US 12,228,423 B2
Method for generating a map display for vehicles
Michael Jung, Embrach (CH); Timo Nachstedt, Benningen (DE); Tobias Strauss, Obersulm (DE); and Vladimir Gerts, Bietigheim-Bissingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Oct. 10, 2022, as Appl. No. 18/045,221.
Claims priority of application No. 10 2021 211 988.3 (DE), filed on Oct. 25, 2021.
Prior Publication US 2023/0126766 A1, Apr. 27, 2023
Int. Cl. G01C 21/00 (2006.01); G06F 18/2413 (2023.01)
CPC G01C 21/3848 (2020.08) [G01C 21/3819 (2020.08); G01C 21/3867 (2020.08); G06F 18/24147 (2023.01)] 11 Claims
OG exemplary drawing
 
1. A method for generating a map display for a vehicle, the method comprising the following steps:
receiving vehicle sensor data, the vehicle sensor data being recorded during a plurality of drives of a vehicle or of a plurality of vehicles, the plurality of drives extending at least partially along an identical route, and the vehicle sensor data of a vehicle including odometry data of a vehicle odometry and surroundings sensor data of a surroundings sensor of the vehicle or vehicles;
ascertaining poses of the vehicle or vehicles based on the vehicle sensor data, each ascertained pose of a first vehicle of the vehicle or vehicles being assigned to one drive of the plurality of drives and describing a position and orientation of the first vehicle on a route negotiated by the first vehicle during the drive;
generating subsets of the poses by combining the poses assigned to those of the drives that have been carried out on an identical subsection of the route;
generating sub-segments of the map display based on the subsets of the poses, wherein for each subset of the subsets, a sub-segment is generated, and a course of the route within the sub-segment corresponding to the subset is ascertained based on the poses of the subset;
interpreting the sub-segments as nodes of a graph display of the map display and connecting sub-segments via edges of the graph display in such a way that subsets connected via an edge are each based on the poses of a drive.