可靠和安全的地图-自动驾驶.pdf

Reliable and safe maps for automated driving Reliable and safe maps for automated driving Contents Contents 2 1 Preface 4 2 Abstract 4 3 Highly reliable maps: use cases 4 3.1 Sensor range extension 5 3.2 Support when sensors work inadequately 6 3.3 Location-based information unavailable from sensors 6 3.4 Vehicle localization 6 4 Interrelationships between safety areas 7 5 Derivation of safety requirements for maps 7 5.1 Iteration 1: Main function SOTIF 8 5.2 Iteration 2: Main function safety in use 9 5.3 Iteration 3: Technical safety requirements SOTIF 10 5.4 Iteration 4: Availability of the main function due to safety requirements 10 6 Differences between the map and reality 11 6.1 Minimization, quantifcation and mitigation of map inaccuracies 12 6.1.1 Quantifcation and mitigation 12 6.1.2 Minimization 13 6.2 Map data error prevention and detection 13 6.2.1 Data collection 14 6.2.2 Map production 15 Human errors 15 Software/tool errors 15 Process errors 16 Cybersecurity 16 6.2.3 Map transmission 16 6.2.4 In-vehicle errors 16 Reliable and safe maps for automated driving 6.3 Anticipation and detection of reality changes 17 6.3.1 Anticipation of reality changes by means of information from road building authorities 17 6.3.2 Anticipation of reality changes by the use of crowdsourcing to detect preparation 18 6.3.3 Detection of reality changes by the use of measurement vehicles 18 6.3.4 Detecting reality changes through crowdsourcing 19 6.4