Terminology and Analysis of Map Deviations in Urban Domains: Towards Dependability for HD Maps in Automated Vehicles

A driving function relying on map data to operate is prone to failures that are due to deviations between the real world and the map data. Hence, we transfer the concept of dependability known from systems engineering to high-definition (HD) maps to allow for a system ensuring three major aspects of dependability: reliability, availability, and the safe use of map data within the vehicle. In this paper, we therefore define a coherent terminology in the field, particularly introducing necessary terms for describing and measuring map deviations. To substantiate our terminology, we present the results of a measurement campaign and analyze map deviations in an urban domain HD map after a period of 2 years. The results show that the analyzed map contains relatively few errors (0.07 / km) and no obvious persistent changes over the years but is subject to a comparatively high number of temporary changes (0.74 / km) rendering almost 9% of the map outdated.