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1. (WO2018219522) METHOD AND APPARATUS FOR PRODUCING A LANE-ACCURATE ROAD MAP

Pub. No.:    WO/2018/219522    International Application No.:    PCT/EP2018/057506
Publication Date: Fri Dec 07 00:59:59 CET 2018 International Filing Date: Sat Mar 24 00:59:59 CET 2018
IPC: G01C 21/32
G01C 7/04
Applicants: ROBERT BOSCH GMBH
Inventors: ZAUM, Daniel
ROETH, Oliver
Title: METHOD AND APPARATUS FOR PRODUCING A LANE-ACCURATE ROAD MAP
Abstract:
A method for producing a lane-accurate road map (22) is proposed. The method has a step of providing a digital lane-accurate road map (14), a step of providing a trajectory data record (16) and a step of identifying at least one road (17) while segmenting the lane-accurate road map (14) into at least one road segment (26). Further, the method has a step of modelling the road segment (26) in at least one road model (28), wherein the road model (28) has parameters (L, W, G, C) for describing lanes (23) of the road (17). Further, the method has a step of randomly varying parameter values of at least some of the parameters (L, W, G, C) of the road model (28) by randomly selecting a change operation (40, 41, 42, 43, 44, 46, 48, 50) of the road model (28) and a step of assigning at least some of the trajectory data (27) of the trajectory data record (16) to the road model (28) while ascertaining at least one probability value for the road model (28). Based on the ascertained at least one probability value, optimum parameter values of the road model (28) are ascertained and, based thereon, a lane-accurate road map (22) is produced that can be distinguished in particular by a high level of accuracy.