WO2017148851A1 - Method for precisely determining the location of a motor vehicle - Google Patents

Abstract

The invention relates to a method for precisely determining the location of a motor vehicle (100), the method comprising: receiving (10) a current vehicle position (102) of the motor vehicle (100); receiving (20) environment information (112), wherein the environment information (112) is indicative of a current environment (110) of the motor vehicle (100); providing (30) a navigation map (132) as a precise current navigation map, from a plurality of precise navigation maps (130), on the basis of the current vehicle position (102), wherein the navigation map (132) has the current vehicle position (102); determining (40) the current vehicle position (102) in the navigation map (132); comparing (50) the environment information (112) with a map environment of the current vehicle position (102) in the navigation map (132) in such a way that a best possible superposition of the environment information (112) with the map environment of the current vehicle position (102) in the navigation map (132) occurs; and determining (60) a precise current vehicle position (104) in the navigation map (132) on the basis of the best possible superposition of the environment information (112) with the map environment of the current vehicle position (102) in the navigation map (132). The method is performed in real time.

Description

 Method for precise location determination

 motor vehicle

The present invention relates to a method for precise location determination of a motor vehicle.

Currently advanced driver assistance systems (ADAS - Advanced Driver Assistance Systems) in

Motor vehicles increasingly popular. One challenge is to use such ADAS systems for autonomous driving, as this places much higher demands on functional safety and error rates. Such systems no longer require constant intervening monitoring by the driver of the vehicle

Motor vehicle and therefore must be able to control all possible situations themselves. Such systems consist of a variety

 Software components, each having different tasks. One of these tasks is to be able to precisely locate a motor vehicle within a navigation map so that other components can safely reach a desired location. This is

especially critical, since those in autonomous

Vehicles built sensors limited

Have detection ranges. For example, the capture data of a video camera can usually only be used for a preview of 60-70m.

 Map data is already in the automotive sector

widely used and are becoming increasingly important. In addition to the classic application in navigation systems, high-precision maps are a basic prerequisite for highly automated and autonomous driving. The digital maps form the basis for the precise determination of the current position of the vehicle. At the

 Application example of highly accurate position determination, for example, processed starting from the current position map sections. Due to the size of the cards often several hundred meters at

At the same time high resolution of the map material is the memory and time efficient management of the data in the

Random access memory (RAM) is a critical requirement for practical application in the automotive sector.

 This is because the automotive sector

embedded systems usually have a much lower memory compared to

Desktop systems. The size of the RAM memory can often amount to only a few hundred kilobytes.

 Furthermore, depending on the boundary conditions and the size of the card, not infrequently several millions

Requires access to the map data per second, since positioning algorithms can query the map data hochfrequentiert to the most accurate and timely determination of the current position

enable. In addition, the vehicle is usually in motion, whereby the highest possible update rate may be indispensable to a

to enable highly autonomous or automated driving. In addition to providing the data is also the

Generation of the data structure to be managed

important factor, since the map sections are often only valid for a certain time. As soon as that

Vehicle is located on the edge of a map section, a new map must be provided promptly.

 Furthermore, most applications require that the card data, apart from a discretization,

largely lossless the respective application can be made available.

 There are approaches to the map data

However, no approach is known which serves all of the above criteria in combination.

 There are different approaches to the spatial

Data / map data in the working memory or on a persistent storage medium vorzuhalten. These

However, data structures do not simultaneously serve the above-mentioned criteria in terms of storage and storage

Time efficiency. Given the data as vectors, efficient storage can be easily achieved. However, it is problematic that querying discrete points on the basis of the vector data involves a considerable amount of computation.

 Raster-based approaches, however, bring fast

Access times, but also a very high

Memory consumption with it.

Pure compression methods are characterized by a strong reduction of memory consumption, but do not provide random access to the data. It follows one Significant increase in access time since the

compressed data must first be unpacked.

Image compression algorithms therefore unpack all data before use, resulting in the full size of the data in memory. This makes the previous compression at runtime

lapsed.

 Lossy compression is often a compromise between memory usage and access time, but it does involve a significant loss of information.

 These approaches are therefore generally not for use in time-critical embedded systems and the

Processing of large amounts of data designed.

Therefore, it would be desirable a possibility

to provide, which can make it possible to make a precise position determination of a motor vehicle while driving.

It is an object of the invention a way

to propose, which avoids at least a part of the disadvantages known in the prior art, or at least reduced.

The object is achieved by a method according to the main claim, and by means of a system according to an independent claim. The subject of the main claim relates to a method for precise location of a

Motor vehicle. The method comprises: Receiving a current vehicle position of the motor vehicle, wherein the current vehicle position is based on reception data of a global positioning system.

Receive environmental information, with the

Environmental information on sensor information from

Sensors of the motor vehicle are based and indicative of a current environment of the motor vehicle.

 Provide a navigation map, as a precise current navigation map, from a variety of precise navigation maps, based on the current

Vehicle position, wherein the navigation map has the current vehicle position. Determine the current

 Vehicle position in the navigation map, based on the reception data of the global

Positioning system. Matching the

Environmental information with a map environment of the current vehicle position in the navigation map, such that the best possible superposition of

Environment information with the map environment of

current vehicle position in the navigation map. And determine a precise current

Vehicle position in the navigation map, based on the best possible overlay of the environment information with the map environment of the current vehicle position in the navigation map. The implementation of the method takes place in real time. The process steps can be carried out automatically.

 A precise location within the meaning of the invention means a determination of the spatial position of a motor vehicle with an accuracy that is much higher than is currently possible with current satellite-based positioning systems such as GPS, GLONASS, Galileo and Beidou.

In particular, a precise location determination means the

spatial determination of the position of the motor vehicle with an accuracy that allows a safe

enabling autonomous travel along a road based on the precise location within a precise navigation map.

 A current vehicle position within the meaning of the invention means a spatial position of the motor vehicle, as can be determined by means of GPS.

 Surrounding information in the sense of the invention means information that is determined by means of vehicle-own sensors and used to describe the environment of the vehicle.

 Sensor information in the sense of the invention means information / data which are determined by means of sensors of the vehicle. Such sensors may in particular also be imaging sensors whose information is evaluated by means of suitable computer visualization and pattern recognition, the detected vehicle environment and striking

To investigate information. Such striking

Information can include traffic signs, lane markings and more Fahrbahninformat be ion, such as the

Information on a milestone, one

Road identification such as "Martinstraße ^xx ," B31 ^,,> and the like.

 A sensor according to the invention can be a

Device and / or a system, adapted to detect a road under and / or in front of the vehicle or to scan and / or

Road markings, lane markings,

Track signage and the like to capture or scan. This may take the form of radar, lidar, ultrasonic, infrared, laser, and the like and / or optical sensors, such as

For example, video cameras. Preferably, the sensory scanning, so recording takes place

or the scanning of the road or the road environment or of parts of this environment in an area in front of the scanning vehicle.

 An up-to-date environment in the sense of the invention means a current, ie currently, detected environment of the motor vehicle.

 A precise current navigation map in the sense of the invention means an electronic map, for a motor vehicle navigation having a precision in the range of Im, preferably in the range of 50cm, more preferably in the range of 20cm, in particular in the range of up to 10cm. Furthermore, such a precise navigation map has lane markings, as well as other special

Identification features, by means of a

Environmental information accurate to the position in the map to be able to close. For example, such

special identification features

 Road identification information, building information, road traffic signs and other information that the static environment around, in the navigation map

contained, reproduce roads, so that a precise localization of a motor vehicle, by means of which

recorded environmental information in the navigation map can be enabled.

 A best possible overlay of the

 Environment information with the map environment of

The current vehicle position in the navigation map in the sense of the invention means the overlay resulting from a matching of the environmental information of the motor vehicle with the map information, in which the deviations from the map environment at the current

Vehicle position is the lowest. For example, this deviation can be minimized with a solver. Also, a result of minimizing squares of errors may be considered to be the least possible deviation and thus the best possible overlay.

 In this case, a once known precise position of the motor vehicle can be tracked by means of the vehicle's own sensors, so that the

Environment information comparison with the navigation map can be done extremely quickly.

 For example, to the precisely known last vehicle position, the information of the current

Driving speed and the steering angle of the wheels are taken into account, whereby the balancing the Environment information with the map environment of

current driving position posit ion in the navigation map with a much smaller map excerpt and thus can be much faster.

 A precise current vehicle position in the sense of

Invention means a corresponding exact

Localization of the motor vehicle in the precise current navigation map, such that based on this

Localization, a safe autonomous

Car navigation can be enabled.

 Real time in the sense of the invention means one

Processing time of less than 1/15 second, with a local inaccuracy of Im, for speeds up to about 55km / h and a maximum processing speed of about 1/40 second, with a local inaccuracy of Im, for driving speeds of about 130km / h.

 Reference values for the maximum processing time of the procedure for different maximum

 Driving speeds are provided in the following overview: l / 80s, for max. In the place inaccuracy at max. 288km / h l / 60s for max. In the place inaccuracy at max. 216km / h l / 50s for max. In the place inaccuracy at max. 180km / h l / 40s for max. In the place inaccuracy at max. 144km / h l / 15s for max. In the place inaccuracy at max. 054km / h This processing speed can at

 Initialization of the precise position of the motor vehicle to start driving much slower. During a journey, however, the procedure can be run extremely fast because the navigation map

or essential parts of the navigation map already known and processed in a way that a high frequency access to the

Navigation map can be enabled. Thus, the precise position determination of the motor vehicle will no longer have to be complete, but merely as a kind of incrementation, since the process of driving is a continuous process, and the previously known position significantly simplifies precise position determination. Thus, the previously known precise position of the

Motor vehicle, after an initials precise

 Position determination of the motor vehicle, for precise position determination by means of balancing the

Environmental information of the motor vehicle with the

Map information, are used.

 The teaching of the invention has the advantage that a highly accurate card for a

Car navigation, can be used to make a precise current position determination of the motor vehicle, memory and time efficient available.

 Thus, despite a limitation of the range of the available sensor information of a motor vehicle, by means of a highly accurate navigation map, which is prepared for a high-frequency access, a safe autonomous driving be enabled. Such a

Navigation map can allow for a preview of several kilometers, in spite of it

 Range limitation of useful sensor information of the motor vehicle, a safe autonomous drive of the

Allow motor vehicle to be able. The subject matter of an independent claim relates to a method for a precise

Automated vehicle control of a motor vehicle. The method comprises: providing a

Navigation map, as a precise current

 Navigation map. Providing a precise current vehicle position in the navigation map, according to a method according to the invention. Driving at least one actuator of the motor vehicle, based on a

predefined destination, the navigation map and the precise current vehicle position in the

Navigation map, wherein the at least one actuator is adapted to control at least parts of a driving operation of the motor vehicle.

 An actuator in the sense of the invention means a driving-relevant component, such as a

Actuator for a wheel of a motor vehicle, an accelerator, a flash trigger and the like.

 A driving of the actuator in the sense of the invention means a control that a signaling technology

Instruction to an actuator of a driving component of the motor vehicle has the consequence. Such a control can be done for example by means of an electrical voltage or by means of an electric current. For example, such a drive may supply a voltage or a current for a

Wheel deflection device of a front wheel, wherein, for example, the height of the voltage or the current indicates how strong the front wheel should be deflected from its center position.

 The teaching of the invention has the advantage that a highly accurate and safe autonomous

Motor vehicle control for vehicle movement

can be provided.

The object of another sibling

Claim relates to a device for precise location of a motor vehicle. The device has in this case: a first receiving means for receiving a current vehicle position of the motor vehicle, wherein the current vehicle position based on reception data of a global positioning system. A second receiving means for receiving

 Environmental information, wherein the environmental information based on sensor information from sensors of the motor vehicle and are indicative of a current environment of the motor vehicle. A third receiving means, to receive a navigation chart, as a precise

current navigation map, wherein the navigation map has the current vehicle position. A first

Investigation means, to determine the current

Vehicle position in the navigation map, based on the reception data of the global

 Positioning system. A matching means for matching the environment information with a

Map environment of the current vehicle position in the

Navigation map, such that the best possible

Overlaying the environment information with the Map environment of the current vehicle position in the

Navigation map is done. And a second

 Determining means for determining a precise current vehicle position in the navigation map, based on the best possible overlay of the environmental information with the map environment of the current vehicle position in the navigation map. And this device is set up to determine the precise current vehicle position in the navigation map in real time and a

Method according to any one of the preceding claims.

 The teaching of the invention has the advantage that a highly accurate card for a

Car navigation, can be used to make a precise current position determination of the motor vehicle, memory and time efficient available.

 Thus, despite a limitation of the range of the available sensor information of a motor vehicle, by means of a highly accurate navigation map, which is prepared for a high-frequency access, a safe autonomous driving be enabled. Such a

Navigation map can allow for a preview of several kilometers, in spite of it

 Range limitation useful sensor information of the motor vehicle, a safe autonomous driving the

Allow motor vehicle to be able.

The object of another sibling

Claim relates to a system for precise

automated vehicle control of a motor vehicle. The system indicates: One

Navigation data device, a

Navigation data conversion device, one

Locating device according to the invention and an automated vehicle control device. In this case, the navigation data device has precise navigation maps. The navigation data device is to

arranged to provide a navigation map, as a precise current navigation map, from a variety of precise navigation maps, based on a position indication. In this case, the navigation map on the position indication. The

 Navigation data converting device is to

set up, efficient indexing spatial

Position data of the navigation map make. And in this case, the navigation data converting device comprises: a transmission means for transmitting a

Position indication to the navigation data device, wherein the position indication is a vehicle position of

Motor vehicle has. A receiver, to

 Receive the navigation map. A generating means for generating a spatial data structure based on a spatial position data transformation of the navigation map, wherein the generated spatial

Data structure for a high-traffic access

suitable is. A provisioning means for providing the spatial data structure. The

 Location device is set up to the navigation map of the

Navigation data conversion device as spatiale Receive data structure for a high-traffic access and provide a precise current vehicle position in the navigation map. And the

automated vehicle control device is adapted to control actuators of the motor vehicle, based on a predefined destination, the

Navigation map and the precise current

Vehicle position in the navigation map. The actuators are set up to at least parts of one

Driving operation of the motor vehicle to drive.

 A spatial data structure in the sense of the invention can be a structure as used for the organization of spatial data in the field of computer graphics. Frequently, such structures are used for at least two-dimensional spatial data.

 A high-frequency access within the meaning of the invention can be at least one hundred thousand hits per

Second, preferably at least one million

Accesses per second, more preferably at least ten million hits per second.

 The teaching according to the invention achieves the advantage that a system can be provided in order to use a memory and time-efficient means

Positioning recycled card for one

Car navigation, a highly accurate

To allow position determination of a motor vehicle and thus to enable a precise safe autonomous vehicle control of the motor vehicle. The object of another sibling

Claim relates to a motor vehicle, comprising an optical, sound engineering and / or

radio sensor, a system according to the invention.

 The teaching according to the invention achieves the advantage that a motor vehicle can be provided which is equipped to enable a highly accurate position determination of the motor vehicle by means of a map prepared for storage and time-efficient position determination for a motor vehicle navigation.

The object of another sibling

Claim relates to a computer program product for a device according to the invention and / or a

Motor vehicle according to the invention, wherein the device and / or the motor vehicle can be operated by any suitable method according to the invention.

 The teaching according to the invention achieves the advantage that the method is particularly efficient

can be automated.

The object of another sibling

Claim relates to a disk having an inventive computer program product.

The teaching according to the invention achieves the advantage that the method can be distributed or kept in a particularly efficient manner on the devices, systems and / or motor vehicles carrying out the method. Before describing embodiments of the invention in more detail below, it should first be noted that the invention is not limited to the described components or the described method steps. Furthermore, the terminology used is not a limitation, but has only exemplary character. Insofar as the singular is used in the description and the claims, the plural is included in each case, unless the context explicitly excludes this. Any method steps can, if the context does not explicitly exclude this, be carried out automatically. Corresponding method sections can lead to corresponding device properties and vice versa, so that, unless the context explicitly excludes this, a change of a

 Method feature is made possible in a device feature and vice versa. Below are more exemplary

 Embodiments of the method according to the invention

explained.

According to a first exemplary embodiment, the method further comprises, for aligning the environment information with the map environment of the current vehicle position in the navigation map, subsequent information of the environment information that is based on sensor information from sensors of the

Motor vehicle based, for superposition of Environment information to be used with the map environment: A street name information of the currently traveled by the motor vehicle road. A

Road position information, wherein the

Road position information is indicative, for a current distance of the current environment of the vehicle to a beginning and / or end of the currently traveled by the motor vehicle road. A traffic sign information. And a road marking information, wherein the

Road marking information is indicative, for a lane on which the motor vehicle is located.

 Furthermore, a previously known precise position of the motor vehicle can be precise after an initial

Position determination of the motor vehicle, for precise position determination by means of balancing the

Environmental information of the motor vehicle with the

Map information, are used.

 This refinement has the advantage that the current vehicle position during vehicle use can be determined in an up-to-date and extremely precise manner in the navigation map.

According to another exemplary

Embodiment further comprises the method that the best possible overlay of the environment information with the map environment of the current vehicle position in the navigation map is based on an iterative overlay of the information of the environment information with the map environment. This embodiment has the advantage that the current vehicle position during vehicle use can be determined even more precisely in the navigation map.

According to another exemplary

Embodiment, the method further comprises that the best possible overlay of the environment information with the map environment of the current vehicle position in the navigation map based on a

 Probability oriented similarity methods, preferably a Gaussian distribution oriented

Similarity procedure.

 This embodiment has the advantage that the current vehicle position during vehicle use can be determined even more precisely in the navigation map.

According to another exemplary

Embodiment, the method further comprises that the precise current vehicle position a first

Inaccuracy, in a longitudinal direction, of not substantially more than 3m, preferably not substantially more than Im, particularly preferably has maximum Im. Furthermore, the precise current indicates

Vehicle position a second inaccuracy, in a lateral direction of not significantly more than 30cm, preferably not significantly more than 20cm, more preferably not significantly more than 10cm. The longitudinal direction corresponds to one direction of a largest Length of the motor vehicle, whereas the lateral

Direction of a direction of a wheel axle of the

Motor vehicle corresponds. And the longitudinal direction and the lateral direction are orthogonal to each other.

 This embodiment has the advantage that a map inaccuracy and in particular a

Inaccuracy of a force vehicle sensor for the

Position determination of the motor vehicle can be considered.

According to another exemplary

Embodiment, the method further comprises that the sensor information from sensors of the motor vehicle based on real time information of an on-board video camera, radar camera and / or Lidarkamera.

 This refinement has the advantage that the position inaccuracy in the case of a precise navigation map is essentially determined by the tolerances and recognition errors of the vehicle's own sensor system.

 Another advantage of the embodiment is that the sensor information can provide complex environmental information in real time, so that a safe autonomous driving speed can be significantly dependent on the tolerances of the vehicle's own sensors.

According to another exemplary

Embodiment, the method further comprises that the navigation map has an area of at least 1km * 1km, preferably an area of at least 5km 5km, most preferably an area of at least 6km * 6km.

 This refinement has the advantage that a sufficiently high forecast for autonomous driving by means of the precise navigation map can also be made possible at higher speeds.

According to another exemplary

Embodiment, the method further comprises that the navigation map has an access speed to a position information query that is less than ΙΟμβ, preferably less than 5μβ, more preferably about Ιμβ.

 This embodiment has the advantage that a high-frequency access to the navigation map can be made possible.

 Another advantage of this embodiment is that the method, despite a fairly large card size

can be carried out very quickly.

According to a first exemplary embodiment, the method for a precise automated

Vehicle control of a motor vehicle further, that the at least one actuator of the motor vehicle has an actuator from an actuator group. In this case, the

 Actuator group: a steering actuator, a wheel actuator, a brake actuator, a drive actuator and a

electric energy reactor.

This embodiment has the advantage that an even more extensive autonomous driving can be realized. The invention thus allows precise

Positioning of motor vehicles Based on

To make navigation maps time and memory efficient.

 This can be done, for example, by first

Map data are processed as a spatial data structure. The map data is usually provided in raw format. It is customary for the data to exist as vectors for defining the contours of objects or in a discretized raster representation. In the first case, the vector data can first be converted into a discretized raster representation.

Vector formats can be efficiently converted into a raster format using, for example, the Bresenham algorithm.

 Alternatively, the vector data can also be direct

stored within a spatial data structure. The vectors are only in the

stored cells. This will be the

Calculation effort of point queries significant

reduced, since only potential vectors must be used for the calculation.

 The information or data of the spatial data structure can then be uncompressed or even

be provided compressed. In the latter case, an on-the-fly decompression of the corresponding data can be done as needed.

For example, a modified quadtree data structure can be used as spatial data structure. The prepared in the spatial data structure data of the navigation map can then be used for position determination.

 Now vehicle-specific sensor information, which the current environment of the motor vehicle

be used to locate the position of the motor vehicle in the current precise navigation map extremely accurate.

 This information can then be used to drive the vehicle autonomously.

 It is important that the map data is as precise and comprehensive as possible with regard to the road environment and the environmental information of the vehicle

Motor vehicle important, statically positioned

Capture information and match with the map information to determine the position of the motor vehicle precisely. This requires both the

Card access, the environment detection the evaluation of the data and the environment information adjustment done as quickly as possible, so that the process can be performed in real time. Otherwise one can

Fehllokalisat ion of the motor vehicle may not be detected and corrected sufficiently fast, so that it can lead to an accident. The higher the

Driving speed of the autonomous driving of the

 Motor vehicle is, the faster the entire process must be performed.

 It is helpful that a once known precise position of the motor vehicle by means of the vehicle own

Sensors can be tracked further, so that the Environment information reconciliation can be performed extremely quickly with the navigation map.

 For example, to the precisely known last vehicle position, the information of the current

Driving speed and the steering angle of the wheels are taken into account, whereby the balancing the

Environment information with the map environment of

current driving position posit ion in the navigation map with a much smaller map excerpt and thus can be much faster.

The preparation of a navigation map for high-frequency access can be as follows

described follow:

 The spatial position data are first

is read in and a spatial data structure is generated based on a transformation of the spatial

Position data. Here is the generated spatiale

Data structure for a high-traffic access

suitable. The high-frequency access can

at least 100 accesses per nanosecond, preferably at least 130 accesses per nanosecond. This allows particularly high-frequency access to the

Map data are enabled.

 If the spatial position data does not have a fixed resolution raster format, the spatial position data is discretized into a fixed resolution raster format. The generation of the

spatial data structure based on a transformation of the discretized spatial position data. At the Discretize the spatial position data into a

Raster format with fixed resolution, can be fixed

Resolution can be selected from a group of fixed resolutions, preferably, the fixed resolution can be selected freely. This makes it easier to process the map material. This can vary depending on

Hardware architecture and / or depending on the precision requirement of the position determination each different spatial data structures are provided. These can thus demand different time and

be memory efficient.

 Nevertheless, it may also be useful, for example, in the case that are used for the card raw vector data, this directly into the spatial structure

if this should be possible without much effort, without first converting this vector data into a raster format with fixed resolution. This could lead to a further reduced memory overhead and also to an even faster processing time since the

Intermediate step of transferring into raster format is eliminated. However, this may also be difficult due to the structure of the card stock. In such a case, translating the raw data into a fixed resolution raster format may be better

Result in processing results. The additional one

 However, storage costs can continue to be significantly lower than in previously known

Procedures.

 Furthermore, the spatial data structure a

allow random access. An optional access in the The sense of the invention means the possibility of being able to perform a reading and / or writing memory access to any element of a data memory or a data structure in constant or linear time. This can be an improved

 Time efficiency when reading or processing the required position data can be achieved.

 Furthermore, a position inaccuracy with respect to the spatial position data can be determined. In this case, the generation of the spatial data structure takes place, additionally based on the position inaccuracy with respect to the spatial position data. It can the

Position inaccuracy by the motor vehicle

or pretend by the sensors of the motor vehicle. As a result, a map inaccuracy and in particular an inaccuracy of a

Force vehicle sensors are taken into account for the position determination of the motor vehicle. That on the

Position inaccuracy of the spatial position data based generating the spatial data structure can be done by means of Gaussian filtering. As a result, contours, such as lane boundaries, blurred to reflect the position inaccuracy directly in the processed map material with or represent. This allows the

 Position inaccuracy directly in the spatial

Data structure to be considered.

 The spatial data structure can be on a

Quadtree data structure based. A quadtree

Data structure in the sense of the invention means a special information-technical tree structure in which each inner node has exactly four children. The root of the tree can represent a square area. This can be decomposed recursively into four equally sized quadrants until the desired resolution is achieved and the recursion ends in a leaf. By recursive application of this division, the area represented by the root node can be arbitrarily resolved in any desired way. The Quadtree data structure is particularly suitable for

Navigation maps that are planar, that is, two

 Room dimensions, depict. However, among other things, so-called octree data structures can be used. These are particularly well suited to navigation maps, which are directly three-dimensional, that is not planar. With the Quadtree data structure, the fact can be taken advantage of that the available data is

Lane markings or lane boundaries. Thus, these data are usually very sparse. The consequence can be a strong compression of the data in the quadtree. At the same time, for example, the data can be extracted again from the data structure with a logarithmic point query. In addition, open spaces can be clear on average

be found faster because the corresponding nodes are mostly above the maximum depth. The square area of the quadtree data structure can preferably have a tile size of at least 8 × 8 tiles, particularly preferably of at least 16 × 16

Tiles. In particular, the maximum tile size may be 64x64 tiles. This can be a special memory-efficient spatial data structure can be used for processing the map data. The maximum depth of the quad can be fixed. A maximum depth of the quadtree in the sense of the invention means the maximum number of recursions until the recursion ends in a leaf. The Quadtree offers the further advantage that the resolution is freely selectable and the respective

Requirements can be adjusted. Depending on the application and the nature of the data, the quadtree can thus be flexibly adapted to different resolution levels. This can drastically reduce the resulting overhead due to the data structure and thus the overall data volume. This is done by setting a

Maximum depth when creating the data structure

reached. This has the consequence that the deepest leaves of the tree define a clamped space larger than lxl cells. Depending on your needs, there are different ones

Ways in which this reduction in resolution can be handled. Thus, depending on the precision requirements of

Positioning another resolution for that

 Map material are provided. This makes the process even more time and / or memory efficient

be performed.

 Furthermore, managing data elements of

Leaf nodes of the quadtree in an array, preferably a linear array done. Managing the

Data elements of the leaf nodes of the quadtree can

alternatively in a list. This is a

lossless approach, in which all the data elements in the leaf nodes in a different data structure such as a linear array or a list.

If necessary, the individual data points must be enriched by the coordinate of the spatial data structure. As a result, a particularly simple structure can be provided in order to be able to manage the data elements of the spatial data structure. Furthermore, this makes the method even more time and / or memory efficient

be performed.

 Furthermore, the spatial data structure can be compressed. The compressing of the spatial data structure can take place without loss in order to occupy less space on the corresponding data carrier or in the corresponding memory and still produce the compressed data completely reusable, if necessary, so that it can decompress. The processing of the data in the leaf nodes can be effected by an additional compression method, which results in a further reduction of the total data volume. Although this is associated with a possible calculation effort in the decompression, but depending on the resolution and the compression method used, this can be very small. In case of an additional

Compressing the data in the leaf nodes allows the data to be decompressed on-the-fly as needed. As a result, less space may be needed to maintain the spatial data structure. Furthermore, this can still the process

be performed memory efficient.

 Also, the spatial position data

Information about lane markings and / or Have roadway limitations. This can be pure

Lane information time and / or memory-efficient be provided. The invention will be described in more detail below with reference to the

Figures are explained. In these show:

 1 is a schematic representation of a first proposed method according to an exemplary embodiment of the invention;

 Fig. 2 is a schematic representation of another proposed method according to another

exemplary embodiment of the invention;

 Fig. 3 is a schematic representation of a

proposed device according to another

exemplary embodiment of the invention;

 Fig. 4 is a schematic representation of a

proposed system according to another

exemplary embodiment of the invention; and

 Fig. 5 is a schematic representation of a

proposed motor vehicle according to another exemplary embodiment of the invention.

Fig. 1 shows a schematic representation of a first proposed method according to a

exemplary embodiment of the invention.

 1 shows a schematic representation of a method for precise location determination of a

Motor vehicle 100. The method has in this case:

Receive 10 a current vehicle position 102 of the motor vehicle 100, wherein the current vehicle position 102 on receive data of a global

 Position determination system based. Receive 20 of environmental information 112, wherein the

 Environmental information 112 based on sensor information 122 of sensors 120 of the motor vehicle 100 and

indicative of a current environment 110 of the

Motor vehicle 100 are. Provide 30 one

Navigation map 132 as a precise current

Navigation map, from a variety of precise

Navigation maps 130, based on the current

 Vehicle position 102, wherein the navigation map 132 has the current vehicle position 102. Determining 40 the current vehicle position 102 in the navigation map 132 based on the received data of the global

Position determination system. Match 50 of the

 Environment information 112 with a map environment of the current vehicle position 102 in the navigation map 132, such that the best possible superposition of the

Environment information 112 takes place with the map environment of the current vehicle position 102 in the navigation map 132. And determine 60 a precise current

Vehicle position 104 in the navigation map 132,

based on the best possible overlay of the

Environment information 112 with the map environment of the current vehicle position 102 in the navigation map 132. The process is carried out in real time. FIG. 2 shows a schematic representation of a further proposed method according to another exemplary embodiment of the invention.

 2 shows a schematic representation of a method for a precisely automated

 Vehicle control of a motor vehicle 100. The method comprises: Providing 30 a navigation map 132 as a precise current navigation map 132nd

Providing a precise current vehicle position 104 in the navigation map 132. Driving 80 of at least one actuator 140 of the motor vehicle 100 based on a predefined destination, the navigation map 132 and the precise current vehicle position 104 in the navigation map 132. The at least one actuator is 140 arranged to control at least parts of a driving operation of the motor vehicle 100.

Fig. 3 shows a schematic representation of a proposed device according to another

exemplary embodiment of the invention.

 3 shows a schematic representation of a proposed device 200 for precise

Location determination of a motor vehicle 100. The device 200 has a first receiving means 210 for receiving 10 a current vehicle position 102 of the motor vehicle 100. In this case, the current

Vehicle position 102 to receive data of a global position detection system. A second receiving means 220 for receiving 20 environmental information 112.

The environment information 112 is based on this Sensorinformat ions 122 of sensors 120 of the

Motor vehicle 100 and are indicative of a current environment 110 of the motor vehicle 100. A third

Receiving means 230, for receiving a navigation map 132, as a precise current navigation map. In this case, the navigation map 132, the current

Vehicle position 102 on. A first determination means 240, for determining 40 of the current driving pospos ion 102 in the navigation map 132, based on the

Receive data of the global position determination system. A matching means 250 for matching 50 of the

Environmental information 112 having a map environment of the current vehicle position 102 in the navigation map 132, such that the best possible superposition of the

Environment information 112 with the map environment of the current driving tool posit ion 102 in the navigation map 132 takes place. And a second investigative 260, to

Determine 60 a precise current vehicle position 104 in the navigation map 132 based on the

optimally overlaying the environment information 112 with the map environment of the current vehicle position 102 in the navigation map 132. And, in doing so, the device 200 is adapted to provide the most accurate current

Vehicle position 104 in the navigation map 132 in FIG

Real time to determine and perform a method according to the invention.

Fig. 4 shows a schematic representation

proposed system according to another

exemplary embodiment of the invention. 4 shows a schematic representation of a proposed system 300 for precise automated vehicle control of a motor vehicle 100. The system 300 comprises a navigation data device 310, a navigation data conversion device 320, a location determination device 200 according to the invention and an automated vehicle control device 340. In this case, the navigation data device 310 precise

Navigation maps 130 and is adapted to a navigation map 132, as a precisely current

Navigation map, from a variety of precise

Provide navigation maps 130 based on a position indication, wherein the navigation map 132 the

Position indication has. The

Navigation data conversion device 320 is configured to efficiently index spatial data

Position data of the navigation map 132 make. And the navigation data conversion device 320 has in this case: a transmission means 322 for transmitting a position specification to the navigation data device 310, the position specification having a vehicle position of the motor vehicle 100. A receiving means 324 for receiving the navigation map 132. A generating means 326 for generating a spatial data structure,

based on a transformation spatial

 Position data of the navigation map 132, wherein the

generated spatial data structure for one

highly frequented access is suitable. And a

Provisioning means 328 for providing the spatial data structure. The location determining device 200 is thereto set up, the navigation map 132 of the

Receive navigation data converting device 320 as a spatial data structure for a high-traffic access and provide a precise current vehicle position 104 in the navigation map 132. And the automated vehicle control device 240 is configured to actuators 140 of the motor vehicle 100

based on a predefined destination, the navigation map 132 and the precise current

Vehicle position 104 in the navigation map 132. The actuators 140 are configured to control at least parts of a driving operation of the motor vehicle 100.

5 shows a schematic representation of a proposed motor vehicle according to another exemplary embodiment of the invention.

 5 shows a schematic representation of a motor vehicle 100. In this case, the motor vehicle 100 has an optical, sound engineering and / or

radio sensor 120 and a system 300 according to the invention.

The inventive idea can be summarized as follows. There are two methods, a related device, a system and a motor vehicle

which makes it possible to

to prepare conventional navigation data in terms of time and space as a spatial data structure, in order to enable a precise determination of the position of a motor vehicle quickly and inexpensively with the data stored therein and thus functionally safe an autonomous ride too

enable. This may make it possible

Motor vehicles on all possible roads, solely on the basis of highly accurate navigation data and

on-board sensor detection devices, safely driven highly automated or autonomous. The on-board sensor technology can increase the precision of the position determination and thus provide the possibilities of autonomous driving even safer, even at higher speeds.

 The problem of the need to access high-precision navigation data in real time is solved by means of the present invention.

 Such high-precision navigation maps are usually several gigabytes in size and are therefore not yet in real time by means of the built in the motor vehicle

Computing capacity in the head unit has been usable, since the distribution and data access due to the high

Data volumes could not be done in real time.

LIST OF REFERENCE NUMBERS

10 Receiving a current vehicle position of the

 motor vehicle

20 receiving environmental information

 30 Providing a Navigation Map

 40 Determining the current vehicle position in the

 navigation map

50 Match environment information with one

 Map environment of the current vehicle position in the navigation map

60 Determine a precise current

 Vehicle position in the navigation map

70 Providing a Precise Current

 vehicle position

 80 actuation of at least one actuator of the

 motor vehicle

100 motor vehicle

102 current vehicle position

104 precise current vehicle position

 110 current environment of the motor vehicle

 112 environment information

120 sensors of the motor vehicle

 122 Sensor information from sensors

130 variety of precise navigation maps

 132 (precise current) navigation map

 140 actor

 200 Device for precise location determination of a

Motor vehicle; Location determining device 210 first receiving means second receiving means

third receiving means

first investigation

 Abgleichungsmittel

second investigation

 System for precise automated

 Vehicle control of a motor vehicle

 Navigation data device

 Navigation data conversion device

Transmission means, for the transmission of a

Position indication to the

 Navigation data device

 Receiving means for receiving the

 navigation map

 Generating means (326) for generating a spatial data structure

 Provisioning means for providing the spatial data structure

Automated vehicle control device

Claims

claims Method for precise location determination of a  Motor vehicle (100), the method comprising:  Receiving (10) a current vehicle position (102) of the motor vehicle (100), wherein the current vehicle position (102) is based on reception data of a global positioning system,  Receiving (20) environmental information (112), wherein the environmental information (112) is based on sensor information (122) from sensors (120) of the motor vehicle (100) and indicative of a current environment (110) of the motor vehicle (100),  Providing (30) a navigation map (132) as a precisely current navigation map, from a plurality of precise navigation maps  (130), based on the current  Vehicle position (102), wherein the navigation map (132) has the current vehicle position (102),  Determining (40) the current vehicle position (102) in the navigation map (132) based on the received global data  Position-finding system,  Matching (50) the environment information (112) with a map environment of the current one Vehicle position (102) in the navigation map (132), such that the best possible superposition of the environmental information (112) with the  Map environment of the current vehicle position (102) in the navigation map (132), and determining (60) a precise current one  Vehicle position (104) in the navigation chart (132), based on the best possible  Overlaying the environment information (112) with the map environment of the current vehicle position (102) in the navigation map (132), wherein the implementation of the process takes place in real time. The method of claim 1, wherein for matching (50) the environment information (112) with the map environment of the current one Vehicle position (102) in the navigation map (132), subsequent information of the environmental information (112), which on sensor information (122) of Sensors (120) of the motor vehicle (100) are based, to be used for superimposing the environmental information (112) with the map environment:  A street name information currently from the  Motor vehicle (100) busy street,  Road position information, wherein the  Road position information indicative of a current distance of the current environment (110) of the vehicle (100) to a beginning and / or end of the road currently being traveled by the motor vehicle (100), A traffic sign information, and Road marking information, wherein the road marking information is indicative, for a traffic lane on which the motor vehicle (100) is located. A method according to claim 2, wherein the best possible overlay of the  Environment information (112) with the map environment of the current vehicle position (102) in the Navigation map (132) based on an iterative overlay of the information of the  Environment information (112) is done with the map environment. A method according to claim 2 or 3, wherein the best possible overlay of the  Environment information (112) with the map environment of the current vehicle position (102) in the Navigation map (132) based on a Probability-oriented similarity method, preferably a Gauss distribution-oriented Similarity procedure. Method according to any one of the preceding Claims, wherein the precisely current vehicle position (104) has a first inaccuracy in a longitudinal direction of not significantly more than 3m, preferably not substantially more than Im, most preferably at most Im, the precisely current vehicle position (104) has a second inaccuracy in a lateral direction of not significantly more than 30cm, preferably not substantially more than 20cm, more preferably not substantially more than 10cm, and wherein the longitudinal direction corresponds to a direction of a maximum length of the motor vehicle (100), and the lateral direction corresponds to a direction of a wheel axis of the motor vehicle (100), and the longitudinal direction and the lateral direction are orthogonal to each other. Method according to any one of the preceding Claims, wherein the sensor information (122) of sensors (120) of the motor vehicle (100) is based on real time information of an on-board video camera, radar camera and / or eye-mounted camera. Method according to any one of the preceding Claims, wherein the navigation map (132) has an area of at least 1km * 1km, preferably an area of at least 5km * 5km, more preferably an area of at least 6km * 6km. Method according to any one of the preceding Claims, wherein the navigation map (132) a Access speed to one  Position information query, which is less than ΙΟμβ, preferably less than 5μβ, more preferably about Ιμβ. Procedure for a precise automated Vehicle control of a motor vehicle (100), the method comprising:  Providing (30) a navigation map (132) as a precisely current navigation map, providing (70) a precise current one  A vehicle position (104) according to any one of the preceding claims, in the navigation map (132),  Driving (80) at least one actuator (140) of the motor vehicle (100), based on a predefined destination, the navigation map (132) and the precise current vehicle position (104) in the navigation map (132), wherein the at least one actuator (140) equipped to at least parts of a driving operation of  Motor vehicle (100) to control. A method according to claim 9, wherein the at least one actuator (140) of the motor vehicle (100) has an actuator (140) from an actuator group, wherein the actuator group comprises:  A steering actuator, a wheel actuator, a brake actuator,  a drive actuator, and  an electric energy reactor. Device (200) for the precise location of a motor vehicle (100), the device (200) comprising:  A first receiving means (210) for receiving (10) a current vehicle position (102) of the motor vehicle (100), wherein the current  Vehicle position (102) based on reception data of a global positioning system, a second receiving means (220) for receiving (20) environmental information (112), wherein the environmental information (112)  Sensor information (122) of sensors (120) of the motor vehicle (100) are based and indicative of a current environment (110) of the motor vehicle (100),  a third receiving means (230) for receiving a navigation map (132) as a precise current navigation map, the  Navigation map (132) the current  Vehicle position (102),  a first determination means (240) for determining (40) the current vehicle position (102) in the navigation map (132) based on the  Received data of the global Position-finding system, matching means (250) for matching (50) the environment information (112) with a  Map environment of the current vehicle position (102) in the navigation map (132) such that the best possible superimposition of the  Environmental information (112) with the  Map environment of the current vehicle position (102) in the navigation map (132), and a second determining means (260) for determining (60) a precise current vehicle position (104) in the navigation map (132) based on the best possible overlay of the  Environmental information (112) with the  Map environment of the current vehicle position (102) in the navigation map (132), and wherein the device (200) is adapted to the precise current vehicle position (104) in the Determine navigation map (132) in real time and perform a method according to any one of the preceding claims. System (300) for precise automated Vehicle control of a motor vehicle (100), the system (300) comprising:  A navigation data device (310), a navigation data conversion device  (320),  a location determining device (200) according to Claim 11, and an automated vehicle control device (340), where the navigation data device (310) precisely Navigation maps (130) and is adapted to provide a navigation map (132), as a precise current navigation map, from a plurality of precise navigation maps (130) based on a position indication, wherein the Navigation map (132) has the position information, the navigation data conversion device (320) is adapted to perform an efficient indexing of spatial position data of the navigation map (132), and wherein the  Navigation data converting device (320) comprising:  A transmission means (322) for transmitting a position indication to the  Navigation data device (310), wherein the  Position indication a vehicle position of  Motor vehicle (100),  a receiving means (324) for receiving the  Navigation map (132),  a generating means (326) for generating a spatial data structure based on a  Transformation of spatial position data of  Navigation map (132), wherein the generated spatial data structure for a high frequency access, and providing means (328) for providing the spatial data structure, the location determining device (200) is adapted to read the navigation map (132) from the Receive navigation data conversion device (320) as a spatial data structure for a high-traffic access and a precise current Vehicle position (104) in the navigation map (132) to provide, and the automated vehicle control device (240) is adapted to actuators (140) of the Motor vehicle (100), based on a predefined destination, the navigation map (132) and the precise current vehicle position (104) in the navigation map (132), wherein the actuators (140) are adapted to at least parts of a Driving operation of the motor vehicle (100) to control. A motor vehicle (100) comprising:  An optical, sound and / or radio sensor (120), and  a system (300) according to claim 12. A computer program product for a device (200) according to claim 11 operable according to a method according to any one of claims 1 to 10. A disk containing a Computer program product according to claim 14.