WO2013029742A1 - Procédé de détermination de la position d'un véhicule à moteur - Google Patents

Procédé de détermination de la position d'un véhicule à moteur Download PDF

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Publication number
WO2013029742A1
WO2013029742A1 PCT/EP2012/003360 EP2012003360W WO2013029742A1 WO 2013029742 A1 WO2013029742 A1 WO 2013029742A1 EP 2012003360 W EP2012003360 W EP 2012003360W WO 2013029742 A1 WO2013029742 A1 WO 2013029742A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
determining
determined
distance
detection device
Prior art date
Application number
PCT/EP2012/003360
Other languages
German (de)
English (en)
Inventor
Christina Gackstatter
Claudia Niemeyer
Original Assignee
Audi Ag
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 Audi Ag filed Critical Audi Ag
Publication of WO2013029742A1 publication Critical patent/WO2013029742A1/fr

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Classifications

    • 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

Definitions

  • the present invention relates to a method for determining the position of a motor vehicle. Moreover, the present invention relates to a motor vehicle.
  • An exact determination of the position of a motor vehicle is of great importance for navigation systems and driver assistance systems.
  • satellite positioning systems such as GPS are usually used. However, measuring tolerances of up to 20 meters can occur.
  • map matching in which the measured position is adjusted by means of a digital map, the position determination of a motor vehicle can be improved. In this case, information about the speed of the motor vehicle is taken into account.
  • the motor vehicle can only move on predetermined roads. In the satellite-based navigation, especially errors occur with respect to the longitudinal positioning of the motor vehicle. These usually arise during long journeys on straight stretches.
  • DE 2009 045 326 A1 describes a method for constructing a database for determining the position of a vehicle with the aid of natural landmarks. Before reaching a landmark, images of the surroundings of the vehicle are taken and at least two natural landmarks are determined from the environmental images. In this case, the current position of the vehicle is detected, for example, with a satellite-based location system, and the current position of the vehicle is compared with the landmarks in a digital road map.
  • the vehicle system comprises a position module with which the position of the vehicle is determined by means of a satellite transmitter. sors and at least one environmental sensor of the vehicle is determined in order to improve the position determination.
  • the position of the vehicle can also be transmitted to a digital map of a navigation unit and thus be used for a driver assistance system.
  • DE 10 2009 045 709 A1 relates to a position determining device for a vehicle, in which the position of the vehicle is determined by a satellite navigation receiver. In a subsequent step, the determined position of the vehicle is validated. For validation, position data are also transmitted, which are transmitted to the position-determining device by means of vehicle-to-vehicle communication or vehicle-to-infrastructure communication.
  • the object of the present invention is to show a way how the determination of the position of a motor vehicle can be improved in a simple manner.
  • the method according to the invention for determining a position of a motor vehicle comprises the following steps:
  • an object is detected whose position is deposited on a corresponding digital map or road map.
  • the distance from the motor vehicle to this object can, for. B. be determined with a sensor device of the motor vehicle. Based on this distance and the information from the digital map, the position of the motor vehicle can be determined more accurately than is possible, for example, with a satellite positioning system.
  • a satellite positioning system For example, several objects in the environment of the motor vehicle can be detected and thus - for example by triangulation - the distance between the motor vehicle and the object can be determined even more accurately. This more accurate information allows improved navigation of the motor vehicle.
  • driver assistance systems that require information about the position of the motor vehicle can be operated more reliably.
  • a relative position of the object relative to the motor vehicle is preferably determined.
  • the position of the object to the motor vehicle with respect to two spatial directions can be detected.
  • information from vehicle sensors can also be used in addition to the digital map. For example, the speed, the acceleration or the steering angle of the motor vehicle can be taken into account. It can also be done a corresponding map matching.
  • a position information of the object in relation to the motor vehicle can be determined and the position of the motor vehicle can be determined even more accurately.
  • the position of the motor vehicle is also determined by means of a satellite positioning system and this position is verified and / or corrected on the basis of the position determined in step d). Since the position of the motor vehicle determined with a satellite positioning system can usually result in measurement tolerances in the range of up to 20 meters, the position of the motor vehicle can be corrected on the basis of the position determined by the position of the object and the determined distance. Thus, the position of the motor vehicle can be reliably determined and a more reliable navigation of the motor vehicle can be made possible.
  • the position determined with the satellite positioning system can also be used to identify the object. In this case, a corresponding area in the digital map can be searched for objects stored there on the basis of the position. Thus, based on the position information of the satellite positioning system, the detected object can be uniquely determined.
  • a traffic sign, a traffic system, a building or a roadway is detected as the object.
  • object non-moving objects or landmarks are usually detected.
  • traffic lights traffic lights, street lights or the like can be detected.
  • tunnels, bridges or other buildings can be recorded. Such objects are available everywhere and thus the position can be reliably determined based on these objects.
  • the motor vehicle according to the invention comprises a sensor device for detecting at least one object in an environment of the motor vehicle, a detection device for determining a distance between the motor vehicle and the object, a memory device on which a digital map is stored, and a control device for determining the position of the object based on the digital map and for determining the position of the motor vehicle based on the position of the object and the determined distance.
  • the sensor device comprises a camera.
  • a camera or other optical sensor device is usually present in a motor vehicle, for example as part of a driver assistance system. Therefore, there are no additional costs for installation and also space can be saved.
  • an image processing program is stored in a memory of the detection device and the detection device brings this to determine the distance between the motor vehicle and the object to the process. So z. B. be determined based on the dimensions of the detected object by means of an image processing program, the distance to the object. For this purpose, corresponding properties of the objects can be stored in the digital map or in another data memory. As a detection device and the camera of the sensor device or, for example, two cameras can be used. Thus, the distance between the motor vehicle and the object can be determined with a high accuracy of measurement in a simple manner.
  • control device is coupled to a data bus with the detection device.
  • the sensor device and corresponding data memory can also be connected to the data bus.
  • the Data with information about the distance between the motor vehicle and the object can be transmitted particularly easily to the control device.
  • FIG. 1 shows a schematic representation of a motor vehicle, in the environment of which an object is located.
  • the figure shows a schematic representation of a motor vehicle 10 in a plan view.
  • the motor vehicle 10 is located on a roadway 12.
  • an object 14 which is shown here only schematically.
  • the object 14 is preferably not movable.
  • the object 14 may be, for example, a traffic sign, a traffic light, a street lamp, a tunnel, a bridge, a building or another landmark.
  • the motor vehicle 10 includes a sensor device 16, with which the object 14 is detected in the environment of the motor vehicle 10.
  • the sensor device 16 is an optical sensor, for example a camera.
  • the motor vehicle 10 comprises a detection device 18, with the distance between see the motor vehicle 10 and the object 14 can be determined.
  • the detection device 18 may be a distance sensor which emits an optical or electromagnetic signal and determines the transit time of the signal reflected by the object 14 and calculates therefrom the distance between the motor vehicle 10 and the object 14.
  • a camera for example the camera of the sensor device 16, can also be used as the detection device 18.
  • On a memory of the detection device 18, a corresponding image processing program is stored. To determine the distance between the motor vehicle 10 and the object 14, this is brought by the detection device 18 to drain.
  • the motor vehicle 10 includes a memory device 20, on which a digital map is stored. On this digital map or road map and the objects 14 and their position are stored. Information about the properties of the objects 14 is also stored in the memory device 20 or in another memory. Such information may include the dimensions of the object 14.
  • the object 14 is detected in the environment of the motor vehicle 10. After the detection of the object 14, the sensor device 16 transmits a signal to a control device 22 of the motor vehicle 10.
  • the detection device 18, with which the distance between the motor vehicle 10 and the object 14 is determined, is then activated by the control device 22.
  • the detection device 18 is also designed to determine the relative position of the motor vehicle 10 with respect to the object 14. For this purpose, the speed or the steering angle of the motor vehicle 10 can be taken into account, which are determined with corresponding sensors of the motor vehicle 10. From the detection device 18, data which contain information regarding the distance or the relative position between the motor vehicle 10 and the object 14 are transmitted to the control device 22.
  • the controller 22 accesses the memory device 20 and detects the detected object 14 in the digital map.
  • the position of the object 14 is also stored in the digital map.
  • the position of the motor vehicle 10 is determined by the control device 22 on the basis of the position of the object 14 and on the basis of the determined distance between the motor vehicle 10 and the object 14.
  • the sensor device 16, the detection device 18, the memory device 20 and the control device 22 are connected to a data bus 24.
  • the data bus 24 may be, for example, a CAN bus of the motor vehicle 10.
  • the data bus 24 may also have a different topology than that shown in the figure.
  • the controller 22 may also receive a position signal of the motor vehicle 10 from a satellite positioning system such as GPS or the like. On the basis of this position information, it is possible with the control device 22 to determine the objects 14 in the environment of the motor vehicle 10 which are stored in a corresponding section or area of the digital map. By a corresponding adjustment of the data between the sensor device 16 and the control device 22, the object 14 can be uniquely determined.
  • a satellite positioning system such as GPS or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

Procédé de détermination de la position d'un véhicule à moteur (10), comprenant la détection d'au moins un objet (14) situé dans l'environnement du véhicule à moteur (10), la détermination de la position de l'objet (14) à l'aide d'une carte géographique numérique, la détermination d'une distance entre le véhicule à moteur (10) et l'objet (14), et la détermination de la position du véhicule à moteur (10) sur la base de la position de l'objet (14) et de la distance déterminée.
PCT/EP2012/003360 2011-09-03 2012-08-07 Procédé de détermination de la position d'un véhicule à moteur WO2013029742A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011112404.0 2011-09-03
DE201110112404 DE102011112404B4 (de) 2011-09-03 2011-09-03 Verfahren zum Bestimmen der Position eines Kraftfahrzeugs

Publications (1)

Publication Number Publication Date
WO2013029742A1 true WO2013029742A1 (fr) 2013-03-07

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PCT/EP2012/003360 WO2013029742A1 (fr) 2011-09-03 2012-08-07 Procédé de détermination de la position d'un véhicule à moteur

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DE (1) DE102011112404B4 (fr)
WO (1) WO2013029742A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016120004A1 (fr) * 2015-01-31 2016-08-04 Audi Ag Procédé de fourniture d'informations d'un objet dans une situation de circulation et système
JP2016176769A (ja) * 2015-03-19 2016-10-06 クラリオン株式会社 情報処理装置、及び、車両位置検出方法
CN109145908A (zh) * 2018-10-23 2019-01-04 百度在线网络技术（北京）有限公司 车辆定位方法、系统、装置、测试设备和存储介质

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DE102014002150B3 (de) * 2014-02-15 2015-07-23 Audi Ag Verfahren zur Ermittlung der absoluten Position einer mobilen Einheit und mobile Einheit
CN106605155B (zh) * 2014-06-18 2020-12-11 大陆-特韦斯股份有限公司 用于验证gnss定位信号的可信性的方法
DE102015203016B4 (de) 2015-02-19 2019-08-01 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur optischen Selbstlokalisation eines Kraftfahrzeugs in einem Umfeld
DE102015206605A1 (de) * 2015-04-14 2016-10-20 Continental Teves Ag & Co. Ohg Kalibrierung und Überwachung von Umfeldsensoren mit Hilfe hochgenauer Karten
DE102016215249B4 (de) * 2016-08-16 2022-03-31 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Unterstützen eines Fahrerassistenzsystems in einem Kraftfahrzeug
DE102016116855A1 (de) 2016-09-08 2018-03-08 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH System und Verfahren zum Steuern von Nutzfahrzeugen
DE102017216238A1 (de) 2017-09-14 2019-03-14 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Ermitteln einer Position eines Kraftfahrzeugs in einer Umgebung sowie Steuervorrichtung für ein Kraftfahrzeug und Recheneinrichtung zum Betreiben an einem Datennetzwerk
DE102017217212A1 (de) * 2017-09-27 2019-03-28 Robert Bosch Gmbh Verfahren zur Lokalisierung eines höher automatisierten Fahrzeugs (HAF), insbesondere eines hochautomatisierten Fahrzeugs, und ein Fahrzeugsystem
DE102017221247A1 (de) * 2017-11-28 2019-05-29 Zf Friedrichshafen Ag Verfahren zur Verbesserung einer Positionsschätzung
DE102019211006B4 (de) 2019-07-25 2022-04-28 Zf Friedrichshafen Ag Auswerten von Sensordaten eines Fahrzeugs

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WO2009098154A1 (fr) * 2008-02-04 2009-08-13 Tele Atlas North America Inc. Procédé de mise en correspondance de carte avec des objets détectés par capteur
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DE102007006869A1 (de) * 2006-02-20 2007-08-30 Denso Corp., Kariya Positionsinformationsgewinnungssystem für ein mobiles Objekt
US20070208507A1 (en) * 2006-03-03 2007-09-06 Denso Corporation Current position sensing system, map display system and current position sensing method
US20100169013A1 (en) * 2006-05-29 2010-07-01 Toyota Jidosha Kabushiki Kaisha Vehicle positioning device
EP1906339A1 (fr) * 2006-09-01 2008-04-02 Harman Becker Automotive Systems GmbH Procédé pour reconnaître un objet dans une image et dispositif de reconnaissance d'image
WO2009098154A1 (fr) * 2008-02-04 2009-08-13 Tele Atlas North America Inc. Procédé de mise en correspondance de carte avec des objets détectés par capteur
DE102009008959A1 (de) 2008-02-15 2009-09-03 Continental Teves Ag & Co. Ohg Fahrzeugsystem zur Navigation und/oder Fahrerassistenz
DE102009045709A1 (de) 2008-10-15 2010-09-23 Continental Teves Ag & Co. Ohg Verbesserung und Validierung der Positionsbestimmung
DE102009045326A1 (de) 2009-10-05 2011-04-07 Robert Bosch Gmbh Verfahren und System zum Aufbau einer Datenbank zur Positionsbestimmung eines Fahrzeuges mit Hilfe von natürlichen Landmarken

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016120004A1 (fr) * 2015-01-31 2016-08-04 Audi Ag Procédé de fourniture d'informations d'un objet dans une situation de circulation et système
JP2016176769A (ja) * 2015-03-19 2016-10-06 クラリオン株式会社 情報処理装置、及び、車両位置検出方法
CN109145908A (zh) * 2018-10-23 2019-01-04 百度在线网络技术（北京）有限公司 车辆定位方法、系统、装置、测试设备和存储介质

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DE102011112404A1 (de) 2013-03-07
DE102011112404B4 (de) 2014-03-20

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