Deformation correction of a digital map for a vehicle

Patent metadata

Field	Value
Publication number	US-12044546-B2
Application number	US-201716958212-A
Country	US
Kind code	B2
Filing date	Dec 27, 2017
Priority date	Dec 27, 2017
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

A method and an apparatus for correcting deformation of a digital map for a vehicle, includes loading a related part from the digital map; determining whether the related part includes road coordinate information in a first zone and road coordinate information in a second zone, wherein the road coordinate information in the first zone is associated with a first Cartesian coordinate system and the road coordinate information in the second zone is associated with a second Cartesian coordinate system; transforming the road coordinate information in the second zone to the first Cartesian coordinate system, if the related part includes the road coordinate information in the first zone and the road coordinate information in the second zone; and generating a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone; wherein the first Cartesian coordinate system is the coordinate system of the vehicle for processing the road coordinate information.

First claim

What is claimed is:

1. A method for correcting deformation of a digital map for a vehicle moving from a first zone towards a second zone, the method comprising:
loading a related part from the digital map, wherein
the related part comprises all digital map information relating to a geographical area within a radius of M km from the vehicle;

determining that the related part only includes road coordinate information in the first zone by checking a map description file of the digital map, and in response:
directly using road coordinate information in the first zone, wherein
the road coordinate information in the first zone is associated with a first Cartesian coordinate system, and
an automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information;

determining, by checking the map description file, that the related part includes road coordinate information in the first zone and road coordinate information in the second zone associated with a second Cartesian coordinate system thus creating a distortion at an edge between the first zone and the second zone, and in response:
transforming the road coordinate information in the second zone to the first Cartesian coordinate system, and
generating a corrected digital map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone, wherein
the automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information; and

during movement of the vehicle from the first zone toward the second zone, determining that the related part only includes road coordinate information in the second zone, and in response:
converting back the transformed road coordinate information in the second zone to original road coordinate information, wherein
the automatic driving system of the vehicle transitions to use the second Cartesian coordinate system to process localization and trajectory planning.

2. The method according to claim 1 , wherein the step of transforming the road coordinate information in the second zone to the first Cartesian coordinate system comprises:
transforming the road coordinate information in the second zone into localization information using a reverse Gauss-Krueger projection; and
transforming the localization information into road coordinate information associated with the first Cartesian coordinate system using a Gauss-Krueger projection.

3. The method according to claim 2 , wherein the localization information comprises longitude and latitude information.

4. The method according to claim 1 , wherein
the map description file comprises a coordinate of each coordinate point in the digital map and a zone number indicating which zone the coordinate point is located in.

5. The method according to claim 4 , wherein the step of determining whether the related part includes road coordinate information in the first zone and/or road coordinate information in the second zone comprises:
determining whether the related part only includes road coordinate information in the first zone, includes road coordinate information in the first zone and road coordinate information in the second zone, or only includes road coordinate information in the second zone by checking the zone number of each coordinate point in the related part.

6. The method according to claim 1 , wherein
0.3 km<=M<=1.5 km.

7. A non-transitory machine readable storage medium having instructions stored thereon that, when executed, cause a processor to implement the method according to claim 1 .

8. An apparatus for correcting deformation of a digital map for a vehicle moving from a first zone towards a second zone, the apparatus comprising:
a processor;
a memory coupled to the processor and storing instructions, when executed by the processor, configure the processor to implement:
a loading unit configured to load a related part from the digital map, wherein
the related part comprises all digital map information relating to a geographical area within a radius of M km from the vehicle;

a determination unit configured to determine whether the related part includes road coordinate information in the first zone and/or road coordinate information in the second zone by checking a map description file of the digital map, wherein
if it is determined that the related part only includes road coordinate information in the first zone:
directly use road coordinate information in the first zone, wherein
 the road coordinate information in the first zone is associated with a first Cartesian coordinate system,
 an automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information, and
 the road coordinate information in the second zone is associated with a second Cartesian coordinate system;

if it is determined that the related part includes road coordinate information in the first zone and road coordinate information in the second zone associated with a second Cartesian coordinate system thus creating a distortion at an edge between the first zone and the second zone:
transform the road coordinate information in the second zone to the first Cartesian coordinate system, and
generate a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone, wherein
 the automatic driving system of the vehicle uses the first Cartesian coordinate system to process road coordinate information; and

if it is determined that the related part only includes road coordinate information in the second zone:
convert back the transformed road coordinate information in the second zone to original road coordinate information, wherein
 the automatic driving system of the vehicle transitions to use the second Cartesian coordinate system to process localization and trajectory planning.

9. A vehicle comprising the apparatus according to claim 8 .

10. The apparatus according to claim 8 , wherein
0.3 km<=M<=1.5 km.

11. The apparatus according to claim 8 , wherein p 1 the map description file comprises a coordinate of each coordinate point in the digital map and a zone number indicating which zone the coordinate point is located in.

12. The apparatus according to claim 11 , wherein determination of whether the related part includes road coordinate information in the first zone and/or road coordinate information in the second zone comprises:
determining whether the related part only includes road coordinate information in the first zone, includes road coordinate information in the first zone and road coordinate information in the second zone, or only includes road coordinate information in the second zone by checking the zone number of each coordinate point in the related part.

13. An apparatus for correcting deformation of a digital map for a vehicle located in a second zone and moving back toward a first zone, the apparatus comprising:
a processor;
a memory coupled to the processor and storing instructions, when executed by the processor, configure the processor to implement:
a loading unit configured to load a related part from the digital map, wherein
the related part comprises all digital map information relating to a geographical area within a radius of M km from the vehicle;

a determination unit configured to determine whether the related part includes road coordinate information in the first zone and/or road coordinate information in the second zone by checking a map description file of the digital map, wherein
if it is det

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Doemling Maximilian
• Jin Hai
• Lv Bill
• Xu Tomas

Classifications

• G01C21/3867

  Geometry of map features, e.g. shape points, polygons or for simplified maps · CPC title

• G01C21/387

  Organisation of map data, e.g. version management or database structures · CPC title

• G06F16/29

  Geographical information databases · CPC title

• G01C21/3819 Primary

  Road shape data, e.g. outline of a route · CPC title

• G01C21/3863

  Structures of map data · CPC title