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
  • 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
  • G01S5/0284—Relative positioning
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C3/00—Measuring distances in line of sight; Optical rangefinders
  • G01C3/02—Details
  • G01C3/06—Use of electric means to obtain final indication
  • G01C3/08—Use of electric radiation detectors
  • G01C3/085—Use of electric radiation detectors with electronic parallax measurement
• • 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
  • G01S19/485—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 optical system or imaging system
• • 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
  • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
  • G01S17/06—Systems determining position data of a target
  • G01S17/46—Indirect determination of position data
  • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of 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
  • 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
  • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Definitions

• the invention relates to a method for determining a position of a vehicle, in which an object in an environment of the vehicle is detected by means of a sensor. A relative position of the vehicle relative to the object is determined, whereby the data values specified for the position of the object are taken into account. Furthermore, the invention relates to a vehicle with a position determining device.
• GPS Global Positioning System, Global Positioning System
• Such systems are, for example, navigation systems or systems for controlling light.
• the position of headlights of the vehicle can be changed, for example when cornering.
• GPS positioning in the area of vehicle-to-vehicle communication is utilized by the vehicles participating in the communication transmitting the respective positions. This helps to avoid accidents.
• the horizontal deviation between the actual position and the position determined by GPS may be 10 m or more. This has negative effects on functions that require a particularly accurate position determination. From the prior art it is known in this context to use objects or prominent points in the surroundings of the vehicle whose exact GPS position is known.
• DE 10 2008 020 446 A1 describes the correction of a vehicle position by means of prominent points, in which the measured vehicle position is corrected after the identification of such a prominent point.
• the distinctive points are stored in a database in the vehicle with its associated exact GPS position.
• the prominent point is detected, and when the distinctive point is reached, the associated exact GPS position is compared with the position measured in the vehicle. Then, a correction of the measured position is performed.
• JP 2006 242 731 A describes a position-determining device which uses GPS signals and an object in the vicinity of the position-determining device.
• the accuracy of the position determination is improved by means of an image evaluation.
• Highly accurately measured objects in the vicinity of the vehicle which can be used to improve the GPS position determination, are also referred to as landmarks.
• landmarks By determining the relative position to such a landmark, the position of the vehicle determined by GPS can be corrected and thus the accuracy of the position determination can be improved.
• landmarks for example, traffic signs or traffic lights can be used.
• the positions of such landmarks may, for. B. via a global differential positioning system (DGPS) and stored in a database. If a vehicle drives past this landmark at a later date, it can determine its GPS position more precisely from the highly accurately measured GPS position of the landmark and its relative distance from the landmark itself and thus improve it.
• DGPS global differential positioning system
• Object of the present invention is therefore to provide a method of the type mentioned above and a vehicle, by means of which can be the relative position of the vehicle to determine the object in the environment with very high accuracy.
• a respective angle is determined which is present between a straight line on which the sensor and the object come to lie and a reference direction. Furthermore, a length of a distance traveled by the vehicle between the two times is determined. It is thus considered to determine the relative position of the vehicle movement, which took place between the two times in which the two angles are detected. This is based on the knowledge that the angles and the distance covered by the vehicle can be determined with high precision, whereby simple, for example trigonometric, arithmetical operations can then be used to determine the relative position.
• the angle to the reference direction which preferably coincides with the vehicle longitudinal axis, can therefore be determined particularly accurately, since the installation location of the sensor in the vehicle and calibration parameters of the sensor are known.
• the projection of a two-dimensional image necessary for the determination of the relative position which detects a sensor designed as a camera, succeeds only in an inaccurate manner in a three-dimensional environment.
• the angle can be determined very precisely from the two-dimensional image of the camera.
• the length of the distance traveled by the vehicle between the two times can also be determined with particularly high accuracy, for example by integrating the revolutions of wheels of the vehicle.
• the geometric parameters which indicate the relative position of the vehicle to the object also Use the great accuracy with which the position of the object is known in order to improve the position determination of the vehicle.
• a present in the second of the two times the distance of the sensor from the object based on the present in the two times angle between the line and the reference direction and based on the length of the distance a present in the second of the two times the distance of the sensor from the object. If this distance is known, then the position of the sensor and thus the position of the vehicle can be determined particularly accurately, since the position of the object provides a highly accurately measured reference point.
• the distance may be sinfor based on the relationship
• a indicates the distance between the sensor and the object at the second time point, ⁇ the angle between the straight line and the reference direction at the first time point, ⁇ the angle between the straight line and the reference direction at the second time point and c the length of the distance.
• coordinates of the sensor relative to the object are determined. Coordinates can namely be used particularly well for the correction of the position of the sensor and thus of the vehicle.
• y re i indicates the magnitude of the coordinate of the sensor in the reference direction and x re i the amount of the coordinate of the sensor perpendicular to the reference direction;
• a is the distance between the sensor and the object at the second time point,
• ⁇ is the angle between the straight line and the reference direction at the first time point, and
• ⁇ is the angle between the straight line and the reference direction at the second time point.
• those data values of the planar coordinate system which indicate the position of the vehicle are corrected.
• the highly accurate planar coordinates of the object are used to obtain corrected coordinates of the vehicle. This can be done mathematically very easy.
• the data values of the planar data system indicating the position of the vehicle are determined by the relationship
• y k0 rr indicates the corrected amount of the coordinate of the vehicle in the reference direction
• Xkorr the corrected amount of the coordinate of the vehicle perpendicular to the reference direction
• y 3 the amount of the coordinate of Object in the reference direction
• x 3 the amount of the coordinate of the object perpendicular to the reference direction.
• angles determined in the two different points in time are determined by the evaluation of images which are detected by the sensor designed as a camera in the two points in time. With the aid of a camera image, the angle can be determined particularly simply and accurately at the respective time.
• an image which is recorded at the second time and then immediately after taking a picture at the first time for the purpose of ensuring that the two angles differ sufficiently clearly from one another.
• images taken immediately after one another can be used to determine the angles, while at a lower driving speed an image taken a few time steps later can also be used.
• the vehicle according to the invention comprises a position-determining device for determining a position of the vehicle.
• the position determination device comprises a sensor, by means of which an object in an environment of the vehicle can be detected.
• the position determination device has a memory device in which data values indicating the position of the object are stored.
• an evaluation device of the position determination device is a relative position of the vehicle to the object, taking into account the position of the object indicating data values.
• the evaluation device is designed to determine a respective angle between a straight line on which the sensor and the object come to lie and a reference direction at two different points in time. Furthermore, by means of the evaluation device also a length of a distance traveled by the vehicle between the two times can be determined.
• the position of the vehicle can be determined with a very high accuracy, for example on the basis of simple trigonometric calculations. Namely, the object in the vicinity of the vehicle is measured highly accurately, and corresponding data values indicating its exact position are stored in the memory device.
• a vehicle 10 shown schematically in the figure comprises a position-determining device 12.
• a sensor of the position-determining device 12 is presently designed as a camera 14, which takes pictures of the surroundings of the vehicle 10.
• the landmark 16 which may be, for example, a road sign or a traffic light, is measured with very high accuracy. From this landmark 16, therefore, data values are known which indicate its position with high precision. In the present case, these data values are stored in a memory 15 of the position-determining device 12. In alternative embodiments, it is possible for the landmark 16 to transmit these data values to the position determination device 12, for example via radio, WLAN or the like.
• the position determining device 12 further comprises an evaluation device 18, which allows to determine an angle of the landmark 16 to a vehicle longitudinal axis L.
• the evaluation device 18 can be integrated into the camera 14 for this purpose, for example.
• an angle ⁇ can then be determined at a first time ti, which include the vehicle longitudinal axis L and a straight line on which the camera 14 and the landmark 16 come to rest. From this line a distance is shown in the figure, which indicates a distance b between the camera 14 and the landmark 16 at the time ti.
• the vehicle longitudinal axis L indicates a reference direction, which preferably coincides with the direction of travel, in which the vehicle 10 moves. Due to the known installation location of the camera 14 in the vehicle 10 and due to the known calibration parameters of the camera 14, although the angle ⁇ can be determined with high accuracy.
• the relative position of the vehicle 10 with respect to the landmark 16 can not be determined with sufficient accuracy from the image which the camera 14 picks up at the time of the presence of the angle .alpha. This is due to the fact that the necessary projection of the two-dimensional image, which captures the camera 14, succeeds only in an imprecise manner in a three-dimensional environment.
• angles between the reference direction indicated by the vehicle longitudinal axis L and straight lines on which the camera 14 and the landmark 16 come to lie are determined at two different times ti, t2.
• the vehicle 10 is located at a position with the coordinates y- ⁇ , x- ⁇ .
• This position can be, for example, the GPS position of the vehicle 10, which can be determined by means of coordinate transformation was transformed into a planar coordinate system, for example in the UTM coordinate system.
• the vehicle 10 ' is thus at a position with the coordinates y 2 , x 2 .
• an angle ⁇ is again determined, which includes a straight line on which the camera 14 and the landmark 16 are located, and the vehicle longitudinal axis L.
• the length c of the distance traveled ie the distance traveled by the vehicle 10 between the time ti and the time t 2 .
• the length c can be determined, for example, by integrating the revolutions of a wheel of the vehicle 10.
• a route is designated by a, which indicates the distance between the vehicle I O 'and the landmark 16 at time t 2 .
• This distance a at time t 2 can be determined by applying the sine theorem on the basis of the following relationships: a - sin (or) - sin (a) - sin (ar)
• ⁇ is the angle between the distance a of the vehicle 10' at the time t 2 to the landmark 16 and the distance b of the vehicle 10 at time ti to the landmark 16 indicates.
• the angle with the value 180 ° - ß is correspondingly an angle in a triangle with the sides a, b and c and the other angles ⁇ and ⁇ .
• the relative position of the vehicle 10 'to the landmark 16 at time t 2 can now be determined via sine and cosine relationships, for example via the relationships:
• the corrected GPS position of the vehicle 10 ' is then calculated from the known and highly accurate GPS position of the landmark 16 and the coordinates y re i and x re i indicating the relative position of the vehicle 10' to the landmark. This happens, for example, as follows:
• the high accuracy GPS position of landmark 16 is converted to planar coordinates, such as the UTM coordinates. Thereafter, the spacings y re i and x re i are subtracted from the planar UTM coordinates of the landmark 16, that is, the coordinates yz, X3.
• UTM coordinates of the vehicle 10 'at the time t 2 are converted to planar coordinates, such as the UTM coordinates.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Electromagnetism (AREA)
• Computer Networks & Wireless Communication (AREA)
• Navigation (AREA)
• Traffic Control Systems (AREA)
• Length Measuring Devices By Optical Means (AREA)
• Position Fixing By Use Of Radio Waves (AREA)

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Publications (1)

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• 2012
  • 2012-07-13 DE DE102012014397.4A patent/DE102012014397B4/de active Active
• 2013
  • 2013-06-12 WO PCT/EP2013/001726 patent/WO2014008968A1/de active Application Filing
  • 2013-06-12 US US14/414,028 patent/US20150192657A1/en not_active Abandoned
  • 2013-06-12 EP EP13730107.3A patent/EP2872915A1/de not_active Withdrawn
  • 2013-06-12 CN CN201380037050.0A patent/CN104428686B/zh active Active

Non-Patent Citations (3)

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