JP6893984B2 - 車両周辺のレーダシグネチャに基づいて車両の正確な位置を決定するための方法および装置 - Google Patents
車両周辺のレーダシグネチャに基づいて車両の正確な位置を決定するための方法および装置 Download PDFInfo
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- JP6893984B2 JP6893984B2 JP2019528522A JP2019528522A JP6893984B2 JP 6893984 B2 JP6893984 B2 JP 6893984B2 JP 2019528522 A JP2019528522 A JP 2019528522A JP 2019528522 A JP2019528522 A JP 2019528522A JP 6893984 B2 JP6893984 B2 JP 6893984B2
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- 238000000034 method Methods 0.000 title claims description 31
- 230000002093 peripheral effect Effects 0.000 claims description 90
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- 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
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- 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)
Description
Claims (10)
- 車両(100)の第1の高精度位置(210)を決定する方法(300)であって、
車両(100)の少なくとも1つのレーダセンサ(101)によって、車両(100)の周辺(200)を表す周辺データ値を検出するステップ(310)、
検出した周辺データ値に応じて、車両(100)の位置を含む領域(220)を決定するステップ(320)、
車両(100)の位置を含む決定した領域(220)に応じて、少なくとも1つの周辺特徴(201)および少なくとも1つの周辺特徴(201)の第2の高精度位置(230)を表す周辺特徴データ値を決定するステップ(330)、および
少なくとも1つの周辺特徴(201)のうち前記車両(100)との距離が最小である1つの周辺特徴の前記第2の高精度位置(230)を使用して、車両(100)の第1の高精度位置(210)を決定するステップ(340)であって、所定の位置特定基準にしたがった車両(100)の第1の高精度位置(210)が車両(100)の位置を含む領域(220)よりも正確であるステップ(340)、
を含む方法(300)。 - 請求項1に記載の方法(300)であって、
所定の第1の比較基準にしたがって周辺データ値を第1のレーダシグネチャと少なくとも部分的に比較することによって、前記車両(100)の位置を含む前記領域(220)の決定(320)を行う方法(300)。 - 請求項1に記載の方法(300)であって、
所定の第2の比較基準にしたがって周辺データ値を第2のレーダシグネチャと少なくとも部分的に比較することによって、前記車両(100)の前記第1の高精度位置(210)の決定(340)を行う方法(300)。 - 請求項2に記載の方法(300)であって、
前記車両(100)に含まれるレーダマップ(105)の形式で前記第1のレーダシグネチャを設ける方法(300)。 - 請求項3に記載の方法(300)であって、
前記車両(100)に含まれるレーダマップ(105)の形式で前記第2のレーダシグネチャを設ける方法(300)。 - 請求項1に記載の方法(300)であって、
所定の評価基準にしたがって前記周辺特徴(201)と前記車両(100)との間の距離(202)が最小である周辺特徴に基づいて周辺特徴データ値の決定(330)を行う方法(300)。 - 請求項1に記載の方法(300)であって、
前記第1の高精度位置(210)が、前記領域(220)を決定するだけでは不可能な前記車両(100)の操作を可能にするように、前記車両(100)の前記第1の高精度位置(210)の決定(340)を行う方法(300)。 - 請求項1に記載の方法(300)であって、
前記車両(100)の位置を含む前記領域(220)の決定(320)および/または車両(100)の前記第1の高精度位置(210)の決定(340)を、前記領域(220)および/または第1の高精度位置(210)が、所定の座標系の位置を含むように行う方法(300)。 - 車両(100)の第1の高精度位置(210)を決定するための装置(110)であって、
車両(100)の少なくとも1つのレーダセンサ(101)によって、車両(100)の周辺(200)を表す周辺データ値を検出する(310)ための第1の手段(111)と、
検出した周辺データ値に応じて車両(100)の位置を含む領域(220)を決定する(320)ための第2の手段(112)と、
車両(100)の位置を含む決定した領域(220)に応じて、少なくとも1つの周辺特徴(201)および少なくとも1つの周辺特徴(201)の第2の高精度位置(230)を表す周辺特徴データ値を決定する第3の手段(113)と、
少なくとも1つの周辺特徴(201)のうち前記車両(100)との距離が最小である1つの周辺特徴の前記第2の高精度位置(230)に応じて、車両(100)の第1の高精度位置(210)を決定する(340)ための第4の手段(114)であって、所定の位置特定基準にしたがった車両(100)の第1の高精度位置(210)が車両(100)の位置を含む領域(220)よりも正確である第4の手段(114)と、
を含む装置(110)。 - 請求項9に記載の装置(110)であって、
前記第1の手段(111)、前記第2の手段(112)、前記第3の手段(113)、および前記第4の手段(114)が、請求項2から8までの少なくともいずれか1項に記載の方法(300)を実施するように構成された装置(110)。
Applications Claiming Priority (3)
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DE102016223526.5A DE102016223526A1 (de) | 2016-11-28 | 2016-11-28 | Verfahren und Vorrichtung zum Bestimmen einer ersten hochgenauen Position eines Fahrzeugs |
DE102016223526.5 | 2016-11-28 | ||
PCT/EP2017/076980 WO2018095669A1 (de) | 2016-11-28 | 2017-10-23 | Verfahren und vorrichtung zum bestimmen einer genauen position eines fahrzeugs anhand von radarsignaturen der fahrzeugumgebung |
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JP2020513551A JP2020513551A (ja) | 2020-05-14 |
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US (1) | US11163041B2 (ja) |
EP (1) | EP3545330A1 (ja) |
JP (1) | JP6893984B2 (ja) |
CN (1) | CN110023781B (ja) |
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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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JP4172368B2 (ja) * | 2003-10-07 | 2008-10-29 | 株式会社デンソー | 車両検知装置 |
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 |
EP2491344B1 (en) * | 2009-10-22 | 2016-11-30 | TomTom Global Content B.V. | 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 |
JP5569591B2 (ja) * | 2010-11-04 | 2014-08-13 | トヨタ自動車株式会社 | 道路形状推定装置及び道路形状推定方法 |
US9823082B2 (en) * | 2011-08-24 | 2017-11-21 | Modular Mining Systems, Inc. | Driver guidance for guided maneuvering |
EP2793041A1 (en) * | 2013-04-15 | 2014-10-22 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Assured vehicle absolute localisation |
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 |
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- 2017-10-23 EP EP17794921.1A patent/EP3545330A1/de not_active Withdrawn
- 2017-10-23 CN CN201780073535.3A patent/CN110023781B/zh active Active
- 2017-10-23 US US16/347,488 patent/US11163041B2/en active Active
- 2017-10-23 WO PCT/EP2017/076980 patent/WO2018095669A1/de active Application Filing
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CN110023781B (zh) | 2023-11-10 |
US20190285419A1 (en) | 2019-09-19 |
EP3545330A1 (de) | 2019-10-02 |
WO2018095669A1 (de) | 2018-05-31 |
US11163041B2 (en) | 2021-11-02 |
CN110023781A (zh) | 2019-07-16 |
JP2020513551A (ja) | 2020-05-14 |
DE102016223526A1 (de) | 2018-05-30 |
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