MATCHING COORDINATE SYSTEMS OF MULTIPLE MAPS, BASED ON TRAJECTORIES

Abstract

A method for aligning digital maps, in particular by a control unit. Data of a first map present in a first coordinate system and data of a second map present in a second coordinate system are received. At least one trajectory within the first map and at least one trajectory within the second map are ascertained based on the received data. The data of the first coordinate system and the data of the second coordinate system are aligned with one another based on the respective trajectories. A transfer system, a control device, a computer program, and a machine-readable memory medium are also described.

Claims

1-13. (canceled)

14. A method for aligning digital maps by a control unit, the method comprising the following steps: receiving data of a first map present in a first coordinate system and data of a second map present in a second coordinate system; ascertaining, based on the received data, at least one trajectory within the first map and at least one trajectory within the second map; and aligning the data of the first map in the first coordinate system and the data of the second map in the second coordinate system with one another based on the ascertained at least one trajectory within the first map and the ascertained at least one trajectory within the second map.

15. The method as recited in claim 14, wherein for a translatory and/or rotatory orientation of the first and the second maps, the ascertained at least one trajectory within the first map and the ascertained at least one trajectory are brought into an at least approximate overlap.

16. The method as recited in claim 15, wherein the orientation of the first and second maps is carried out along the ascertained at least one trajectory within the first map and the ascertained at least one trajectory and/or along a map grid, as a function of location.

17. The method as recited in claim 14, wherein the at least one trajectory of the first map and/or the at least one trajectory of the second map is measured, or simulated, or computed.

18. The method as recited in claim 17, wherein the at least one trajectory of the first map and/or the at least one trajectory of the second map is computed by machine learning.

19. The method as recited in claim 14, wherein the data of the first map in the first coordinate system are aligned with the data of the second map in the second coordinate system, or the data of the second map in the second coordinate system are aligned with the data of the first map in the first coordinate system.

20. The method as recited in claim 14, wherein for aligning the first and second maps, curves and changes in direction of the at least one trajectory of the first map and of the at least one trajectory of the second map are ascertained, compared to one another, and matched to one another.

21. The method as recited in claim 14, wherein the first map is a localization map, the at least one trajectory of the first map being ascertained by measurements.

22. The method as recited in claim 14, wherein the second map is a planning map, the at least one trajectory of the second map being computed or simulated within the planning map.

23. The method as recited in claim 14, wherein the at least one trajectory within the first map and the at least one trajectory within the second map are detected based on an already traveled route of a vehicle and/or a plurality of vehicles.

24. A control unit configured to align digital maps by a control unit, the method comprising the following steps: receiving data of a first map present in a first coordinate system and data of a second map present in a second coordinate system; ascertaining, based on the received data, at least one trajectory within the first map and at least one trajectory within the second map; and aligning the data of the first map in the first coordinate system and the data of the second map in the second coordinate system with one another based on the ascertained at least one trajectory within the first map and the ascertained at least one trajectory within the second map.

25. A non-transitory machine-readable memory medium on which is stored a computer program for aligning digital maps by a control unit, the computer program, when executed by a computer or control unit, causing the computer or control unit to perform the following steps: receiving data of a first map present in a first coordinate system and data of a second map present in a second coordinate system; ascertaining, based on the received data, at least one trajectory within the first map and at least one trajectory within the second map; and aligning the data of the first map in the first coordinate system and the data of the second map in the second coordinate system with one another based on the ascertained at least one trajectory within the first map and the ascertained at least one trajectory within the second map.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1 shows a top view onto a vehicle including a control unit according to the present invention according to one specific embodiment of the present invention.

[0032] FIG. 2 shows a schematic top view onto a roadway section for explaining a method according to one specific embodiment of the present invention.

[0033] FIG. 3 shows a schematic illustration of trajectories for explaining the method according to one specific embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0034] FIG. 1 shows a top view onto a vehicle 1 that includes a control unit 2 according to one specific embodiment of the present invention. Control unit 2 is configured to carry out a method for aligning digital maps 4, 6, illustrated by way of example in FIG. 2. For this purpose, control unit 2 is connected to a machine-readable memory medium 8 on which a computer program is stored.

[0035] Control unit 2 may access data and the computer program of machine-readable memory medium 8, and execute or utilize same.

[0036] Furthermore, control unit 2 is connected to a vehicle sensor system 10 in a data-conveying manner. According to the illustrated exemplary embodiment, vehicle sensor system 10 is made up of a radar sensor.

[0037] Alternatively or additionally, vehicle sensor system 10 may include camera sensors, GNSS sensors, LIDAR sensors, ultrasonic sensors, and the like.

[0038] By evaluating measured data of vehicle sensor system 10, control unit 2 may for example ascertain trajectories of vehicle 1 and store them in machine-readable memory medium 8. Control unit 2 may thus create a first map 4 which contains the measured data of vehicle sensor system 10.

[0039] FIG. 2 illustrates a schematic top view onto a roadway section 12 for explaining the method. Two maps 4, 6, superimposed on one another, are shown.

[0040] First map 4 is designed as a localization map, and includes a plurality of trajectories 14 that have been recorded by control unit 2 during trips of vehicle 1.

[0041] In addition, localization elements 16 at the roadside have been ascertained. Localization elements 16 are, for example, guide posts that are detected by vehicle sensor system 10.

[0042] Second map 6 is a planning map, and includes lane markings 18 and the profile of particular lanes 20.

[0043] Superimposed maps 4, 6 are slightly mismatched, so that the coordinate systems of maps 4, 6 must first be adapted to one another before, for example, second map 6 is usable by control unit 2 for localization of vehicle 1.

[0044] For this purpose, in one step one or multiple model trajectories 22 are computed by control unit 2, for example. The computation of model trajectories 22 may take place, for example, based on the dimensions of vehicle 1 and the dimensions and a profile of lanes 20. A theoretical trip of vehicle 1 may be simulated by second map 6.

[0045] Measured trajectories 14 and computed trajectories 22 are subsequently used as criteria for matching the coordinate systems of the two maps 4, 6. Maps 4, 6 may, for example, be shifted or rotated relative to one another until trajectories 14, 22 are optimally situated one on top of the other.

[0046] For this purpose, an average deviation of trajectories 14, 22 from one another may be minimized as a function of the profile of trajectories 14, 22. Arrows 23, 25, 27 illustrate possible transformation directions of maps 4, 6.

[0047] FIG. 3 shows a schematic illustration of further trajectories 14, 22 for explaining the method. The two trajectories 14, 22 illustrate the differences of the coordinate systems between first map 4 and second map 6 at a curve 24.

[0048] In particular, ambiguities in the matching of trajectories 14, 22 along the straight route sections are illustrated. Arrows 27 illustrate the transformation directions that are not unambiguously determinable. These ambiguities may be unambiguously resolved in the curved area. The corresponding transformation directions for matching trajectories 14, 22 are illustrated by arrows 29. So-called aperture problems in the area of straight route sections may thus be resolved by matchings in curved areas.