阅读说明：本技术 用于创建车辆的环境的地图的方法 (Method for creating a map of an environment of a vehicle ) 是由 J·罗德 D·曹姆 于 2019-08-10 设计创作，主要内容包括：本发明涉及一种用于创建车辆(10)的环境的地图的方法,其中,所述车辆(10)包括至少一个传感器(12),所述方法包括以下步骤：a)通过所述车辆(10)感测第一数据,其中,所述第一数据至少包括所述车辆(10)的位置和关于所述至少一个传感器(12)的类型的说明；b)通过所述车辆(10)将第一数据传送给中央装置(100)；c)通过所述中央装置(100)在考虑所述第一数据的情况下来选择感知参数；d)通过所述中央装置(100)将所选的感知参数发送给所述车辆(10)；e)由所述车辆(10)接收所选的感知参数并且在使用所选的感知参数的情况下配置所述至少一个传感器(12)；以及f)通过所述至少一个传感器(12)感测所述车辆(10)的环境,其中,记录原始数据并且在使用所选的感知参数的情况下由所述车辆(10)过滤所述原始数据；g)通过所述车辆(10)将第二数据传送给所述中央装置(100),其中,所述第二数据基于所述原始数据；以及h)基于所述第二数据通过所述中央装置(100)创建和/或更新地图。(The invention relates to a method for creating a map of an environment of a vehicle (10), wherein the vehicle (10) comprises at least one sensor (12), the method comprising the steps of: a) sensing first data by the vehicle (10), wherein the first data comprises at least a location of the vehicle (10) and a specification of a type of the at least one sensor (12); b) transmitting, by the vehicle (10), first data to a central device (100); c) selecting, by the central device (100), a perception parameter taking into account the first data; d) -sending, by the central device (100), the selected perception parameters to the vehicle (10); e) receiving, by the vehicle (10), the selected perception parameters and configuring the at least one sensor (12) using the selected perception parameters; and f) sensing the environment of the vehicle (10) by means of the at least one sensor (12), wherein raw data are recorded and filtered by the vehicle (10) using the selected perception parameters; g) transmitting, by the vehicle (10), second data to the central device (100), wherein the second data is based on the raw data; and h) creating and/or updating a map by the central apparatus (100) based on the second data.)

1. A method for creating a map of an environment of a vehicle (10), wherein the vehicle (10) comprises at least one sensor (12), the method comprising the steps of:

a) sensing first data by the vehicle (10), wherein the first data comprises at least one position of the vehicle (10) and a specification about a type of the at least one sensor (12),

b) transmitting the first data to a central device (100) by the vehicle (10),

c) selecting, by the central device (100), a perception parameter taking into account the first data,

d) -sending the selected perception parameters to the vehicle (10) by means of the central device (100),

e) receiving, by the vehicle (10), the selected perception parameters and configuring the at least one sensor (12) using the selected perception parameters; and

f) sensing an environment of the vehicle (10) by means of the at least one sensor (12), wherein raw data are recorded and filtered by the vehicle (10) using selected perception parameters,

g) transmitting, by the vehicle (10), second data to the central device (100), wherein the second data is based on the raw data; and

h) creating and/or updating a map by the central device (100) based on the second data.

2. The method according to claim 1, characterized in that the first data comprise a vehicle position and/or orientation of the vehicle (10) as found by means of satellite navigation.

3. The method according to claim 1 or 2, characterized in that the first data comprise a description of the current environmental conditions at the location of the vehicle (10) and/or the central device (100) gets a description of the current environmental conditions at the location of the vehicle (10) via a weather service.

4. Method according to any one of claims 1 to 3, characterized in that in selecting the perception parameters according to step c), the perception parameters suitable for creating a map are selected by the central device (100) as a function of the position of the vehicle (10), the orientation of the vehicle (10) and/or the current environmental conditions.

5. The method according to any one of claims 1 to 4, characterized in that objects are identified in the filtered raw data by the vehicle (10) and the second data comprises the filtered raw data and/or the identified objects.

6. The method of any of claims 1 to 5, wherein the second data comprises the filtered raw data.

7. The method according to claim 6, characterized by identifying objects in the filtered raw data by the central device (100).

8. The method according to any one of claims 1 to 7, characterized in that the created map is provided to a driver assistance system of the vehicle (10), wherein at least one part of the map is transmitted to the vehicle (10) by the central device (100).

9. A central device (100) comprising a computing device (102) and a communication device (104), characterized in that the central device (100) is arranged for implementing the steps of the method according to any one of claims 1 to 8, which should be implemented by the central device.

10. A vehicle (10) comprising at least one sensor (12) and a communication unit (16), characterized in that the vehicle (10) is provided for carrying out the steps of the method according to any one of claims 1 to 8, which are to be carried out by the vehicle (10).

11. Vehicle (10) according to claim 10, characterized in that said at least one sensor (12) is selected from a radar sensor, an ultrasonic sensor, a lidar sensor, an optical sensor or a combination of several of these sensors.

Technical Field

The invention relates to a method for creating a map of an environment of a vehicle, wherein the vehicle comprises at least one sensor, wherein data are sensed and transmitted to a central device in the method. Other aspects of the invention include a central apparatus and a vehicle arranged for use with the method.

Background

Sensing the vehicle environment with the use of sensors such as radar sensors and video cameras is an essential component of modern driver assistance systems and automated vehicle systems. In order to be able to provide accurate data about the vehicle environment, the sensor must be able to sense a variety of different object types, such as traffic signs and kerbs, under a variety of possible ambient conditions.

A method for operating a sensor for sensing the surroundings of a vehicle is known from DE 102016103251 a 1. In the method, it is provided that at least one data set is generated using the data processing device, wherein the at least one data set describes a current and/or future state of the surroundings. Based on the at least one data set, a control signal is generated by the control device for controlling the operating state of the sensor and/or for controlling the data processing of the sensor data of the sensor. By analyzing the evaluation data set by the data processing device, for example, the object on the lane or the weather state can be determined. Depending on the determined object or weather state, the operating state of the sensor and/or the processing of the sensor data of the control device can be adapted. The sensor may be a radar sensor, for example.

DE 102015211467B 3 discloses a method and a device for setting the sensitivity of an ultrasonic sensor. The sensitivity of an ultrasonic sensor of a motor vehicle is adaptively set, wherein a disturbance threshold for suppressing disturbances is predefined. In this case, the interference threshold is determined during the operation of a predetermined function of the auxiliary system. In the case of adaptive adaptation, it is ensured that the ultrasound sensor is not adjusted to such an extent that it is not so sensitive that the feasibility of the auxiliary system is jeopardized.

A method for operating a driver assistance system is known from DE 102014011108 a 1. In the method, it is provided that the sensing of the sensor data by the sensor is adapted as a function of the parking area information, in that a sensing parameter or a processing parameter of the sensor is adapted. For example, the threshold value can be adapted when processing the sensor data. As the sensor, for example, a radar sensor or an ultrasonic sensor may be used. The parking area information can be extracted from a predefined map.

A disadvantage of the known method is that the optimized parameters for sensing the environment cannot be predetermined in a targeted manner.

Disclosure of Invention

A method for creating a map of an environment of a vehicle is proposed, wherein the vehicle comprises at least one sensor. In a first step a) of the method, first data are sensed by the vehicle, wherein the first data comprise at least one position of the vehicle and a specification of the type of the at least one sensor. In a subsequent step b), the first data is transmitted by the vehicle to the central device. Next, in step c), the perceptual parameters are selected by the central device under consideration of the first data. Next, in step d), the selected perception parameters are transmitted to the vehicle by the central device. In a subsequent step e), the selected perception parameter is received by the vehicle and the at least one sensor is configured using the selected perception parameter. Next, in step f), the environment of the vehicle is sensed by the at least one sensor, wherein raw data is recorded and filtered by the vehicle using the selected perception parameters. In a next step g), second data are transmitted by the vehicle to the central device, wherein the second data are based on the raw data and represent the sensed environment. In a subsequent step h), a map is created and/or updated by the central device based on the second data.

The proposed method can be run once or multiple times. In particular, it is possible for the method to be operated continuously during operation of the vehicle, in particular while the vehicle is moving, wherein in particular the vehicle position is determined continuously, the vehicle position is transmitted to the central device, the vehicle position parameters are adapted using the position parameters selected by the central device, the environment is sensed, and data representing the environment are transmitted to the central device. Accordingly, it is preferred that the central device continuously updates the map if new data is present.

In step a) of the method, its own position is first determined by the vehicle. Here, it is entirely sufficient at first if the position of the vehicle can be determined only roughly. For the approximate determination of the position, a specification of an accuracy of up to 100 meters, preferably up to 50 meters, particularly preferably up to 10 meters, is sufficient. Such a position determination can be achieved, for example, by evaluating the radio signals from the communication device analytically, for example by evaluating the signals from a mobile radio base station or a WLAN base station. Preferably, the vehicle position is additionally or alternatively determined using a satellite navigation system, for example GPS, wherein the vehicle position is then determined more precisely with an accuracy of better than 20 meters, preferably better than 10 meters and particularly preferably better than 5 meters.

Furthermore, it is preferred to determine the orientation of the vehicle, for example using an electronic compass, or to determine its orientation during movement of the vehicle by evaluating the course of successively determined positions of the vehicle by analysis.

Accordingly, the first data preferably comprise the vehicle position and/or the orientation of the vehicle transmitted by means of satellite navigation. The combination of the vehicle position and the orientation of the vehicle results in an estimated pose of the vehicle.

The first data also includes a description of the type of the at least one sensor. These instructions may include, for example, instructions on the type of sensor or also the serial number of the sensor, in order to be able to identify the sensors precisely. Furthermore, it is conceivable to transmit a specific identification of the vehicle type or of the vehicle as a specification of the type of the at least one sensor, wherein the central device is then provided with a database which contains the specification of the type of the sensor associated with the respective vehicle or vehicle type.

In step b) of the method, the data is transmitted to the central device. The data transfer between the vehicle and the central device may be performed by any method familiar to those skilled in the art. In particular, wireless communication methods such as mobile radio, for example GSM, UMTS, LTE, and WLAN or bluetooth are suitable. In particular, a mobile internet connection is preferably used, wherein the central device is correspondingly also connected to the internet.

In step c) of the method, the perceptual parameters are selected by the central device. The central device takes into account previously transmitted first data, which contain at least an indication about the type of sensor and about the vehicle and therefore the location where the sensor is located.

Preferably, the central device comprises a map that maintains optimized perception parameters for different types of sensors for different locations. Thereby, a perception parameter can be selected which is adapted to the corresponding location and thus to the environmental condition present at the corresponding location. For example, the optimized perception parameters may be determined with sensor data processing taking into account experience. Preferably, the perception parameters are automatically determined, wherein for this purpose, for example, machine learning methods can be used.

In particular, the sensing parameter comprises a sensing for at least one sensorA machine parameter and a filter parameter for filtering raw data sensed by the sensor. In particular, optimized sensor parameters and filter parameters can be predefined as a function of the location of the vehicle. Thus, for example, in order to accurately sense the surroundings, it is advantageous to use closed surroundings, such as tunnels, parking lots, underground garages or narrow city roadwaysDifferent sensor and filter parameters than in more open surroundings, such as state-county and motorways, are specified.

The central device has a map for selecting optimized perception parameters, in which map preferred perception parameters are stored for different types of sensors and for different locations, respectively. The central device selects optimized perception parameters from the map for the sensors specific for the first data, for the respective location specific thereto.

In addition to the location of the vehicle, the orientation of the vehicle may also be important for the selection of the perception parameters. Thus, for example, different perception parameters can be predefined by the knowledge of the orientation of the vehicle, depending on whether the vehicle is driving uphill or downhill, for example. It is furthermore conceivable that, in combination with the knowledge of the current time, the perception parameters are also dependent on the sun position and the orientation of the vehicle relative to the sun. This is particularly advantageous when the sensor is an optical sensor.

The sensor parameters contained in the sensing parameters are preferably coordinated with the corresponding sensor type. For example, in the case of a radar sensor, the sensor parameters may include specifications regarding radar cross-sections. For example, in the case of an ultrasonic sensor, the sensor parameter may include an interference threshold.

Standard values for different sensor types can also be saved in the central device as a fallback measure if optimized perception parameters have not been saved for the corresponding vehicle position or orientation of the vehicle.

Preferably, the first data additionally comprises a description of the current environmental conditions at the vehicle location and/or the central device obtains the description of the current environmental conditions at the vehicle location via a weather service.

The vehicle can sense the specification of the current environmental condition by means of the at least one sensor of the vehicle and, if necessary, by using a further sensor assigned to the vehicle. Such environmental conditions may be, for example, temperature, humidity, brightness, precipitation or instructions regarding the state of the roadway. Alternatively or additionally, the central device may obtain such environmental information for the location where the vehicle is now located through an external service provider, such as a weather service, via a connection to the weather service.

These specifications regarding the current environmental conditions are preferably also taken into account for selecting the optimized perceptual parameters. Thus, for example for optical sensors, it is advantageous to use different sensor parameters during the day than at night. Furthermore, many sensor types are limited by precipitation, for example rain or snow, so that the adapted sensor parameters and/or filter parameters have a favorable effect on the measurement results.

Preferably, the central device selects the perception parameters such that they are suitable, in particular, for map creation, wherein the selection is made as a function of the position of the vehicle, the orientation of the vehicle and/or the current environmental conditions.

The perceptual parameters suitable for map creation enable a high detection rate for selected static, i.e. immobile, objects which are particularly well suited for creating or updating maps. Such static objects for creating a map of a vehicle environment are, inter alia, traffic signs, such as traffic signs or traffic lights, and objects bounding lanes, such as kerbs, trees, guardrails, trash cans, etc. Depending on environmental conditions such as weather and orientation of the vehicle, the optimized perception parameters may vary. In this case, in particular, sensor parameters and/or filter parameters are adapted in order to reliably detect these static objects.

After the optimized perception parameters have been selected by the central device, said optimized perception parameters are transmitted to the vehicle according to step d) of the method. For the connection between the central device and the vehicle, it is preferable to select the same connection method as that used in step b) in which the first data is transmitted to the central device. Preferably, the vehicle has a mobile internet connection so that the selected perception parameters can be transmitted to the vehicle via the internet.

In step e) of the method, at least one sensor of the vehicle is configured using the obtained selected perception parameter. In the case of a radar sensor, for example, the radar cross section can be set and in the case of an ultrasonic sensor, for example, the interference threshold can be set.

In a subsequent step f) of the method, the environment of the vehicle is sensed using at least one sensor. Here, the vehicle may be stationary or may be moving. In this case, raw data are recorded by at least one sensor, which raw data are subsequently filtered.

Preferably, the interference sources are filtered out by this filtering. In the case of active sensors, such as radar sensors, lidar sensors or ultrasonic sensors, such sources of interference may be, for example, signals emitted by sensors of other vehicles. Furthermore, the raw data always contains a certain background noise, which depends on the surroundings in which the vehicle is now located. Furthermore, the disturbance may be caused by environmental influences such as rain, snow or fog, for example, wherein, for example, when using a lidar sensor, the laser beam used here may be reflected by water droplets in the air and may therefore cause a disturbance.

The filtering step yields filtered raw data, which are in particular clipped to "enable a solution to objects or a data aggregation". When finding objects or aggregations, objects are identified in the filtered raw data. Depending on the sensor type, the filtered raw data includes, for example, the position relative to the vehicle at which the sensor signal is reflected.

In the context of finding objects or aggregates, the filtered raw data about the objects is summarized. In this case, all raw data representing data relating to a specific object in the vehicle environment are associated with this object. Such objects may be static objects that are not moving and are fixed in location, or may be dynamic objects that are in motion.

In particular, static objects are important for creating an environment map, so it is preferred to use only static objects for further processing. In an alternative embodiment, it is preferable to use not only static objects but also dynamic objects.

The dynamic or movable object may be, for example, a pedestrian or another vehicle. Static or immobile objects for creating a map of a vehicle environment are in particular traffic signs, such as traffic signs or traffic lights, and objects bounding lanes, such as kerbs, trees, guardrails, trash cans, etc. In the case of sensors, for example radar sensors, which can also provide sensor data specific to the ground, the roads themselves are also considered as objects to be taken into account when creating the environment map. For example, information characterizing a certain section of a road can be acquired with a radar sensor.

In one embodiment of the invention, it is provided that the object in the filtered raw data is recognized by the vehicle itself before the second data is transmitted. In this variant, therefore, the aggregation or determination of the object is carried out before the second data is transmitted to the central device. The second data then includes the identified object.

Alternatively or additionally, the objects in the filtered raw data are preferably identified by the central device. Accordingly, in this case, the object recognition is carried out after the second data have been transmitted to the central device. The second data includes the filtered raw data.

Thus, the second data preferably comprises the filtered raw data and/or the identified object. In the embodiment in which object recognition has already been carried out by the vehicle, it can also be provided that not only information about the recognized object but also the filtered raw data are to be received into the second data. The inclusion of filtered raw data in the second data can of course also be dispensed with if no further evaluation of the raw data by the central device is necessary.

Preferably, the second data is transmitted to the central device using the same transmission method that is also used for transmitting the first data.

In step h) of the method, an environment map is created and/or updated by the central device based on the second data. For this purpose, the central device uses information extracted from the identified objects. For example, the course of the road can be reconstructed by recognizing objects bounding the lanes, for example kerbs, and traffic guidance can be ascertained from the sensed traffic signs, for example traffic signs or traffic lights, which may include, in particular, the permitted directions of travel on the respectively recognized lane. Furthermore, the map preferably comprises information of the identified object, such as the position, orientation, size, etc. of the identified object.

Preferably, in the method for creating or updating a map, a plurality of vehicles cooperate so that a map can be drawn for a large area in a short time and with little effort. Furthermore, by the cooperation of a plurality of vehicles, it is possible to update the map periodically, and thus, the description of the environment included in the map is up to date.

The map created by the central arrangement is particularly suitable for planning a safe route or trajectory for guiding a vehicle from a starting point to a destination. In the autonomous driving function, the vehicle is subjected to both longitudinal guidance, i.e. acceleration and braking, and transverse guidance, i.e. steering, and in particular, in order to guide the vehicle automatically in the context of the autonomous driving function, it is necessary to position the vehicle precisely in addition to the precise map. In general, it is not sufficient to determine the position of the vehicle solely by means of a satellite navigation system. Alternatively, it can be provided that the vehicle first roughly determines its position by means of a satellite navigation system and transmits this position to the central device. The vehicle may then obtain a part of the map that contains, among other things, objects previously identified by other vehicles. The position of the vehicle can be determined precisely by comparing the information about the objects sought by the vehicle with its own sensors with the information about these objects stored in the map.

In addition, it is preferably provided in the method that the created map is provided to a driver assistance system of the vehicle, wherein at least one part of the map is transmitted by the central device to the vehicle. In this case, the part of the map transmitted by the central device is preferably determined by the vehicle position determined by the vehicle in the domain of the first data.

In another aspect of the present invention, a central device including a communication device is provided. The central device is provided for carrying out the steps of the method described here, which are to be carried out by the central device. Correspondingly, features described in the context of one of the methods apply correspondingly to the central device and conversely features described in the context of the central device apply correspondingly to the method.

The central device is preferably configured as a server device, for example as a cloud server. The central device comprises a communication device arranged for receiving the first data and the second data from the vehicle and for transmitting the selected perception parameter to the vehicle. Correspondingly, the communication device is preferably provided for communication with the vehicle via a wireless connection, for example a mobile radio connection, WLAN or bluetooth. It is also conceivable that a communication device is provided for establishing an internet connection and that the central device accordingly communicates with a vehicle having a mobile internet connection.

The central device can be configured to make available maps created in the context of the method to the vehicle or other users, for example via the internet. Further, the central device may be configured for communication with other service providers, such as with a provider of weather data. Such communication may also be achieved, for example, via the internet.

In another aspect of the invention, a vehicle is provided that includes at least one sensor and a communication unit. The vehicle is provided for carrying out the steps of one of the methods described herein, which are to be carried out by the vehicle. Accordingly, the features specified in the context of one of the methods apply accordingly to the vehicle and conversely the features specified in the context of the vehicle apply accordingly to the method.

Preferably, the at least one sensor is selected from a radar sensor, an ultrasonic sensor, a lidar sensor, an optical sensor such as a video camera, or a combination of a plurality of these sensors.

Preferably, the vehicle comprises more than one sensor, wherein a plurality of sensors of the same type can be used and/or the vehicle can have different sensor types. For example, a vehicle may have a radar sensor oriented toward the front and twelve ultrasonic sensors distributed around the vehicle. At least one sensor is provided for sensing data about the vehicle environment. In this case, objects in the vehicle environment are identified, in particular, by corresponding sensors.

Furthermore, it may be provided that the vehicle has a further sensor provided for detecting an environmental condition, for example a thermometer for sensing temperature, a hygrometer for sensing humidity or a rain sensor for sensing precipitation.

In particular, the communication unit of the vehicle is configured for wireless communication with a central device. For example, the communication unit is arranged for communication via a mobile radio connection, such as GSM, UMTS or LTE, WLAN or via bluetooth. Preferably, the communication unit is arranged for establishing an internet connection and communicating with the central apparatus via the internet connection.

In the proposed method for creating a map of an environment of a vehicle, at least one sensor of the vehicle is used in order to sense data representative of said environment and to transmit said data to a central device. In this case, it is preferably provided that the position of the vehicle is first approximately determined and transmitted to the central device. The central device then selects the appropriate sensor parameters and filter parameters for the location, which are transmitted to the vehicle. This ensures that at least one sensor of the vehicle is always operated with optimized parameters, in order to be able to be sufficiently precise and sensitive, in order to be able to detect all relevant objects in the surroundings, on the one hand, and to avoid false detections due to interference, on the other hand.

In addition to receiving data representative of real objects in the surrounding environment, noise and other disturbances are also received when the vehicle environment is sensed by at least one sensor. Background noise of this surroundings and possibly other disturbances, such as sensor signals of other vehicles, must be reliably suppressed or filtered out. According to the invention, the sensor is first of all configured optimally such that it is adapted to the currently existing ambient conditions, which may depend in particular on the location and the weather conditions. Thereby, the occurrence of false detections can already be significantly reduced. Next, the raw data provided by the sensors are subjected to a filtering, wherein the filter used is also adapted to the ambient environmental conditions that are currently present. Hereby is achieved that the quality of the resulting filtered data is optimized for further processing.

In one variant of the method, object recognition or data aggregation is advantageously already carried out by the vehicle. In this object recognition or data aggregation, sensor data belonging to a unique object is summarized and the object is recognized. In this case, only a small amount of data has to be transmitted next in order to report the result to the central device as second data. Alternatively, the filtered raw data can be transmitted to a central device, wherein in this case, despite the larger data volumes produced, generally higher computing power is available for the analytical evaluation.

In any case, the central device is provided with high-quality data for creating a map, which data comprises specifications about objects identified in the vehicle environment. In turn, a map or an updated existing map can be created by evaluating these data by analysis, in which, for example, object classification can be carried out and thus objects can be determined precisely. In this method, it is preferable that not only one vehicle but a plurality of vehicles cooperate, so that a wide area can be mapped in a short time and an area in which a map has been mapped can be updated frequently, so that the map is always up to date.

The map thus created is particularly suitable for assisting the vehicle during navigation and during the determination of the precise position of the vehicle itself. In an advantageous embodiment of the method, it can be provided that, after the approximate position of the vehicle has been transmitted, the respective part of the map is transmitted to the vehicle. The vehicle can then simply determine the exact position of the vehicle by comparing the objects contained in the map with the objects sought by the vehicle sensors.

Drawings

An embodiment of the invention is shown in the drawings and is set forth in detail in the description that follows. The only figure shows the vehicle when sensing the environment.

The figures only schematically show the content of the invention.

Detailed Description

Fig. 1 shows a vehicle 10 traveling on a road 20 and approaching an intersection 22. The vehicle 10 includes a sensor 12 coupled to a controller 14. The controller 14 in turn has a connection to a communication unit 16. In the exemplary embodiment shown in fig. 1, the vehicle 10 has only one sensor 12, although in other exemplary embodiments a plurality of sensors 12 can also be arranged.

During travel of the vehicle 10 along the roadway 20, the controller 14 senses an approximate position of the vehicle 10 with the use of a satellite navigation system. The approximate position is continuously updated during the travel, wherein the vehicle 10 also determines its travel direction by comparing a plurality of such approximate positions. The current position and the current orientation of the vehicle 10 determined in this way are transmitted to the central device 100 as first data together with a description of the type of the sensor 12.

The central device 100 includes a computing device 102 and a communication device 104. The communication device 104 is arranged for communication with a respective communication unit 16 of the vehicle 10. After receiving the first data transmitted by the vehicle 10, the computing device 102 selects optimized perception parameters with which the sensor 12 can be optimally configured for the surroundings in which the vehicle 10 is located. In the present case, the vehicle 10 is on a narrow road 20 and accordingly parameters adapted to this situation are obtained by the central device 100. To implement this selection, the computing device 102 includes a map for which the perception parameters optimized for the sensors 12 of the vehicle 10 according to the location of the vehicle 10 are saved. The selected perception parameters are transmitted to the vehicle 10 using the communication device 104.

The vehicle 10 receives the perception parameters and then configures the sensors 12 of the vehicle accordingly with the sensor parameters contained in the perception parameters. The environment of the vehicle 10 is now sensed using the optimally configured sensors 12. For example, if the sensor 12 is implemented as a radar sensor, a radar signal is transmitted and a reflected echo is received from an object in the surrounding environment again. In the example shown in fig. 1, echoes are received in particular from a curb edge 26, a traffic sign 24 and another vehicle 28. In addition, the radar sensor derives a characteristic echo signal from the roadway 20 itself. The raw data received in this way by the sensor 12 is then filtered by the controller 14, wherein the filter is set by the filter parameters contained in the perception parameters.

In one embodiment, the filtered raw data is then transmitted as second data to the central device 100 using the communication unit 16. Next, the computing device 102 of the central device 100 performs object recognition or aggregates the resulting filtered raw data, wherein objects in the surroundings of the vehicle 10 are recognized. Next, the identified objects are added to a map of the environment that is saved in the computing device 102.

Alternatively, it can be provided that the controller 14 already carries out object recognition or data aggregation, so that only data relating to the recognized object still have to be transmitted as second data to the central device 100 using the communication unit 16.

The environment map is created or updated by the central device 100 using the data about the identified objects. In this case, it can be provided that a distinction is made between static objects, i.e. immovable objects, and dynamic or moving objects. Moving objects are for example not suitable for being used as landmarks and therefore cannot be used for determining a position or for assisting route guidance. The further vehicle 28 moves in the situation illustrated in fig. 1 and is therefore recognized as a dynamic object and is not taken into account when creating the map.

Objects delimiting a lane, such as the curb edge 26 shown in fig. 1, can be taken into account in order to obtain an explanation about the course of the lane. If data about the road 20 can also be sensed directly, as is the case, for example, with radar sensors, these data can also be taken into account directly for creating the map. If traffic signs are identified, such as the traffic sign panel 24 shown in fig. 1, these traffic signs can be evaluated in an evaluation mode in order to obtain further information about traffic guidance, for example about a reliable driving direction, etc.

In a further embodiment of the method, it may be provided that a part of the created map is additionally transmitted by the central device 100 to the vehicle 10. The locality is found based on the approximate location previously transmitted by the vehicle 10. Using the resulting map, the vehicle 10 can compare the object position identified via the sensor 12 with the positions recorded in the map and thereby determine the position of the vehicle more accurately than, for example, using only satellite navigation. Furthermore, the data obtained using the map may be used, for example, to automatically guide the vehicle 10 from the starting position to the target position.

The present invention is not limited to the embodiments described herein and the aspects emphasized therein. But that several variations within the scope of the person skilled in the art are possible within the scope of the claims.