DE102016006137A1 - Method for locating a vehicle - Google Patents
Method for locating a vehicle Download PDFInfo
- Publication number
- DE102016006137A1 DE102016006137A1 DE102016006137.5A DE102016006137A DE102016006137A1 DE 102016006137 A1 DE102016006137 A1 DE 102016006137A1 DE 102016006137 A DE102016006137 A DE 102016006137A DE 102016006137 A1 DE102016006137 A1 DE 102016006137A1
- Authority
- DE
- Germany
- Prior art keywords
- determined
- vehicle position
- vehicle
- sensor
- coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Lokalisierung eines Fahrzeugs (1), wobei eine aktuelle Fahrzeugposition (P(tx)) mittels eines satellitengestützten Navigationssystems ermittelt wird und ausgehend von der aktuellen Fahrzeugposition (P(tx)) in einer Koppelnavigation mittels Daten einer Inertialsensorik des Fahrzeugs (1) eine zukünftige prädizierte Fahrzeugposition (P(tx + ΔT)) ermittelt wird. Erfindungsgemäß wird eine Abweichung der prädizierten Fahrzeugposition (P(tx + ΔT)) von einer realen Fahrzeugposition ermittelt, wobei die Abweichung anhand eines Vergleichs von sensorbasiert ermittelten Geokoordinaten (G1, G2) von ortsfesten Umgebungsobjekten und kartenbasiert ermittelten Geokoordinaten (G1', G2') der ortsfesten Umgebungsobjekte ermittelt wird.The invention relates to a method for locating a vehicle (1), wherein a current vehicle position (P (tx)) is determined by means of a satellite-based navigation system and based on the current vehicle position (P (tx)) in a dead reckoning using data of an inertial sensor system of the vehicle (1) a future predicted vehicle position (P (tx + ΔT)) is determined. According to the invention, a deviation of the predicted vehicle position (P (tx + ΔT)) from a real vehicle position is determined, wherein the deviation is determined on the basis of a comparison of sensor-based geo-coordinates (G1, G2) of stationary environment objects and map-based geo-coordinates (G1 ', G2'). the stationary environment objects is determined.
Description
Die Erfindung betrifft ein Verfahren zur Lokalisierung eines Fahrzeugs gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a method for locating a vehicle according to the preamble of claim 1.
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Lokalisierung eines Fahrzeugs anzugeben.The invention is based on the object to provide a comparison with the prior art improved method for locating a vehicle.
Die Aufgabe wird erfindungsgemäß mit einem Verfahren gelöst, welches die im Anspruch 1 angegebenen Merkmale aufweist.The object is achieved by a method having the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
In dem Verfahren zur Lokalisierung eines Fahrzeugs wird eine aktuelle Fahrzeugposition mittels eines satellitengestützten Navigationssystems ermittelt und ausgehend von der aktuellen Fahrzeugposition wird in einer Koppelnavigation mittels Daten einer Inertialsensorik des Fahrzeugs eine zukünftige prädizierte Fahrzeugposition ermittelt.In the method for localizing a vehicle, a current vehicle position is determined by means of a satellite-based navigation system, and starting from the current vehicle position, a future predicted vehicle position is determined in a dead reckoning by means of inertial sensor data of the vehicle.
Erfindungsgemäß wird eine Abweichung der prädizierten Fahrzeugposition von einer realen Fahrzeugposition ermittelt, wobei die Abweichung anhand eines Vergleichs von sensorbasiert ermittelten Geokoordinaten von ortsfesten Umgebungsobjekten und kartenbasiert ermittelten Geokoordinaten der ortsfesten Umgebungsobjekte ermittelt wird.According to the invention, a deviation of the predicted vehicle position from a real vehicle position is determined, wherein the deviation is determined on the basis of a comparison of sensor-based determined geo-coordinates of stationary environment objects and map-based determined geo-coordinates of the stationary environment objects.
Aufgrund einer solchen Ermittlung der Abweichung zwischen prädizierter und realer Fahrzeugposition, auch als Drift der Lokalisierung bezeichnet, ist in besonders vorteilhafter Weise eine Erhöhung einer Verfügbarkeit, Robustheit und Genauigkeit der Lokalisierung des Fahrzeugs möglich.Due to such a determination of the deviation between predicted and real vehicle position, also referred to as drift of localization, an increase in availability, robustness and accuracy of the localization of the vehicle is possible in a particularly advantageous manner.
Insbesondere ist es möglich, die Drift der Inertialsensorik, insbesondere zumindest eines Gierratensensors und/oder von Raddrehzahlsensoren, und daraus folgend ermittelter Gierraten und/oder Raddrehzahlen zu bestimmen und zu kompensieren. Somit ist es in besonders vorteilhafter Weise möglich, eine eigene Position innerhalb der digitalen Karten für einen signifikant längeren Zeitraum nach einem Verlust eines Signals des satellitengestützten Navigationssystems zu bestimmen.In particular, it is possible to determine and compensate for the drift of the inertial sensor system, in particular of at least one yaw rate sensor and / or of wheel speed sensors, and the resulting yaw rates and / or wheel speeds. Thus, in a particularly advantageous manner, it is possible to determine one's own position within the digital maps for a significantly longer period of time after a loss of a satellite-based navigation system signal.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention will be explained in more detail below with reference to a drawing.
Dabei zeigt:Showing:
In der einzigen
Eine Lokalisierung eines Fahrzeugs
Um die Genauigkeit bei der Lokalisierung des Fahrzeugs
Hierzu wird ausgehend von einer zuletzt mittels des satellitengestützten Navigationssystems zu einem Zeitpunkt tx ermittelten aktuellen Fahrzeugposition P(tx) in der Koppelnavigation mittels Daten der Inertialsensorik des Fahrzeugs
Nach Ablauf der vorgegebenen Zeitdauer ΔT, also zu dem Zeitpunkt, zu dem sich das Fahrzeug
In nicht näher dargestellten Ausführungsbeispielen kann alternativ oder zusätzlich der Abstand zu anderen ortsfesten Umgebungsobjekten, beispielsweise Leitpfosten, Gebäuden, Leitplanken und weiteren Objekten, bestimmt werden.In non-illustrated embodiments, alternatively or additionally, the distance to other stationary environment objects, such as delineators, buildings, crash barriers and other objects can be determined.
Aus den erfassten lateralen Abständen dr1, dr2 und aus der prädizierten Fahrzeugposition P(tx + ΔT) werden Geokoordinaten G1, G2 der Umgebungsobjekte, d. h. vorliegend der Fahrspurmarkierungen M1, M2, bestimmt, welche im Folgenden als sensorbasiert ermittelte Geokoordinaten G1, G2 bezeichnet werden. Alternativ oder zusätzlich werden auch longitudinale Abstände des Fahrzeugs
Nach Ablauf der vorgegebenen Zeitdauer ΔT werden zusätzlich an der prädizierten Fahrzeugposition P(tx + ΔT) Geokoordinaten G1', G2' von den ortsfesten Umgebungsobjekten, d. h. vorliegend der Fahrspurmarkierungen M1', M2' oder der Fahrspurmitte, aus einer hochgenauen digitalen Karte ermittelt. Das heißt, die Karte umfasst die Geokoordinaten G1', G2' der mittels der Umgebungssensorik erfassten ortsfesten Umgebungsobjekte. Oder in anderen Worten: Die Umgebungssensorik erkennt in der Umgebung des Fahrzeugs
Anschließend wird ermittelt, wie groß eine Abweichung zwischen den sensorbasiert ermittelten Geokoordinaten G1, G2 und den kartenbasiert ermittelten Geokoordinaten G1', G2' ist. Die so ermittelte Abweichung entspricht der gesuchten Drift der Lokalisierung, aus welcher die Drift der Inertialsensorik, d. h. insbesondere des zumindest einen Gierratensensors und der Raddrehzahlsensoren, ermittelt wird.Subsequently, it is determined how large a deviation between the sensor-based determined geo-coordinates G1, G2 and the map-based determined geo-coordinates G1 ', G2' is. The deviation thus determined corresponds to the sought-after drift of the localization, from which the drift of the inertial sensor system, i. H. in particular of the at least one yaw rate sensor and the wheel speed sensors is determined.
Auch ist es aufgrund des Vergleichs der sensorbasiert ermittelten Geokoordinaten G1, G2 und den kartenbasiert ermittelten Geokoordinaten G1', G2' möglich, die reale Fahrzeugposition zu erfassen und somit das Fahrzeug
Anhand der ermittelten Abweichung, d. h. der Drift, der prädizierten Fahrzeugposition P(tx + ΔT) von der realen Fahrzeugposition wird weiterhin eine Kalibrierung der Inertialsensorik durchgeführt. Hierbei wird zurückgerechnet, wie die Signale der Inertialsensorik modifizieren werden müssten, um die Drift auf einen vorgegebenen Toleranzbereich zu reduzieren. Diese Korrektur wird dann bei zukünftigen Lokalisierungen des Fahrzeugs
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- dr1, dr2dr1, dr2
- lateraler Abstandlateral distance
- FBFB
- Fahrbahnroadway
- G1, G2G1, G2
- Geokoordinategeocoordinate
- G1', G2'G1 ', G2'
- Geokoordinategeocoordinate
- M1, M2M1, M2
- Fahrspurmarkierunglane marker
- M1', M2'M1 ', M2'
- Fahrspurmarkierunglane marker
- P(tx)P (tx)
- aktuelle Fahrzeugpositioncurrent vehicle position
- P(tx + ΔT)P (tx + ΔT)
- prädizierte Fahrzeugpositionpredicated vehicle position
- txtx
- Zeitpunkttime
- ΔT.DELTA.T
- Zeitdauertime
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102011119762 A1 [0002] DE 102011119762 A1 [0002]
Claims (7)
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DE102016004601.5 | 2016-04-14 | ||
DE102016004601 | 2016-04-14 |
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DE102016006137A1 true DE102016006137A1 (en) | 2017-02-16 |
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DE102016006137.5A Withdrawn DE102016006137A1 (en) | 2016-04-14 | 2016-05-18 | Method for locating a vehicle |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018197255A1 (en) * | 2017-04-27 | 2018-11-01 | Daimler Ag | Method for operating a driver assistance system and vehicle comprising a driver assistance system designed to carry out the method |
DE102017222183A1 (en) * | 2017-12-07 | 2019-06-13 | Audi Ag | Method and system for monitoring a plurality of environmental sensors of a motor vehicle |
WO2019121344A1 (en) * | 2017-12-20 | 2019-06-27 | Daimler Ag | Method for regulating the movement of a vehicle in an automated driving mode and device for carrying out the method |
WO2023006304A1 (en) * | 2021-07-27 | 2023-02-02 | Mercedes-Benz Group AG | Method and device for operating a vehicle in an automated driving mode |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011119762A1 (en) | 2011-11-30 | 2012-06-06 | Daimler Ag | Positioning system for motor vehicle, has processing unit that determines localized position of vehicle using vehicle movement data measured based on specific location data stored in digital card |
-
2016
- 2016-05-18 DE DE102016006137.5A patent/DE102016006137A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011119762A1 (en) | 2011-11-30 | 2012-06-06 | Daimler Ag | Positioning system for motor vehicle, has processing unit that determines localized position of vehicle using vehicle movement data measured based on specific location data stored in digital card |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018197255A1 (en) * | 2017-04-27 | 2018-11-01 | Daimler Ag | Method for operating a driver assistance system and vehicle comprising a driver assistance system designed to carry out the method |
CN110546529A (en) * | 2017-04-27 | 2019-12-06 | 戴姆勒股份公司 | Method for operating a driving assistance system and vehicle having a driving assistance system suitable for carrying out the method |
CN110546529B (en) * | 2017-04-27 | 2023-09-01 | 梅赛德斯-奔驰集团股份公司 | Method of operating a driving assistance system and vehicle having a driving assistance system adapted to implement the method |
DE102017222183A1 (en) * | 2017-12-07 | 2019-06-13 | Audi Ag | Method and system for monitoring a plurality of environmental sensors of a motor vehicle |
WO2019121344A1 (en) * | 2017-12-20 | 2019-06-27 | Daimler Ag | Method for regulating the movement of a vehicle in an automated driving mode and device for carrying out the method |
US11608080B2 (en) | 2017-12-20 | 2023-03-21 | Mercedes-Benz Group AG | Method for regulating the movement of a vehicle in an automated driving operation and device for carrying out the method |
WO2023006304A1 (en) * | 2021-07-27 | 2023-02-02 | Mercedes-Benz Group AG | Method and device for operating a vehicle in an automated driving mode |
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Owner name: HAUEIS, MARTIN, DR., DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE |
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