the vehicle F4 may accordingly warn against a collision with the vehicle F1. If the vehicle F1 then transmits 3 a message comprising the complete map data in good time prior to reaching the position P1 and the vehicle F4 receives and evaluates said message, it can resolve the ambiguity based on the received map data. It can at least be ensured, upon storing the message in its own digital map, that the aforementioned problem does not occur the next time the vehicle drives through the position.

(7) The same can also be observed at the position P2, where the vehicle F3 could presumably construe the vehicle P2 driving on the road S2 as a wrong-way driver. Therefore, the vehicle F2 ideally outputs a message comprising map data prior to reaching the position P2, in order to resolve the ambiguity. This interval/distance can, in this case, be measured in time or in meters, by way of example 100 m to 300 m.

(8) The messages comprising the map data are ideally sent as MAP messages, the message structure of which is defined, inter alia, by the SAE J2735 standard. The received messages are then also stored for the future in the digital map of the received vehicle. If necessary, in the event of the vehicle driving through the positions at which a message was received again or later, the same message can be output again, provided that this has not already been done by another vehicle.

(9) A position where ambiguous driving situations can occur can be detected in different ways. On the one hand, recourse can be had, in this case, to a predefined list of road topologies. By way of example, the detection unit can output a message comprising map data on approaching overpasses, bridges, tunnels, bends, in particular tight bends, multiple sections of road which are adjacent, lead away from one another or merge, ramps, in particular on highways, and/or multi-lane intersections. This information can, on the one hand, be inferred from the individual digital map. On the other hand, this information can be inferred from the received messages comprising map data, in particular if these involve MAP messages. It should be noted that the list only constitutes an example and is not exhaustive. In addition, it is also, by way of example, possible to note the positions at which a message comprising map data has been received.

(10) It is also frequently sufficient to only send messages that will concern a situation which would be misinterpreted on the strength of the V2X messages. Therefore, a vehicle which receives such information can already classify that a warning would be unnecessary. The information can, in this case, be coded, by way of example, in a special message which is, for now, proprietary for the respective manufacturer. The misinterpretation can, in this case, be detected based on the deviation of a digital map from a prediction without a map. If this deviation is too great, a special message is sent which contains the location of the place where the misinterpretation occurred, as well as the reason for the misinterpretation. Reasons can be the unclear situations set out above. The corresponding message is therefore significantly smaller than a MAP message and cannot be interpreted by all vehicles, a situation which is desired in certain circumstances.