Vehicle Path Determination and Updating Digital Map Information
A method for determining a path of a vehicle includes determining a first trajectory of the vehicle over a time interval based on information extracted from a digital map. The method includes determining, over the time interval, a second trajectory of the vehicle based on information extracted from at least one vehicle sensor. The method includes comparing the first trajectory and the second trajectory to identify differences between the information extracted from the digital map and the at least one vehicle sensor. The method includes determining a corrected path of the vehicle based on the identified differences.
1 . A method for determining a path of a vehicle, the method comprising:
determining a first trajectory of the vehicle over a time interval based on information extracted from a digital map;
determining, over the time interval, a second trajectory of the vehicle based on information extracted from at least one vehicle sensor;
comparing the first trajectory and the second trajectory to identify differences between the information extracted from the digital map and the at least one vehicle sensor; and
determining a corrected path of the vehicle based on the identified differences.
2 . The method of claim 1 wherein determining the corrected path of the vehicle includes determining localization offsets between the information extracted from the digital map and the at least one vehicle sensor.
3 . The method of claim 2 wherein determining the second trajectory of the vehicle includes averaging measurement data of at least one of the vehicle sensors using moving averages.
4 . The method of claim 2 wherein determining the second trajectory of the vehicle includes determining a localization of the vehicle within the digital map by a sensor that interacts with an external entity.
5 . The method of claim 1 wherein determining the second trajectory of the vehicle includes measuring, by the vehicle sensors, at least one of a speed and a yaw rate.
6 . The method of claim 5 wherein determining the second trajectory of the vehicle includes averaging measurement data of at least one of the vehicle sensors using moving averages.
7 . The method of claim 5 wherein determining the second trajectory of the vehicle includes determining a localization of the vehicle within the digital map by a sensor that interacts with an external entity.
8 . The method of claim 1 wherein determining the second trajectory of the vehicle includes averaging measurement data of at least one of the vehicle sensors using moving averages.
9 . The method of claim 8 wherein determining the second trajectory of the vehicle includes determining a localization of the vehicle within the digital map by a sensor that interacts with an external entity.
10 . The method of claim 1 wherein determining the second trajectory of the vehicle includes determining a localization of the vehicle within the digital map by a sensor that interacts with an external entity.
11 . The method of claim 1 wherein comparing the first trajectory and the second trajectory includes shifting the second trajectory onto the first trajectory by a geometrical transformation.
12 . The method of claim 11 wherein comparing the first trajectory and the second trajectory includes applying the geometrical transformation at, at least one of:
each time a first trajectory of the vehicle has been determined; and
after expiration of predefined time intervals.
13 . The method of claim 11 wherein the geometrical transformation minimizes the differences between the first trajectory and the shifted second trajectory.
14 . The method of claim 11 wherein the geometrical transformation includes at least one of:
a translation;
a rotation;
a scaling; and
a shearing.
15 . The method of claim 11 wherein comparing the first trajectory and the second trajectory includes determining the geometrical transformation by application of an Iterative Closest Point method.
16 . The method of claim 1 further comprising downloading the digital map from a server.
17 . The method of claim 1 further comprising discarding information in portions of a map if, in the portions of the map, differences between the first trajectory the second trajectory are larger than a predefined threshold.
18 . The method of claim 1 further comprising updating at least portions of the digital map based on the determined path of the vehicle.
19 . The method of claim 18 further comprising communicating to other vehicles at least portions of the updated digital map.
20 . A system for determining a path of a vehicle, the system comprising:
a digital map;
at least one vehicle sensor configured to measure at least one of positions or movements of the vehicle in space; and
a control unit configured to:
control the at least one vehicle sensor,
interact with the digital map,
determine a first trajectory of the vehicle over a time interval based on information extracted from the digital map,
determine, over the time interval, a second trajectory of the vehicle based on information extracted from the at least one vehicle sensor,
compare the first trajectory and the second trajectory to identify differences between the information extracted from the digital map and the at least one vehicle sensor, and
determine a corrected path of the vehicle based on the identified differences.