EP3304123A1 - Method and device for determining the position of a vehicle - Google Patents
Method and device for determining the position of a vehicleInfo
- Publication number
- EP3304123A1 EP3304123A1 EP16721806.4A EP16721806A EP3304123A1 EP 3304123 A1 EP3304123 A1 EP 3304123A1 EP 16721806 A EP16721806 A EP 16721806A EP 3304123 A1 EP3304123 A1 EP 3304123A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- objects
- gns
- vehicle
- digital map
- detected
- 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.)
- Pending
Links
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
- 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
- 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
- G01S19/40—Correcting position, velocity or 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
- 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
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
Definitions
- the invention relates to a method and a device for
- the invention further relates to a method and apparatus for creating a digital map.
- the invention further relates to a computer program.
- the object underlying the invention may further be seen to provide a method and apparatus for creating a digital map.
- the object underlying the invention can also be seen in a computer program for the above-mentioned tasks - an improved position determination and / or the creation of a digital map ⁇
- Direction vectors point to a position in the digital map, from which the corresponding object was detected by means of a radar sensor
- a vehicle positioning apparatus comprising:
- a GNS unit for determining a GNS vehicle position
- a radar sensor system for sensory detection of an environment of the GNS vehicle position in order to determine radar data corresponding to the detected environment
- a processor configured to detect surrounding objects based on the radar data
- the processor is further adapted to compare the radar data and the detected direction vector with a digital map having objects and the objects associated direction vectors, wherein the objects associated direction vectors point to a position in the digital map from which the corresponding object means one
- the processor is further formed, a corrected vehicle position
- a method of creating a digital map comprising the following steps:
- a GNS unit for determining a GNS vehicle position of a
- a radar sensor system for sensory detection of an environment of the GNS vehicle position in order to determine radar data corresponding to the detected environment
- a processor configured to detect surrounding objects based on the radar data
- the processor is further configured to create the digital map based on the radar data and the detected direction vectors, so that the digital map detected objects and the objects associated
- Directional vectors includes.
- Positioning of a vehicle and / or to create a digital map includes when the computer program is run on a computer.
- the invention thus includes in particular the idea to
- the radar sensor is a vehicle
- Reference point but generally also other vehicle-fixed reference points can be provided) by comparing this directional vector with directional vectors of a digital map, wherein the directional vectors of the digital maps are associated with objects of the digital map and wherein these directional vectors are at a respective position in the digital map show, from which the corresponding object was detected by means of a radar sensor in the context of a map creation. If determined direction vectors coincide with the direction vectors of the digital map, it can generally be assumed that the associated ones are using the
- Radar sensor detected objects around the same objects in the digital map. Thus, therefore, a precise positioning of the vehicle within the digital map is possible. This is particularly advantageous because a position determination alone on a GNS unit may well have inaccuracies. Such possible inaccuracies can be corrected according to the invention advantageously due to the directional vectors or
- the direction vectors thus provide, in particular, angle information.
- angle information corresponds for example to an angle between the direction vector and a vehicle longitudinal axis.
- the idea according to the invention thus consists, in particular, of additionally incorporating this angle information in the digital map when the digital map is created. That is to say that the direction to which the detected objects have been detected by means of the radar sensor system is still indicated for the detected objects, from which location or from which position. Because the GNS vehicle position corresponds to the location of the radar measurement by means of
- Radar sensor at least within a measurement accuracy.
- Position determination based on such a digital map is then also one or more such direction vectors for the detected objects determined. The more the determined direction vectors with the
- Probability that the detected objects in the context of the position determination of the vehicle are the objects in the digital map.
- GSM Global Navigation System
- GNS Global Navigation System
- GNSS Global Navigation Satellite System
- the mobile objects being ignored in the comparison.
- This step applies equally for the positioning method as well as the method for creating a digital map.
- the idea here is to distinguish between stationary and mobile objects.
- the mobile objects are ignored.
- the mobile objects are removed from the corresponding radar data and / or further sensor data. so that means
- the digital map only contains stationary objects.
- the radar image which in the context of
- Position determination of the vehicle was determined, only stationary objects includes. Because a digital map, which would also include mobile objects, would certainly no longer be accurate, as the mobile objects could move away from their original position due to their mobility. A comparison between the digital map and that under the
- Such further sensor data are provided, for example, by an environmental sensor system which may, for example, comprise one or more of the following environmental sensors: ultrasound sensor, lidar sensor, video sensor. That is, according to one embodiment, in addition to the radar data, further sensor data are used for the position determination.
- an environmental sensor system which may, for example, comprise one or more of the following environmental sensors: ultrasound sensor, lidar sensor, video sensor. That is, according to one embodiment, in addition to the radar data, further sensor data are used for the position determination.
- a speed is assigned to the detected objects by means of a radar measurement.
- a respective speed of the detected objects is preferably determined or measured.
- a speed threshold is provided above which a detected object is classified as a mobile object and below which a detected object is classified as a stationary object.
- the provision of such a threshold value can advantageously compensate or take into account any measurement inaccuracies in the radar measurement.
- the comparison comprises fitting the radar data to the digital map.
- an adaptation or a regression or a compensation calculation is advantageously carried out. This means, in particular, that the radar data, as determined during the position determination, are matched with the radar data of the digital map. It will be the largest possible
- the fitting is carried out by means of an iterative closest point algorithm and / or by means of a particle-based fitting algorithm.
- the radar sensor system has a detection range or detection range of 100 m to 250 m and / or a detection field of view or a detection field of view of 30 ° to 70 °.
- 1 is a flowchart of a method for determining the position of a vehicle
- FIG. 3 is a flowchart of a method for creating a digital map
- Fig. 4 shows an apparatus for creating a digital map and Fig. 5-7 each a street scene, which is superimposed on a radar image.
- Fig. 1 shows a flowchart of a method for determining the position of a vehicle.
- a GNS vehicle position is determined by means of a GNS unit.
- an environment of the GNS vehicle position is sensed by means of a radar sensor system of the vehicle in order to determine radar data corresponding to the detected environment. This means in particular that a radar image of the environment of the GNS vehicle position is determined.
- a radar sensor in the sense of the present invention comprises in particular one or more radar sensors.
- a GNS unit in the sense of the present invention comprises in particular one or more GNS sensors.
- a step 105 objects which are located in the vicinity of the GNS vehicle position are detected based on the radar data. This means, in particular, that the radar data are correspondingly further processed in order to detect objects in the vicinity of the GNS vehicle position based on the radar data.
- a direction vector is determined, which is derived from a
- a respective direction vector is determined.
- the direction vector is independent, in particular, in the position determination GNS.
- the radar data and the detected direction vector become
- the digital map has objects and directional vectors associated with the objects, the direction vectors associated with the objects pointing to a position in the digital map from which the corresponding object is referenced Radar sensor has been detected.
- the map was created by the method of creating a digital map.
- a corrected vehicle position is determined based on the GNS vehicle position and the comparison.
- step 109 it is provided, for example, to apply the determined radar data with the determined direction vectors to the digital map.
- step 109 in the comparison that the determined direction vectors are compared with the direction vectors of the digital map.
- a measure of a match of the direction vectors with one another is determined. Such a measure is a probability for this or, for example, can be used as the basis for a probability calculation, to what extent it is possible for the detected objects in the context of the position determination of the
- Vehicle is about the objects of the digital map.
- the device 201 includes:
- a GNS unit 203 for determining a GNS vehicle position
- a radar sensor 205 for sensory detection of an environment of the GNS vehicle position corresponding to the detected environment
- a processor 207 configured to be located in the environment
- the processor 207 is further configured, the radar data and the
- the processor 207 is further configured to determine a corrected vehicle position based on the GNS vehicle position and the comparison.
- device 201 is configured to perform or execute the method of FIG.
- FIG. 3 shows a flowchart of a method for creating a digital map.
- a GNS vehicle position of a vehicle is determined by means of a GNS unit.
- an environment of the GNS vehicle position is sensed by means of a radar sensor system of the vehicle in order to determine radar data corresponding to the detected environment.
- objects are detected which are located in the vicinity of the GNS vehicle position. This based on the radar data.
- a respective direction vector is detected which points from a detected object to the GNS vehicle position.
- the digital map is created on the basis of the radar data and the determined direction vectors, so that the digital map is associated with detected objects and objects
- Directional vectors includes.
- a digital map is advantageously provided which comprises both the information about the detected objects and also the information from which position or from which location within the digital map the detected object or objects were detected by means of the radar sensor system. This means, in particular, that a direction vector points from the detected object to the associated measuring position.
- FIG. 4 shows a device 401 for creating a digital map.
- the device 401 includes: a GNS unit 403 for determining a GNS vehicle position
- a radar sensor system 405 for sensory detection of an environment of the GNS vehicle position corresponding to the detected environment
- a processor 407 which is formed, located in the environment
- the processor 407 is further configured to create the digital map based on the radar data and the detected direction vectors, so that the digital map comprises detected objects and the objects associated direction vectors.
- the device 401 is designed to execute or execute the method for creating a digital map.
- FIGS. 5 to 7 each show a road scene which is superimposed on a radar image, which was detected by means of a radar sensor system of a vehicle.
- the reference numeral 501 exemplifies a road scene superimposed on a radar image comprising a plurality of roads 503, 505 and two bridges 507, 509 with roads.
- the reference numeral 51 1 indicates vehicles running on the roads 503, 505 or the bridges 507, 509.
- Reference numeral 513 indicates recorded radar locations in which a
- a radar location refers to a place where the
- Radar sensor detects an object. This may be due to the
- FIG. 6 shows the road scene 501 with the recorded radar locations 513 according to FIG. 5 as well as radar locations which originate from the digital map.
- the latter types of radar are provided with the reference numeral 601 here.
- Fig. 7 shows in addition to Fig. 6 nor arrows, which are provided with the reference numeral 701. These arrows 701 are direction vectors derived from
- the present invention provides a substantial improvement over the
- the proposed approach advantageously improves the accuracy of localization estimation over standard GNS based systems.
- the typical accuracy which with the
- Subfahrspurgenautechnik This means that the system can at least accurately determine the current lane of the vehicle. Accuracy and reliability are not degraded by multiple reflections in dense urban environments, as is the case with GNS-based localization. Even with changing light conditions, accuracy and reliability are not limited due to the direction vectors according to the invention, as in the case of vision-based
- the proposed system requires only one (or more) automotive radar sensors (in addition to a GNS system) that is already available for an increasing number of brand new vehicles.
- the advantage of the proposed systems can only be achieved by software. This means, Advantageously, no additional hardware is required and no additional hardware costs are incurred.
- a digital map of the environment is created.
- a vehicle equipped with automotive radar sensors and GNS maps the roads during departure.
- the radar sensor system (preferably comprising one or more
- Radar sensors records the position of radar returns with respect to the sensor and the radial instantaneous velocity of radar measurements in its field of view, see Figure 5. These positions are recorded along with the current GNS position of the vehicle.
- the radar sensor thus provides the vehicle environment corresponding radar data, ie a radar image ready.
- the individual positions of Radarechos are preferably referred to as Radarorte.
- Stationary locations may consist of signs, parked vehicles, fence posts, barriers, and other non-moving metallic surfaces common along side streets.
- Dynamic position for example, others in
- the proper motion of the vehicle by the Bordodometrie, the steering wheel angle, the
- Positions at absolute speeds below a predetermined threshold are classified as stationary. All other positions are classified as dynamic.
- Radar image marked (potentially mobile or moving).
- a geographically coded database which may also be referred to as a map of radar positions.
- positions of non-moving, stationary infrastructure will be included in the map.
- Positions classified as dynamic or potentially moving should not be included in the map.
- the novelty of the invention which plays a key role, is the inclusion of the angular direction from which the position on the object was detected in the map.
- the direction is derived from the angle from which the object was measured; see FIG. 7.
- the GNS system or GNS unit determines a rough estimate of its own position via GNS. 2. Sampling radar positions
- the radar sensor records the relative position and the radial
- the angle information (direction vectors), i. the direction from which the radar position is seen in the measurement is compared with the angle information stored in the map. The closer the direction is to each other, the higher the probability that it is the same object.
- a method for determining the position of a vehicle by obtaining an approximate position using a GNS unit, wherein the position is specified by comparing on-line sensor measurements from a radar sensor with pre-stored sensor measurements from a database or digital map, wherein explicitly the direction from which the measurements are made are used for the position determination.
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Radar Systems Or Details Thereof (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015210015.4A DE102015210015A1 (en) | 2015-06-01 | 2015-06-01 | Method and device for determining the position of a vehicle |
PCT/EP2016/060428 WO2016192934A1 (en) | 2015-06-01 | 2016-05-10 | Method and device for determining the position of a vehicle |
Publications (1)
Publication Number | Publication Date |
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EP3304123A1 true EP3304123A1 (en) | 2018-04-11 |
Family
ID=55963360
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16721806.4A Pending EP3304123A1 (en) | 2015-06-01 | 2016-05-10 | Method and device for determining the position of a vehicle |
Country Status (6)
Country | Link |
---|---|
US (1) | US10698100B2 (en) |
EP (1) | EP3304123A1 (en) |
JP (1) | JP6516881B2 (en) |
CN (1) | CN107735692B (en) |
DE (1) | DE102015210015A1 (en) |
WO (1) | WO2016192934A1 (en) |
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DE102015210015A1 (en) | 2016-12-01 |
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