CN116412808A - Method for operating a positioning system of a motor vehicle and positioning system - Google Patents

Method for operating a positioning system of a motor vehicle and positioning system Download PDF

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Publication number
CN116412808A
CN116412808A CN202211561843.XA CN202211561843A CN116412808A CN 116412808 A CN116412808 A CN 116412808A CN 202211561843 A CN202211561843 A CN 202211561843A CN 116412808 A CN116412808 A CN 116412808A
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CN
China
Prior art keywords
motor vehicle
pose
positioning device
positioning
positioning system
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Pending
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CN202211561843.XA
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Chinese (zh)
Inventor
S.瓦普勒
T.伊肯
N.科赫
R.库比
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Volkswagen AG
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Volkswagen AG
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Publication of CN116412808A publication Critical patent/CN116412808A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • 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
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • 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
    • G01S19/53—Determining attitude
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/35—Data fusion

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

The invention relates to a method for operating a positioning system (2) of a motor vehicle (1), in which method a first, low-dimensional position (P1) of the motor vehicle (1) is determined in a two-dimensional environment (6) of the motor vehicle (1) by means of a first positioning device (3) of the positioning system (2), and a second, higher-dimensional position (P2) of the motor vehicle (1) is determined in a three-dimensional environment (6) of the motor vehicle (1) by means of a second positioning device (4) of the positioning system (2) which is separate from the first positioning device (3). The invention provides that for determining a second higher-dimensional position (P2), a first lower-dimensional position (P1) of the first positioning device (3) is transmitted to the second positioning device (4) and the second position (P2) is determined from the first position (P1). The invention also relates to a positioning system (2).

Description

Method for operating a positioning system of a motor vehicle and positioning system
Technical Field
The invention relates to a method for operating a positioning system of a motor vehicle, in which method a first position of a low-dimensional (niedeterminologiert) of the motor vehicle is determined in a two-dimensional environment of the motor vehicle by means of a first positioning device of the positioning system, and in which method a second position of a higher-dimensional of the motor vehicle is determined in a three-dimensional environment of the motor vehicle by means of a second positioning device of the positioning system, which is separate from the first positioning device. Furthermore, the invention relates to a computer program product and a positioning system.
Background
For example, driving functions for assisting the driver of a motor vehicle are known in motor vehicle manufacture. Furthermore, driving functions for display, assistance, driving and high automation are also known, wherein these driving functions in turn require information about the positioning and orientation (attitude) of the motor vehicle. This may be provided by the vehicle's own positioning system. There may be hard or soft requirements on the accuracy and range of the pose data provided by the positioning system depending on the driving function. A highly automated driving function requires, for example, all three dimensions of position (x-dimension, y-dimension, z-dimension) and all three angles of orientation (pitch angle, roll angle, yaw angle). It is also important here in which case the function should be used. For example, functions on highways and local roads may discard z information and instead assume that the vehicle is in a corresponding position on the "earth's surface". The information in z-dimension, i.e. the height, is in turn highly needed for the assistance functions in a stereo garage, for example, in order to be able to describe a multi-layer stereo garage.
Patent document US 10,782,411 B2 describes herein a system and method for determining the position of a vehicle. The first positioning device can generate a first pose estimate for the vehicle based at least in part on a comparison of the first remote sensor data to the first reference data. The second positioning device can generate a second pose estimate for the vehicle based at least in part on a comparison of the second remote sensor data to the second reference data. The position state estimation device may generate a vehicle position for the vehicle based at least in part on the first previous position, the first position estimate, and the second position estimate of the vehicle.
Patent document US 9,342,888 B2 describes a system and method for mapping, localization and position correction comprising determining a current position of a vehicle along a travel route and determining a set of currently observed landmarks along the travel route relative to the current position, wherein the set of currently observed landmarks is extracted from one or more stereoscopic images obtained by an imaging device, and retrieving a measured landmark database in order to verify a partial set or subset of the measured landmarks relative to the current position of the vehicle. The method includes determining one or more two-dimensional transform estimates between the set of currently observed landmarks and a subset of landmarks associated with the measurement, and determining a best transform estimate from the one or more two-dimensional transform estimates that minimizes a distance between the set of currently observed landmarks and the subset of landmarks associated with the measurement. The method includes correcting a pose of the vehicle based on the optimal transformation estimate.
Patent document US 2020/0 217 972a1 describes a method for vehicle positioning, the method comprising determining a first 6-degree-of-freedom Pose (6-DOF-else) of the vehicle, wherein the first 6-degree-of-freedom Pose may comprise a first height and one or more first rotation parameters, which show a first orientation of the vehicle with respect to a reference frame. The lane plane associated with the road surface on which the vehicle is traveling may be determined based on the first 6-degree-of-freedom pose and the position of lane boundary markers on the road surface. For each lane boundary marker, the respective position of the lane boundary marker may be determined from a map, which may be based on a frame of reference. The correction height of the vehicle can then be determined from the lane plane. The corrected 6-degree-of-freedom position of the vehicle may be determined from the corrected height of the vehicle, the first 6-degree-of-freedom position, and an axis perpendicular to the road surface plane.
Patent document US 2020/0,142,074a1 discloses a method for position calculation for a portable three-dimensional scanning device, the three-dimensional scanning device comprising a first sensor and a second sensor, wherein the method comprises using data from the first sensor and data from the second sensor to obtain data defining six degrees of freedom of the scanning device in order to optimize the first position calculation, wherein the receiving of data is performed, the data comprising both data from the first sensor and data from the second sensor, a subset of the six degrees of freedom of the scanning device is selected, the second pose is optimized using the data from the first sensor and the data received for the selected subset of the six degrees of freedom, wherein the unselected degrees of freedom of the first pose are preserved, and the received data relating to the second camera pose is stored in a point cloud database.
Patent document DE 10 2020 213 133 A1 describes a device for performing positioning by means of sensor data, said device having: -first determining means for determining a first pose from the first sensor data; -second determining means for determining a second pose from the second sensor data; and-verification means for verifying the first pose determined by the first determination means, the verification means having: -first comparing means for comparing the first pose with the second pose, wherein a confidence signal relating to the confidence of the performed self-localization can be output depending on the comparison performed by means of the verifying means.
Disclosure of Invention
The object of the present invention is to provide a method, a computer program product and a positioning system by means of which the current position or the current position of a motor vehicle in the environment of the motor vehicle can be determined in an improved manner.
The object is achieved according to the invention by a method for operating a positioning system of a motor vehicle, a computer program product and a positioning system.
One aspect of the invention relates to a method for operating a positioning system of a motor vehicle, in which method a first, low-dimensional position of the motor vehicle is determined in a two-dimensional environment of the motor vehicle by means of a first positioning device of the positioning system, and in which method a second, higher-dimensional position of the motor vehicle is determined in a three-dimensional environment of the motor vehicle by means of a second positioning device of the positioning system, which is separate from the first positioning device, wherein the second, higher-dimensional position is higher in dimension at least relative to the first position.
In order to determine a second higher-dimensional position, a first lower-dimensional position of the first positioning device is transmitted to the second positioning device and the second position is determined from the first position.
This makes it possible to determine the position or the attitude of the motor vehicle in the environment in an improved manner. The positioning system here makes use of, inter alia, the positioned strength of the first pose of low dimension and the determined strength of the second pose of higher dimension and combines them together.
The invention makes use of the fact that the mathematical complexity required for estimating the vehicle pose is far lower than if all six degrees of freedom, i.e. the pose of the higher dimension, were required for small amounts of data, i.e. in particular only low-dimensional poses. The first positioning device or the second positioning device can then be used by the positioning system as a function of the activated driving function, wherein the first positioning device or the second positioning device can determine this as a function of the driving function.
Especially for reasons of robustness, availability and application area, a combination of positioning information from the first positioning means and the second positioning means is advantageous. The first and second positioning devices may use GPS (Global Positioning System ), odometer data, or significant landmarks identified by, for example, a camera, for example. The mathematical complexity of the bonding scheme as described depends to a large extent on the required pose data. In particular in parking spaces in multiple floors, the combination must also take into account the z-dimension. Furthermore, highly automated driving functions, such as automated valet parking (Automated Valet Parking), may require consideration of all three location angles.
The system thus uses the coupling of a low-dimensional first positioning device with a high-dimensional, fine second positioning device, with the advantage that the strengths of the two positioning devices are fully utilized and the corresponding weaknesses are compensated for.
The second positioning device therefore uses the first pose in particular as an initial pose assumption and thus initializes the algorithm of (initial) itself. The second positioning device can now estimate the missing dimensions with reduced effort and create and output, for example, a second pose, so that the following assistance systems, for example for automated driving, acquire high-dimensional pose data.
The first pose of the low dimension may, for example, be a two-dimensional pose or the first pose may, for example, be described by at least two parameters (X-dimension, Y-dimension) or three parameters or at least three degrees of freedom. The second gesture of higher dimension has in particular a higher dimension than the first gesture, which may be three-dimensional and/or may be described by six degrees of freedom, for example. This is purely exemplary. Importantly, however, the second pose has a higher dimension than the first pose. The number of dimensional differences is not important here, however. It is also possible that the first position can be described by four degrees of freedom, for example, wherein the second position then has at least more than four degrees of freedom. Here, the fractal dimension may also be considered in determining the pose.
In an advantageous embodiment, the second position is transmitted to the first positioning device after the second position has been determined and is taken into account when determining the future first position. The first positioning means can thus use the higher quality and more accurate pose information of the second pose of the second positioning means in order to in turn use the more accurate information for future calculations and thus a more accurate determination of the first pose can already be made within the first positioning means.
It is furthermore advantageous to determine a first pose having an x-dimension of the motor vehicle and having a y-dimension of the motor vehicle and having a yaw angle (Gierwinkel) of the motor vehicle. In particular, the two-dimensional position in the environment is thus determined. In particular, low-dimensional gestures are used here, which can be used to provide corresponding driving functions, for example, on highways or local roads. In this case, no higher quality gesture data is required, since additional information can be used or since these driving functions do not require higher quality functions.
In a further advantageous embodiment, a second position is determined which has an x-dimension of the motor vehicle and has a y-dimension of the motor vehicle and has a z-dimension of the motor vehicle and has a yaw angle of the motor vehicle and has a roll angle of the motor vehicle and has a tilt angle of the motor vehicle. In particular, all six degrees of freedom are used to determine the position of the motor vehicle. This is necessary, for example, in the case of corresponding stereo garage travel, in particular in the case of automated stereo garage travel, in order to be able to determine the exact positioning of the motor vehicle in the stereo garage. It should be recognized here, for example, that it is also decisive that the motor vehicle is in which layer, so that a z-dimension is used, which also corresponds to the height of the motor vehicle relative to the earth's surface. The x-dimension especially refers to the longitudinal dimension and the y-dimension refers to the width dimension.
In a further advantageous embodiment, at least the first position is determined on the basis of satellite navigation and/or on the basis of the detection of landmarks by means of a camera of the positioning system and/or on the basis of the detection of the environment by means of a radar sensor device and/or on the basis of the detection of the environment by means of a lidar sensor device and/or on the basis of odometer data of the motor vehicle. The low-dimensional first positioning device thus provides, in particular, dimensions, in particular the x-dimension, the y-dimension and the yaw angle, for example, on the gesture data, and for this purpose includes a plurality of positioning sources, such as Global Positioning System (GPS), odometer data, landmarks of the camera, as well as radar sensor data and lidar sensor data. The first posture can thus be determined in a simple manner.
According to a further advantageous embodiment, at least the first position is determined by means of a graph-based optimization method. The combination scheme for determining the first pose is thus based in particular on a graph-based optimization method. Here a factor graph is created with the necessary dimensions and an iterative optimization method is applied, which usually requires matrix operations. The fewer dimensions required, the better the method can be implemented, for example, in motor vehicle hardware and/or motor vehicle software.
It is furthermore advantageous if the first position is transmitted from the first positioning device to the second positioning device cyclically (or periodically) and/or at predetermined time intervals. This shows in particular the possibility of how the first positioning device and the second positioning device can be coupled to each other, for example, by transmitting the first position to the second positioning device cyclically or according to a defined time pattern, i.e. at predetermined time intervals, and enriching the first position with their own data. The calculation step in the second positioning device is thereby omitted by using the first pose.
It has furthermore proved to be advantageous to adjust (or adapt) the first position as a function of the second position and to output the first position and the second position by means of the second positioning device. For example, it can be output to a functional device of the motor vehicle, for example an auxiliary system of the motor vehicle. In particular, it is thereby possible to output both the first and the second position by the second positioning device, wherein the first position has higher quality component data (komponentdataten) and can therefore be regarded as a further source for positioning information, for example for an auxiliary system, and can thus also be set accordingly.
The proposed method is a computer implemented method. Accordingly, another aspect of the invention relates to a computer program product having program code instructions which, when executed by an electronic computing device, cause the electronic computing device to perform the method according to the preceding aspect. Accordingly, another aspect of the present invention also relates to a computer-readable storage medium having a computer program product.
The invention further relates to a positioning system for a motor vehicle, comprising at least one first positioning device and a second positioning device that is separate from the first positioning device, wherein the positioning system is designed to carry out the method according to the preceding aspect. The method is performed in particular by means of the positioning system.
The positioning system has in particular at least one electronic computing device which can have, for example, a processor, a circuit, in particular an integrated circuit, and other components, in order to be able to carry out the respective method steps.
The invention also relates to a motor vehicle having a positioning system according to the preceding aspect. The motor vehicle is designed in particular to be at least partially or fully automated.
The invention also includes an extended design of the positioning system according to the invention, said extended design having the features already described in connection with the extended design of the method according to the invention. Accordingly, the corresponding expansion of the positioning system according to the invention is not described in detail here.
The invention also includes combinations of features of the described embodiments.
Drawings
Embodiments of the present invention are described below. For this purpose, in the drawings:
FIG. 1 shows a schematic top view of an embodiment of a motor vehicle having one embodiment of a positioning system; and is also provided with
FIG. 2 shows a schematic block diagram of one embodiment of a positioning system.
The embodiments described below are preferred embodiments of the present invention. In this embodiment, the described components are each individual features of the invention which can be seen independently of one another and which also each form an extension of the invention and can therefore also be regarded as part of the invention individually or in different combinations than those shown. Furthermore, the described embodiments may be supplemented by other features of the invention already described.
In the drawings, elements having the same function are respectively provided with the same reference numerals.
Detailed Description
Fig. 1 shows a schematic top view of an embodiment of a motor vehicle 1 with an embodiment of a positioning system 2. The positioning system 2 has at least one first positioning device 3 and a second positioning device 4. Furthermore, the positioning system 2 may also have an electronic computing device 5. In a method for operating a positioning system 2, a first position P1 of the motor vehicle 1 in a low-dimensional space 6 of the motor vehicle 1 is determined by means of a first positioning device 3, and a second position P2 of the motor vehicle 1 in a higher-dimensional space 6 of the motor vehicle 1 is determined by means of a second positioning device 4, which is separate from the first positioning device 3.
In order to determine the higher-dimensional second position P2, it is provided here that the lower-dimensional first position P1 of the first positioning device 3 is transmitted to the second positioning device 4 and the second position P2 is determined from the first position P1.
Fig. 1 also shows that at least a first position P1 is determined, which has an x-dimension 7 of the motor vehicle 1 and has a y-dimension 8 of the motor vehicle 1 and has a yaw angle of the motor vehicle 1. Furthermore, a second position P2 is determined, which has an x-dimension 7 of the motor vehicle 1 and has a y-dimension 8 of the motor vehicle 1 and has a z-dimension 9 of the motor vehicle 1 and has a yaw angle of the motor vehicle 1 and has a roll angle of the motor vehicle 1 and has a pitch angle of the motor vehicle 1.
It is furthermore shown that at least the first position P1 can be determined on the basis of satellite navigation and/or on the basis of a detection of landmarks by means of the detection device 10 of the motor vehicle 1 or of the positioning system 2, wherein, as the detection device 10, for example, a camera and/or a radar sensor device and/or a lidar sensor device and/or an ultrasound sensor device can be used. Furthermore, the first position P1 and/or the second position P2 can also be determined on the basis of odometer data of the motor vehicle 1.
Fig. 2 shows a schematic block diagram according to an embodiment of the positioning system 2. In this case, it is shown in particular that the first position P1 is transmitted by the first positioning device 3 to the second positioning device 4. The second positioning means 4 in turn process the first pose according to the first pose P1 and produce a second pose P2. The second position P2 can then be transmitted, for example, again to the assistance system 11 of the motor vehicle 1 for further driving functions.
Fig. 2 also shows that the second pose P2 may be transmitted to the first positioning device 3 after the determination of the second pose P2 and that said second pose P2 may be taken into account when determining the future first pose P1. It is also shown that the first position P1 can be set to P1' as a function of the second position P2, and that the set first position P1' and second position P2 can be output by means of the second positioning device 4, and that the set first position P1' and second position P2 can be transmitted to the auxiliary system 11, for example, as shown here. Furthermore, it can be provided that the first position P1 can be transferred from the first positioning device 3 to the second positioning device 4 cyclically and/or at predetermined time intervals. It can furthermore be provided that at least the first position P1 is determined by means of a graph-based optimization method.
Fig. 2 therefore shows in particular that the coupling of the low-dimensional first positioning device 3 to the high-dimensional fine second positioning device 4 has the advantage that the strong terms of the two positioning devices 3, 4 are fully utilized and the corresponding weak terms are compensated for.
The first positioning device 3 provides dimensions for the x-dimension 7, the y-dimension 8 and the yaw angle on the pose data, for example, and for this purpose includes a plurality of positioning sources, such as global satellite systems, odometer data, landmarks detected by cameras and radar and lidar. The first positioning means 3 have the advantage that, due to the lower dimensionality, there is a lower mathematical complexity for the calculation, combination and ultimately for the pose data of the intermediate results. Current bonding schemes are typically based on, for example, graph-based optimization methods. Here a factor graph is created with the necessary dimensions and an iterative optimization method is applied, which usually requires matrix operations. The fewer dimensions required, the better these methods can be implemented on the vehicle hardware and/or the vehicle software. However, the first posture P1 may not be used for a higher quality driving function requiring highly accurate posture data, for example.
The second positioning means 4 provides for example pose data having all six dimensions. According to the invention, however, the second positioning device 4 no longer performs a complete positioning, but rather builds on the first position data of the first position P1 of the first positioning device 3. The possibility of being able to couple the two positioning means 3, 4 is that the second positioning means 4 obtains the first pose P1 cyclically or according to a determined temporal pattern and enriches it with its own data. The calculation step is advantageously omitted by using the first pose P1. The enrichment may be expressed, for example, (ausfallen) in that the second positioning means 4 uses the first pose P1 as an initial pose hypothesis and thereby initializes its own algorithm to produce the second pose P2. The missing dimensions can now be estimated at a lower cost, and the second pose P2 can be created and output.
Furthermore, it can be provided that the first positioning device 3 uses higher quality and more accurate pose data of the second pose P2 in order to optimize the calculation itself. For this purpose, the first positioning device 3 extracts data from the second position P2, which data correspond to the format of the first position P1. Alternatively or additionally, the second positioning device 4 can also output, in addition to the second position P2, the first position P1, in particular the adjusted first position P1', however with higher quality component data. The first positioning means 3 can thus take the second pose P2 as a further source of positioning information and incorporate said second pose accordingly.

Claims (10)

1. A method for operating a positioning system (2) of a motor vehicle (1), in which method a first, lower-dimensional position (P1) of the motor vehicle (1) is determined in a two-dimensional environment (6) of the motor vehicle (1) by means of a first positioning device (3) of the positioning system (2), and in which method a second, higher-dimensional position (P2) of the motor vehicle (1) is determined in a three-dimensional environment (6) of the motor vehicle (1) by means of a second positioning device (4) of the positioning system (2) which is separate from the first positioning device (3), wherein the second, higher-dimensional position (P2) is higher-dimensional at least with respect to the first position (P1),
it is characterized in that the method comprises the steps of,
in order to determine a second higher-dimensional pose (P2), a first lower-dimensional pose (P1) of the first positioning device (3) is transmitted to the second positioning device (4) and the second pose (P2) is determined from the first pose (P1).
2. The method according to claim 1,
it is characterized in that the method comprises the steps of,
-transmitting the second pose (P2) to the first positioning device (3) after determining the second pose (P2) and taking the second pose (P2) into account when determining the future first pose (P1).
3. The method according to claim 1 or 2,
it is characterized in that the method comprises the steps of,
-determining a first pose (P1) having an x-dimension (7) of the motor vehicle (1) and having a y-dimension (8) of the motor vehicle (1) and having a yaw angle of the motor vehicle (1).
4. The method according to any of the preceding claims,
it is characterized in that the method comprises the steps of,
-determining a second attitude (P2) having an x-dimension (7) of the motor vehicle (1) and having a y-dimension (8) of the motor vehicle (1) and having a z-dimension (9) of the motor vehicle (1) and having a yaw angle of the motor vehicle (1) and having a roll angle of the motor vehicle (1) and having a pitch angle of the motor vehicle (1).
5. The method according to any of the preceding claims,
it is characterized in that the method comprises the steps of,
at least the first pose (P1) is determined on the basis of satellite navigation and/or on the basis of detection of landmarks by means of a camera of the positioning system (2) and/or on the basis of detection of the environment (6) by means of a radar sensor device and/or on the basis of detection of the environment (6) by means of a lidar sensor device and/or on the basis of odometer data of the motor vehicle (1).
6. The method according to any of the preceding claims,
it is characterized in that the method comprises the steps of,
at least a first pose (P1) is determined by means of a graph-based optimization method.
7. The method according to any of the preceding claims,
it is characterized in that the method comprises the steps of,
-transferring the first position (P1) from the first positioning device (3) to the second positioning device (4) cyclically and/or at preset time intervals.
8. The method according to any of the preceding claims,
it is characterized in that the method comprises the steps of,
-adjusting the first attitude (P1) according to the second attitude (P2) and-outputting the adjusted first attitude (P1') and the second attitude (P2) by means of the second positioning means (4).
9. A computer program product having program code instructions which, when executed by an electronic computing device (5), cause the electronic computing device (5) to perform the method according to one of claims 1 to 8.
10. Positioning system (2) for a motor vehicle (1), having at least one first positioning device (3) and having a second positioning device (4) separate from the first positioning device (3), wherein the positioning system (2) is designed for carrying out the method according to one of claims 1 to 8.
CN202211561843.XA 2021-12-16 2022-12-07 Method for operating a positioning system of a motor vehicle and positioning system Pending CN116412808A (en)

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US9342888B2 (en) 2014-02-08 2016-05-17 Honda Motor Co., Ltd. System and method for mapping, localization and pose correction of a vehicle based on images
US11573325B2 (en) 2016-03-11 2023-02-07 Kaarta, Inc. Systems and methods for improvements in scanning and mapping
US10782411B2 (en) 2018-01-12 2020-09-22 Uatc, Llc Vehicle pose system
US20200217972A1 (en) 2019-01-07 2020-07-09 Qualcomm Incorporated Vehicle pose estimation and pose error correction
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