EP3673234A1 - Procédé et dispositif permettant de déterminer une position très précise d'un véhicule automatisé et de le faire fonctionner - Google Patents

Procédé et dispositif permettant de déterminer une position très précise d'un véhicule automatisé et de le faire fonctionner

Info

Publication number
EP3673234A1
EP3673234A1 EP18740796.0A EP18740796A EP3673234A1 EP 3673234 A1 EP3673234 A1 EP 3673234A1 EP 18740796 A EP18740796 A EP 18740796A EP 3673234 A1 EP3673234 A1 EP 3673234A1
Authority
EP
European Patent Office
Prior art keywords
weather
automated vehicle
environment
determining
features
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Withdrawn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
EP18740796.0A
Other languages
German (de)
English (en)
Inventor
Jan Rohde
Daniel Zaum
Holger Mielenz
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 EP3673234A1 publication Critical patent/EP3673234A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004—Gaseous mixtures, e.g. polluted air
    • G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
    • G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
    • G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
    • 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
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/018—Involving non-radio wave signals or measurements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • 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
    • 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
    • G01S2013/9323—Alternative operation using light 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
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves

Definitions

  • the present invention relates to a method and apparatus for determining a high accuracy position and operating an automated vehicle, comprising a step of receiving map data values from an external server, a step of determining a weather specific environmental state, a step of acquiring ambient data values, a step determining the high-precision position and a step of operating the automated vehicle, depending on the high-precision position.
  • Environmental features includes.
  • the inventive method further comprises a step of determining the high-accuracy position based on an alignment between the weather-specific environmental features and the dynamic ones
  • an automated vehicle is a partially, highly or fully automated vehicle to understand. Under an operation of the automated vehicle is to be understood that the automated vehicle is partially, fully or fully automated operation. In this case, the operation includes, for example, determining a trajectory for the automated vehicle and / or traversing the trajectory by means of an automated lateral and / or longitudinal control and / or carrying out safety-relevant driving functions, etc.
  • the weather-specific environmental features and / or the dynamic environmental features preferably include light reflections and / or lanes of the at least one further vehicle.
  • the device according to the invention further comprises fourth means for determining the high-precision position, based on a comparison between the weather-specific environmental features and the dynamic
  • the first means and / or the second means and / or the third means and / or the fourth means and / or the fifth means are adapted to carry out a method according to at least one of the method claims.
  • Advantageous developments of the invention are specified in the subclaims and listed in the description.
  • FIG. 3 purely by way of example an embodiment of the method according to the invention in the form of a flowchart.
  • Figure 1 shows an automated vehicle 100, which is the inventive
  • Device 1 10 for determining 340 a highly accurate position 150 and for operating 350 of the automated vehicle 100 includes.
  • the device 110 includes first means 11 for receiving 310 map data from an external server 210 representing a map, the map comprising weather-specific environmental features 220, second means 1 12 for determining 320 a weather-specific environmental condition, and third means 13 for Collecting 330 environmental data values, wherein the environmental data values represent an environment 200 of the automated vehicle 100, the environment including dynamic environmental features 230.
  • the device 110 further includes fourth means 1114 for determining 340 the high-accuracy position 150 based on an alignment between the weather-specific environmental features 220 and the dynamic ones
  • the first means 1 1 1 for receiving 310 card data values from an external server 210 are, for example, transmitters. and / or receiving unit formed. In a further embodiment, the first means 1 1 1 are designed such that they are connected to a transmitting and / or receiving unit already included in the vehicle.
  • Ambient conditions are formed, for example, as a transmitting and / or receiving unit, which requests the weather-specific environmental condition, for example, from a weather station and / or another external server.
  • the weather-specific environmental condition for example, from a weather station and / or another external server.
  • the transmitting and / or receiving unit is identical to the transmitting and / or receiving unit of the first means 1 1 1.
  • the second means 1 12 are designed in such a way that the weather-specific ambient state is determined by means of an environmental sensor system 101, which is included in the automated vehicle 100.
  • the second means 1 12 comprise, for example, a computing unit (processor, main memory, hard disk, software), which is designed, based on environmental data, which by means of the environment sensor 101 - for example in the form of an image from a video sensor and / or in the form of moisture values be detected by a humidity sensor, evaluate accordingly.
  • the third means 13 for acquiring 330 ambient data values are designed, for example, such that they comprise their own surroundings sensors or are connected to an environment sensor 101 already included in the automated vehicle 100.
  • the first means comprise, for example, a computing unit (processor,
  • At least one video and / or at least one radar and / or at least one lidar and / or at least one are present under the surroundings sensor 101
  • Ultrasonic and / or at least one further sensor to understand which is adapted to detect the environment 200 of the automated vehicle 100 in the form of environmental data.
  • Ambient state for example, are designed as a control unit and / or arithmetic unit. They include, for example, a processor, memory and a hard disk and suitable software for determining 340 a high-precision position 150 of the automated vehicle 100.
  • the fifth means 15 for operating 350 of the automated vehicle 100, depending on the high-precision position 150, are embodied, for example, as a control unit.
  • Figure 2 shows a schematic representation of an embodiment of the
  • Method 300 according to the invention.
  • an automated vehicle 100 automatically drives on a road.
  • the automated vehicle receives map data values representing a map from an external server 210 by means of the first means 11 1, the map comprising weather-specific environmental features 220.
  • the map data values are received at regular time and / or location intervals, depending on the (non-highly accurate) position of the automated vehicle 100.
  • the automated vehicle 100 requests the map data values when there is no current map and / or determining 340 a high accuracy location 150 is not possible.
  • the map data values are transmitted from the external server 210 when, for example, an update of the map has been made.
  • the automated vehicle 100 further determines a weather-specific environmental condition by means of the second means 12. In one embodiment, this step occurs by transmitting the weather-specific environmental condition together with the map data values from the external server 210 and receiving them by the first means 11 1.
  • the weather-specific environmental condition occurs by transmitting the weather-specific environmental condition together with the map data values from the external server 210 and receiving them by the first means 11 1.
  • the weather-specific environmental condition occurs by transmitting the weather-specific environmental
  • Ambient state independent of the received map data values - for example, determined by means of an environment sensor 101 of the automated vehicle 100.
  • the automated vehicle 100 further acquires environmental data values, wherein the environmental data values represent an environment 200 of the automated vehicle 100, wherein the environment 200 includes dynamic environmental features 230.
  • the dynamic environment feature corresponds, for example, to a lane of at least one other vehicle 250, which has its own high-precision position, for example, in advance - at regular intervals - to the vehicle external server 210 transmits.
  • the external server 210 in turn transmits the
  • Map data values wherein the map now the expected lane of the at least one other vehicle 250 as a weather-specific environment feature 220 - on dry roads, the lane is not visible - includes.
  • the high accuracy position 150 of the automated vehicle 100 is determined based on an alignment between the weather specific environmental features 220 and the dynamic environmental features 230 (here, for example, the lane of the at least one other wet road vehicle 250) depending on the weather specific environmental condition.
  • the weather-specific ambient state is used, for example, to determine the actual high-precision position 150, since corresponding parameters are used on the basis of this state.
  • the weather-specific ambient state decides, for example, whether the weather-specific
  • the lane in a light rain is better suited to be detected by the third means 1 13, as in a very heavy rain, as the
  • Lane is hardly recognizable due to increasing water masses.
  • the high accuracy position 150 is determined, for example, by detecting the dynamic environmental feature 230 and determining a relative position of the automated vehicle 100 thereto. This is done for example by means of a direction vector and a distance between the dynamic environment feature 230 and the automated vehicle 100. Since the likewise highly accurate position of the
  • weather-specific environmental feature 220 is stored in the map data values, the highly accurate position 150 of the automated vehicle 100 is determined based on this position and the relative position, for example by means of vector addition.
  • the weather-specific environment feature 220 used is, for example, a light reflection which can be detected by means of the environmental sensor system 101 as a dynamic environmental feature 230, as long as, for example the road on which the automated vehicle 100 is located has a wet roadway.
  • the automated vehicle 100 acquires and transmits to the external server 210 a dynamic environment feature 230 that is not included in the map.
  • FIG. 3 shows an exemplary embodiment of a method 300 for determining 340 a highly accurate position 150 and for operating 350 an automated vehicle 100.
  • step 301 the method 300 starts.
  • step 310 map data values from an external server 210 representing a map, the map comprising weather-specific environmental features 220, are received.
  • step 320 a weather specific environmental condition is determined.
  • step 330 environmental data values, wherein the environmental data values represent an environment 200 of the automated vehicle 100, wherein the environment 200 includes dynamic environmental features 230, are captured.
  • step 340 the high accuracy position 150 is determined based on an alignment between weather specific environmental features 220 and dynamic
  • Environmental features 230 depending on the weather-specific environmental condition determined.
  • step 350 the automated vehicle 100 is operated depending on the high accuracy position 150.
  • step 360 the method 300 ends.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Food Science & Technology (AREA)
  • Business, Economics & Management (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Medicinal Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Electromagnetism (AREA)
  • Combustion & Propulsion (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé (300) et un dispositif (110) permettant de déterminer (340) une position très précise (150) d'un véhicule automatisé (100) et de le faire fonctionner (350), comprenant une étape consistant à recevoir (310) d'un serveur externe (210) des valeurs de données cartographiques qui représentent une carte, la carte comprenant des caractéristiques d'environnement spécifiques aux conditions météorologiques (220) ; une étape consistant à déterminer (320) un état de l'environnement spécifique aux conditions météorologiques ; une étape consistant à détecter (330) des valeurs de données d'environnement, les valeurs de données d'environnement représentant un environnement (200) du véhicule automatisé (100), l'environnement (200) comprenant des caractéristiques d'environnement dynamiques (230) ; une étape consistant à déterminer (340) la position très précise (150) sur la base d'une comparaison entre les caractéristiques d'environnement spécifiques aux conditions météorologiques (220) et les caractéristiques d'environnement dynamiques (230), en fonction de l'état de l'environnement spécifique aux conditions météorologiques ; et une étape consistant à faire fonctionner (350) le véhicule automatisé (100) en fonction de la position très précise (150).
EP18740796.0A 2017-08-23 2018-07-12 Procédé et dispositif permettant de déterminer une position très précise d'un véhicule automatisé et de le faire fonctionner Withdrawn EP3673234A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017214729.6A DE102017214729A1 (de) 2017-08-23 2017-08-23 Verfahren und Vorrichtung zum Bestimmen einer hochgenauen Position und zum Betreiben eines automatisierten Fahrzeugs
PCT/EP2018/068884 WO2019037940A1 (fr) 2017-08-23 2018-07-12 Procédé et dispositif permettant de déterminer une position très précise d'un véhicule automatisé et de le faire fonctionner

Publications (1)

Publication Number Publication Date
EP3673234A1 true EP3673234A1 (fr) 2020-07-01

Family

ID=62916660

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18740796.0A Withdrawn EP3673234A1 (fr) 2017-08-23 2018-07-12 Procédé et dispositif permettant de déterminer une position très précise d'un véhicule automatisé et de le faire fonctionner

Country Status (5)

Country Link
US (1) US20200192401A1 (fr)
EP (1) EP3673234A1 (fr)
CN (1) CN110998238A (fr)
DE (1) DE102017214729A1 (fr)
WO (1) WO2019037940A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019205994A1 (de) * 2019-04-26 2020-10-29 Robert Bosch Gmbh Verfahren zum Ausbilden einer Lokalisierungsschicht einer digitalen Lokalisierungskarte zum automatisierten Fahren
DE102019213612A1 (de) * 2019-09-06 2021-03-11 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9946937B2 (en) * 2011-06-17 2018-04-17 Robert Bosch Gmbh Method and control unit for recognizing a weather condition in the surroundings of a vehicle
GB201202344D0 (en) * 2012-02-10 2012-03-28 Isis Innovation Method of locating a sensor and related apparatus
US9298992B2 (en) * 2014-02-20 2016-03-29 Toyota Motor Engineering & Manufacturing North America, Inc. Geographic feature-based localization with feature weighting
DE102014221888A1 (de) * 2014-10-28 2016-04-28 Robert Bosch Gmbh Verfahren und Vorrichtung zur Lokalisierung eines Fahrzeugs in seinem Umfeld
DE102015215699A1 (de) * 2015-08-18 2017-02-23 Robert Bosch Gmbh Verfahren zum Lokalisieren eines automatisierten Kraftfahrzeugs
US10921810B2 (en) * 2016-08-02 2021-02-16 Pcms Holdings, Inc. System and method for optimizing autonomous vehicle capabilities in route planning

Also Published As

Publication number Publication date
CN110998238A (zh) 2020-04-10
DE102017214729A1 (de) 2019-02-28
US20200192401A1 (en) 2020-06-18
WO2019037940A1 (fr) 2019-02-28

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