EP3545330A1 - Procédé et dispositif de détermination d'une position précise d'un véhicule au moyen des signatures radar de l'environnement du véhicule - Google Patents

Procédé et dispositif de détermination d'une position précise d'un véhicule au moyen des signatures radar de l'environnement du véhicule

Info

Publication number
EP3545330A1
EP3545330A1 EP17794921.1A EP17794921A EP3545330A1 EP 3545330 A1 EP3545330 A1 EP 3545330A1 EP 17794921 A EP17794921 A EP 17794921A EP 3545330 A1 EP3545330 A1 EP 3545330A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
determining
data values
environmental
feature
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.)
Withdrawn
Application number
EP17794921.1A
Other languages
German (de)
English (en)
Inventor
Oliver Pink
Carsten Hasberg
Danny Hiendriana
Christoph Schroeder
Philipp RASP
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3545330A1 publication Critical patent/EP3545330A1/fr
Withdrawn legal-status Critical Current

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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/874—Combination of several systems for attitude determination
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/876—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
    • 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
    • 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
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Definitions

  • the present invention relates to a method and apparatus for determining a first highly accurate position of a vehicle, the method comprising a step of acquiring ambient data values, a step of determining a rough position, a step of determining environmental feature data values, and a step 15 of determining the first highly accurate one Position includes.
  • DE 10 2015 002 155 A1 discloses a method for determining a position information comprising a position 20 and / or an orientation of a motor vehicle with respect to an available travel corridor in the direction of travel of the motor vehicle.
  • the environment of the motor vehicle descriptive radar data with at least one
  • Radar sensor recorded and identified at least one of the boundary of the travel corridor descriptive, non-moving feature in the radar data and localized.
  • a driving corridor in a vehicle coordinate system descriptive driving corridor information is evaluated, wherein the location information is derived from the Fahrkorridorinformation.
  • the method according to the invention for determining a first highly accurate position of a vehicle comprises a step of acquiring ambient data values by means of at least one radar sensor of the vehicle, wherein the ambient data values represent an environment of the vehicle, a step of determining a
  • a coarse position of a vehicle is here a position of the vehicle within a predetermined coordinate system, the position being subject to a certain blurring.
  • This may be, for example, a position specification in the form of a circle, wherein the position of a center and a radius are assigned.
  • Coarse position of the vehicle by the vehicle is located as being within the circle, it is irrelevant for the indication of the coarse position, where exactly within the circle is the vehicle.
  • the blur - and thus the radius of the circle - is on the order of about 5 meters.
  • a first and / or second high-precision position here means a position within a predetermined coordinate system, the position also being subject to a certain blurring. However, the first and / or second high-precision position differs from the rough position in that the blur is more accurate according to predetermined localization criteria.
  • a localization criterion is, for example, that the blurring of the first and / or second high-precision position is smaller by a predetermined factor than the blurring of the coarse position. For example, the blur of the first and / or second high-precision position is on the order of about 20-30 centimeters or less.
  • the first high-precision position of the vehicle is assigned, for example, to a specific point of the vehicle.
  • the method according to the invention has the advantage that the determination of a first highly accurate position of the vehicle takes place as a function of at least one environmental feature and thus independently of a possible radio connection, as for example in the case of a position determination via GPS. This allows a
  • the advantage is that the determination of a position takes place in two steps. In a first step, the coarse position is determined and only in a second step, the determination of the highly accurate position, but depending on the already known coarse position.
  • the determination of the highly accurate position takes place overall with significantly less computational effort and much faster, which, for example, improves the effectiveness of driver assistance functions of the vehicle and the safety for the vehicle.
  • Ambient data values are at least partially compared to a first radar signature according to predetermined first comparison criteria.
  • the first highly accurate position of the vehicle is preferably determined by at least partially comparing the ambient data values with a second radar signature according to predetermined second comparison criteria.
  • the first radar signature and / or the second radar signature are in the form of a radar map, which is encompassed by the vehicle.
  • the overall radar-based method has the advantage that the method,
  • Light conditions for example due to the day and night or due to glare from the sun's rays or other light sources in the vicinity of
  • Vehicle takes place. Furthermore, it is possible to access existing radar sensors in the vehicle, whereby no further sensors have to be installed.
  • first and / or second radar signature are meant, for example, data values which have already been detected in advance by means of a radar sensor and stored on a storage medium in the form of a radar map by means of a position assignment.
  • each environment has a radar signature typical for it and can thus be assigned to a coarse position and / or a first highly accurate position by means of first and / or second comparison criteria.
  • Have signal structure which must coincide to a predetermined extent with the first and / or second radar signature. For example, a match between the first and / or second radar signature and the detected
  • Ambient data values are then available if there is a reconciliation of the respective data of at least 90%.
  • the environmental feature data values are determined such that the environmental feature data values accurately represent one environmental feature such that the distance between the environmental feature and the vehicle is minimal according to predetermined evaluation criteria. That the distance between the environment feature and the vehicle is minimal according to predetermined evaluation criteria means that the distance between the environment feature and the vehicle according to predetermined evaluation criteria is minimal compared to at least one further distance between at least one further environment feature and the vehicle.
  • the determination of the first highly accurate position of the vehicle takes place in such a way that the first high-precision position makes it possible to operate the vehicle, which is not possible with exclusive determination of the coarse position.
  • This is particularly advantageous because, due to the more precise position determination and thus improved knowledge of the position of the vehicle, the safety of the vehicle increases, thus for example distances to obstacles can be determined more accurately and a collision with an obstacle can be prevented.
  • determining the coarse position of the vehicle and / or determining the first high-precision position of the vehicle such that the
  • predetermined coordinate system in particular in a GPS coordinate system.
  • the first highly accurate position of the vehicle is determined from the second highly accurate position of the at least one environmental feature.
  • the first highly accurate position starting from the second high-precision position, for example by determining the relative distance and the relative speed of the vehicle to the at least one
  • Environmental feature by simple vector addition, for example, based on the given positions within a GPS coordinate system, can be determined quickly and accurately.
  • the inventive device for determining a first highly accurate position of a vehicle comprises first means for acquiring ambient data values by means of at least one radar sensor of the vehicle, wherein the environmental data values represent an environment of the vehicle and second means for determining a coarse position of the vehicle, depending on the detected environmental data values.
  • the device comprises third means for determining
  • Environment feature data values depending on the determined coarse position of the vehicle, wherein the environment feature data values are at least one
  • the first high-precision position of the vehicle according to predetermined localization criteria is more accurate than the rough position of the vehicle.
  • the first means and / or the second means and / or the third means and / or the fourth means are designed to carry out a method according to at least one of the method claims.
  • FIG. 1 purely by way of example a vehicle which comprises the device according to the invention for carrying out the method according to the invention
  • FIG. 1 shows a vehicle 100, which comprises an apparatus 110 for carrying out a method 300 according to at least one of the method claims.
  • the device 110 includes first means 11 for acquiring ambient data values by means of at least one radar sensor 101, which is included in the vehicle 101.
  • the first means 1 1 1 are designed such that they can receive the data detected by the radar sensor 101 of the vehicle 100 by means of a connection, for example a cable.
  • the first means 1 1 1 are designed to evaluate the detected environmental data values and, for example, to generate a radar image of the environment 200 of the vehicle 100 based on the acquired environmental data values.
  • the first means 1 1 1 include, for example, a first
  • Arithmetic unit which includes a processor, memory, a storage medium and corresponding software to perform such an evaluation. Furthermore, the device 1 10 comprises second means 1 12 for determining a
  • a second processing unit which includes a processor, memory, a storage medium and corresponding software to such a determination
  • the coarse position 220 can be determined, for example, by comparing the environmental data values acquired and evaluated by the first means 11 1 with a first radar signature.
  • a first radar signature This can be present for example in the form of a radar map 105, which includes location-based radar signatures.
  • the radar map 105 can be encompassed both by the second means 12 and also independently of the device 11 in the vehicle 100, for example in a navigation system.
  • Ambient data values with the first radar signature are thus assigned a coarse position 220 to the vehicle 100. Furthermore, the second means 1 12 are connected to the first means 1 1 1.
  • the device 1 10 comprises third means 1 13 for determining
  • Environment feature data values depending on the determined coarse position 220 of the vehicle 100, wherein the environmental feature data values are at least one
  • the third means 13 comprise, for example, a third arithmetic unit which comprises a processor, main memory, and a database, for example on a storage medium together with corresponding software, the database depending on a coarse position 220 environment features 201 in the form of
  • highly accurate position 230 includes.
  • the coarse position 220 is read in by the second means 12 and in the database all environmental features 201 are selected within a predetermined distance, then the
  • Ambient feature 201 is selected with the smallest distance 202 to the vehicle and all data related to this environment feature 201 transmitted to the fourth means 1 14.
  • the third arithmetic unit may be identical to the first and / or second arithmetic unit.
  • the device 1 10 comprises fourth means 1 14 for determining 340 the first high-precision position 210 of the vehicle 100, depending on the at least one Environment feature 201.
  • the fourth means 14 comprise, for example, a fourth arithmetic unit which comprises a processor, main memory, a storage medium and corresponding software for carrying out such a determination.
  • the first and / or the second and / or the third and / or the fourth arithmetic unit may also be identical.
  • the first highly accurate position 210 of the vehicle 100 is determined, for example, by at least partially comparing the environmental data values with a second radar signature according to predetermined second comparison criteria.
  • a second radar signature can be in the form of a radar chart 105 as well as the first radar signature.
  • Vehicle 100 are determined relative to the environmental feature highly accurate.
  • the fourth arithmetic unit can now, for example, by vector addition, by the relative position of the vehicle 100 to the second
  • the first high-precision position 210 of the vehicle 100 determine.
  • FIG. 2 shows a vehicle 100 and an environment 200 of the vehicle 100. Furthermore, there are a plurality of environmental features 201 in the environment 200.
  • environmental data values are acquired. Based on the acquired environmental data values, a coarse position 220 of the vehicle is determined.
  • the rough position 220 is shown here by way of example as an elliptical surface in which the vehicle is located.
  • environmental features 201 are determined, wherein preferably exactly one environmental feature 201 is determined whose distance 202 to the vehicle 100 is minimal. Furthermore, the second high-precision position 230 of the
  • the first high-precision position 210 of the vehicle is determined.
  • the direction of movement can likewise be determined from the acquired environmental data values by determining an orientation of the vehicle 100 by means of comparison with the first and / or second radar signature.
  • the direction of movement can also be determined by means of further sensors, which are encompassed by the vehicle 100.
  • FIG. 3 shows an exemplary embodiment by means of a flowchart.
  • the method 300 starts. This is done, for example, by a
  • Driving function which is implemented on a control unit for operating the vehicle 100, a first high-precision position 210 of the vehicle 100 is required and by means of a corresponding signal to the device 1 10 requests this first high-precision position 210.
  • step 310 environmental data values are acquired by at least one radar sensor 101 of the vehicle 100, wherein the environmental data values represent an environment 200 of the vehicle 100.
  • step 320 a coarse position 220 of the vehicle 100 is determined, depending on the detected environmental data values.
  • step 330 environmental feature data values are determined, depending on the determined coarse position 220 of the vehicle 100, where the
  • Environmental feature data values represent at least one environment feature 201 and a second high-precision location 230 of the at least one environment feature 201.
  • step 340 the first highly accurate position 210 of the vehicle 100 is determined, depending on the at least one environmental feature 201, wherein the first high accuracy position 210 of the vehicle 100 is more accurate than the coarse position 220 of the vehicle 100, according to predetermined localization criteria.
  • step 350 the method 300 ends, for example, by the device 110 transmitting a first high-accuracy position 210 of the vehicle 100 to a controller that requires the first high-accuracy position 210 of the vehicle 100 to operate the vehicle 100.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé (300) et un dispositif (110) de détermination d'une première position hautement précise (210) d'un véhicule (100), le procédé (300) comprenant une étape qui consiste à détecter (310) des valeurs de données d'environnement au moyen d'au moins un capteur radar (101) du véhicule (100), les valeurs de données d'environnement représentant un environnement (200) du véhicule (100), et une étape qui consiste à déterminer (320) une position approximative (220) du véhicule (100) en fonction des valeurs de données d'environnement détectées. Le procédé (300) comprend par ailleurs une étape qui consiste à déterminer (330) des valeurs de données de caractéristiques d'environnement en fonction de la position approximative (220) déterminée du véhicule (100), les valeurs de données de caractéristiques d'environnement représentant au moins une caractéristique d'environnement (201) et une seconde position hautement précise (230) de la ou des caractéristiques d'environnement (201), et une étape qui consiste à déterminer (340) la première position hautement précise (210) du véhicule (100) en fonction de la ou des caractéristiques d'environnement (201), la première position hautement précise (210) du véhicule (100) étant, selon des critères de localisation prédéfinis, plus précise que la position approximative (220) du véhicule (100).
EP17794921.1A 2016-11-28 2017-10-23 Procédé et dispositif de détermination d'une position précise d'un véhicule au moyen des signatures radar de l'environnement du véhicule Withdrawn EP3545330A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016223526.5A DE102016223526A1 (de) 2016-11-28 2016-11-28 Verfahren und Vorrichtung zum Bestimmen einer ersten hochgenauen Position eines Fahrzeugs
PCT/EP2017/076980 WO2018095669A1 (fr) 2016-11-28 2017-10-23 Procédé et dispositif de détermination d'une position précise d'un véhicule au moyen des signatures radar de l'environnement du véhicule

Publications (1)

Publication Number Publication Date
EP3545330A1 true EP3545330A1 (fr) 2019-10-02

Family

ID=60269807

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17794921.1A Withdrawn EP3545330A1 (fr) 2016-11-28 2017-10-23 Procédé et dispositif de détermination d'une position précise d'un véhicule au moyen des signatures radar de l'environnement du véhicule

Country Status (6)

Country Link
US (1) US11163041B2 (fr)
EP (1) EP3545330A1 (fr)
JP (1) JP6893984B2 (fr)
CN (1) CN110023781B (fr)
DE (1) DE102016223526A1 (fr)
WO (1) WO2018095669A1 (fr)

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US11082811B2 (en) 2019-07-30 2021-08-03 Slack Technologies, Inc. Identifying decisions and rendering decision records in a group-based communication interface
DE102021202121B4 (de) 2021-03-04 2022-09-22 Continental Automotive Technologies GmbH Vorrichtung und Verfahren zum Abbilden eines relativen Fahrzeugkoordinatensystems eines Fahrzeugs auf ein absolutes globales Koordinatensystem

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JP2007303841A (ja) * 2006-05-08 2007-11-22 Toyota Central Res & Dev Lab Inc 車両位置推定装置
US20080243378A1 (en) * 2007-02-21 2008-10-02 Tele Atlas North America, Inc. System and method for vehicle navigation and piloting including absolute and relative coordinates
DE102009045286A1 (de) * 2009-10-02 2011-04-21 Robert Bosch Gmbh Verfahren zur Abbildung des Umfelds eines Fahrzeugs
US9052207B2 (en) * 2009-10-22 2015-06-09 Tomtom Polska Sp. Z O.O. System and method for vehicle navigation using lateral offsets
DE102010033729B4 (de) * 2010-08-07 2014-05-08 Audi Ag Verfahren und Vorrichtung zum Bestimmen der Position eines Fahrzeugs auf einer Fahrbahn sowie Kraftwagen mit einer solchen Vorrichtung
DE112010005977B4 (de) * 2010-11-04 2015-08-06 Toyota Jidosha Kabushiki Kaisha Strassenformschätzvorrichtung
US9823082B2 (en) * 2011-08-24 2017-11-21 Modular Mining Systems, Inc. Driver guidance for guided maneuvering
EP2793041A1 (fr) * 2013-04-15 2014-10-22 Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO Localisation absolue de véhicule assurée
DE102014214391A1 (de) 2014-07-23 2016-01-28 Robert Bosch Gmbh Verfahren zur radargestützten Navigation
DE102014014120A1 (de) * 2014-09-24 2015-04-02 Daimler Ag Funktionsfreigabe einer hochautomatisierten Fahrfunktion
DE102014223363B4 (de) * 2014-11-17 2021-04-29 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Lokalisation eines Kraftfahrzeugs in einer ortsfesten Referenzkarte
DE102015002155A1 (de) 2015-02-18 2016-08-18 Audi Ag Verfahren zur Ermittlung einer Ortsinformation eines Kraftfahrzeugs bezüglich eines Fahrkorridors und Kraftfahrzeug
US10162053B2 (en) 2015-04-30 2018-12-25 Maxlinear, Inc. Multifunctional automotive radar

Also Published As

Publication number Publication date
CN110023781A (zh) 2019-07-16
WO2018095669A1 (fr) 2018-05-31
JP2020513551A (ja) 2020-05-14
JP6893984B2 (ja) 2021-06-23
US11163041B2 (en) 2021-11-02
CN110023781B (zh) 2023-11-10
US20190285419A1 (en) 2019-09-19
DE102016223526A1 (de) 2018-05-30

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