Robert Boschgmbh

Daniel Zaum

Holger Mielenz

Jan Rohde

Hanno Heyke Homann

Peter Christian Abeling

Philipp Mayer

Moritz Michael Knorr

Christian Skupin

Alexander Geraldy

Markus Langenberg

Jochen Marx

Michael Pagel

Emre Cakar

Lukas Klejnowski

Isabella Hinterleitner

Christian Passmann

Ali Alawieh

Gerrit De Boer

Thorben Schick

Philippe Dreuw

Stefan Werder

Roland Homeier

Stefan Andreas Kniep

Jens Heimsoth

A method for forming a localization layer for a digital localization map for automated driving. The method includes: providing the localization layer for a defined region; providing a planning layer for the region; and extracting alignment features from the localization layer that is provided for an alignment with the planning layer, the alignment features being extracted in such a way from the localization layer that an inadmissible deformation of the localization layer may be recognized during the alignment of the planning layer with the localization layer.

Method for forming a localization layer of a digital localization map for automated driving

A method for generating a map of the surroundings of a vehicle including at least one sensor. First data are acquired by the vehicle, the first data including a position of the vehicle and information about the type of the sensor. The first data are transmitted to a central device by the vehicle. Perception parameters are selected by the central device in view of the transmitted first data. The selected perception parameters are received by the vehicle, and the sensor is configured, using the selected perception parameters. The surroundings of the vehicle are monitored by the sensor, raw data being recorded, and the raw data being filtered by the vehicle, using the selected perception parameters. Second data are transmitted to the central device by the vehicle, the second data representing the monitored surroundings. A map is generated and/or updated by the central device based on the second data.

Method for generating a map of the surroundings of a vehicle

A method and a system for mapping a surroundings of at least one vehicle and for locating the at least one vehicle. Measurement data of the vehicle's surroundings are ascertained by at least one radar sensor of the at least one vehicle, the measurement data of the at least one radar sensor being aggregated. The aggregated measurement data are compared with already existing aggregated measurement data. The aggregated measurement data are optimized by reducing measurement errors based on the comparison between the aggregated measurement data and the already existing aggregated measurement data. A map is generated or updated on the basis of the optimized aggregated measurement data, and the at least one vehicle being located on the generated or updated map by comparing the ascertained measurement data with the generated map.

Method and system for mapping and locating a vehicle based on radar measurements

A method for mapping a route section. The method includes providing a central mapping server equipped with a server-side communication interface; providing at least one fleet vehicle of a vehicle fleet equipped with at least one sensor which is suitable for detecting mapping data, and with a vehicle-side communication interface, the server-side communication interface and the vehicle-side communication interface being configured to exchange data; making a mapping decision by decision-making logic implemented on the mapping server, and transmitting an individual mapping request which is based on the mapping decision to the at least one fleet vehicle, it being possible for the mapping request to include different pieces of information for individual fleet vehicles; and transmitting mapping data from the at least one fleet vehicle to the mapping server as a function of the individual mapping request and the use of the mapping data during the mapping of the route section.

Method for mapping a route section

A method for creating a feature-based localization map for a vehicle, including the steps: ascertaining data of at least one object in the surroundings of the vehicle; identifying characteristic structures of the at least one object; combining the characteristic structures to form a simplification structure of the object; and incorporating the simplification structure into the feature-based localization map.

Method for creating a feature-based localization map for a vehicle taking into account characteristic structures of objects

A method and a device for determining a highly precise position and for operating an automated vehicle, including: detecting surroundings data values, the surroundings data values representing surroundings of the automated vehicle, the surroundings encompassing at least two surroundings features, determining a pattern, as a function of the at least two surroundings features, reading in map data values, the map data values representing a map, the map representing at least the surroundings of the automated vehicle, the map encompassing a reference pattern, determining the highly precise position of the automated vehicle, proceeding from a comparison of the pattern to the reference pattern, and operating the automated vehicle, as a function of the highly precise position.

Method and device for determining a highly precise position and for operating an automated vehicle

A method is described for updating a digital map for vehicle navigation. The method includes a step of determining an adjustment signal for adjusting a detection range of an environment sensor of a vehicle to a section of an environment of the vehicle that corresponds to an area of the digital map to be updated, using an item of information about the area to be updated, and the method including a step of supplying area data for updating the digital map, the area data representing an image of the section of the environment detected by the environment sensor.

Method and device for updating a digital map for vehicle navigation

A method and a device for operating an automated vehicle, including: determining a position of the automated vehicle, detecting at least one surroundings feature in the surroundings of the automated vehicle, reading in a planning map depending on the position of the automated vehicle, the planning map being configured for determining a first driving function for operating the automated vehicle, determining a validity of the planning map depending on the position of the automated vehicle depending on the at least one surroundings feature, and operating the automated vehicle depending on the validity of the planning map.

Method and device for operating an automated vehicle based on a validity of a planning map

A method for creating a digital map for an automated vehicle, including identifying a first vehicle by a second vehicle or the second vehicle by the first vehicle, the first vehicle and/or the second vehicle being identified as data-detecting members of a creation process of the digital map; ascertaining a distance of the first vehicle from the second vehicle and/or a distance of the second vehicle from the first vehicle; and transmitting defined data of the vehicles and the distance between the vehicles to a creation unit for creating the digital map.

Method for creating a digital map for an automated vehicle

A method for detecting map errors includes the following method steps: A first and a second locating map are provided. Features detectable with the aid of a first surroundings sensor of a vehicle are recorded in the first locating map. Features detectable with the aid of a second surroundings sensor of the vehicle are recorded in the second locating map. At least one comparison feature recorded in the first and second locating maps is selected. At least one comparison variable is ascertained on the basis of a first pose of the comparison feature on the first locating map and a second pose of the comparison feature on the second locating map. A map error is established if the comparison variable exceeds a specified threshold value.

Method for detecting map errors

In a method and a device for creating and providing a map, a highly accurate map that includes multiple highly accurate map features is obtained, a shared map feature attribute is determined as a function of the multiple highly accurate map features, a derivative map is created as a function of the shared map feature attribute, and the map is output.

Method and device for creating and providing a map

A method for uploading data of a motor vehicle, including the steps: acquiring surrounding-area data of the motor vehicle with the aid of a sensor device; generating a locational reference for the acquired surrounding-area data; evaluating the acquired surrounding-area data by comparing the acquired surrounding-area data to known surrounding-area data of a data storage unit of a server device; and uploading the acquired surrounding-area data to the server device () as a function of the evaluation.

Method and device for uploading data of a motor vehicle

A method for operating an automated mobile system includes determining a first trajectory based on driving environment data recorded by a sensor system of the system, determining at least a permissible second trajectory from a defined data source that is independent of the sensor system, comparing the planned, first trajectory to the at least one second trajectory, and, in response to a defined deviation of the planned first trajectory from the at least one permissible second trajectory, determining the first trajectory in a process modified in a defined manner.

Method and device for operating an automated mobile system

A method for detecting a light-emitting object at a traffic junction for a vehicle, the method including a reading in in which the light signal is read in which represents at least one chronologically changing light range of a light-emitting object. Furthermore, the method includes determining in which a driving parameter of the light-emitting object is determined using the light signal. Finally, the method includes providing, a detection signal being provided using the driving parameter and the detection signal representing a presence and/or an approach of the light-emitting object.

Method and device for detecting a light-emitting object at a traffic junction for a vehicle

A method/system for calibrating a vehicle sensor, including detecting data about the vehicle's surroundings using the sensor, and ascertaining stationary structures using the detected first data pieces. Stationary structures are selected for later calibration, and potential parking positions are determined. A parking position is selected from the potential parking positions so that after parking, stationary structures selected for a calibration of the sensor are in the sensor's field of vision. The vehicle is parked, and the position of the stationary structures selected for the calibration of the sensor is stored. After the vehicle start, second data pieces about the vehicle's surroundings are detected using the sensor, and instantaneous positions of the selected stationary structures are ascertained using the detected second data pieces. The instantaneous position are compared with the stored positions, and deviations between the instantaneous positions and the stored positions determined. The sensor is calibrated using the determined deviations.

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Sarstedt, Germany

Daniel Zaum