WO2022063713A1 - Verfahren zum bereitstellen von informationen über die verlässlichkeit einer parameterschätzung eines parameters für den betrieb eines fahrzeugs - Google Patents
Verfahren zum bereitstellen von informationen über die verlässlichkeit einer parameterschätzung eines parameters für den betrieb eines fahrzeugs Download PDFInfo
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- WO2022063713A1 WO2022063713A1 PCT/EP2021/075748 EP2021075748W WO2022063713A1 WO 2022063713 A1 WO2022063713 A1 WO 2022063713A1 EP 2021075748 W EP2021075748 W EP 2021075748W WO 2022063713 A1 WO2022063713 A1 WO 2022063713A1
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- Prior art keywords
- vehicle
- information
- integrity
- parameter
- determined
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004590 computer program Methods 0.000 claims description 8
- 230000007613 environmental effect Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/20—Data confidence level
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- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
Definitions
- the invention relates to a method for providing information about the reliability of a parameter estimate of a parameter for the operation of a vehicle, a computer program for carrying out the method, a machine-readable storage medium and a control unit for a vehicle.
- the invention is particularly suitable for use in connection with autonomous driving.
- the autonomous vehicle usually has sensors, such as inertial sensors, wheel sensors, environment sensors, GNSS sensors, optical and/or acoustic sensors, by means of which the vehicle can estimate its own position.
- sensors such as inertial sensors, wheel sensors, environment sensors, GNSS sensors, optical and/or acoustic sensors, by means of which the vehicle can estimate its own position.
- the confidence of the determined own position can be represented by a so-called “Protection Level” (abbreviated: "PL").
- the PL can describe a statistical error limit, the calculation of which is usually based on statistical considerations and, if necessary, also on a suitable adjustment of the estimation algorithms.
- a method for providing information about the reliability of a parameter estimate of a parameter for the operation of a (motor) vehicle comprising at least the following steps: a) determining an integrity range for the parameter estimate, the integrity range describing the range in which an estimated parameter with a minimum probability lies, b) determining a validity indicator that describes the validity of the integrity range determined in step a), c) providing the integrity range determined in step a) and the validity indicator determined in step b).
- steps a) to c) can be carried out at least once or several times in succession, in the order given.
- steps a) and b) can be carried out at least partially in parallel or even simultaneously.
- the parameter can be a safety-relevant parameter and/or a parameter that is relevant or required for at least partially automated and/or autonomous ferry operation.
- the parameter can provide information relevant to the ferry operation of the vehicle and/or contribute to or be suitable for describing the ferry operation of the vehicle.
- one or more (various) parameters can be estimated.
- the parameter can be, for example, an own position, own speed, own acceleration or the like.
- the parameter preferably relates to the own position of the
- the parameter can be a driving operation parameter of the (motor) vehicle.
- a driving operation parameter is understood here in particular to be a parameter that contributes to describing the spatial driving operation of a vehicle or the operation of a vehicle in space.
- the driving operation parameter contributes at least to describing a vehicle's own movement and/or own position.
- the driving operation parameter can be, for example, a (own) position, a (own) speed, (own) acceleration or a position (or orientation) of the vehicle.
- the driving operation parameter is preferably an inherent position of the vehicle.
- the method can (therefore) be used, for example, in connection with a position estimation of a vehicle position.
- the integrity area can describe the area in which an estimated own position of a vehicle lies with a minimum probability (actual).
- the information to be provided about the reliability of the parameter estimation can include at least two items of information, for example.
- the information preferably includes at least one integrity area for the parameter estimate and a validity indicator. Provision of at least these two items of information can advantageously contribute to improving the reliability of the determination of an own position of a vehicle (in particular at least partially automated or autonomously drivable).
- a further advantage of the method can be seen in the fact that the validity information is provided in the form of the validity indicator in addition to the integrity information in the form of the integrity area. This allows the possibility of enriching the information given by the integrity area without having to change the integrity area itself. As a result, the interpretation of the determination of the integrity range for use in different contexts can advantageously remain unchanged or remain independent of the validity information in the form of the validity indicator.
- the integrity range can thus continue to be output as mathematically defined, statistical error information or error limit. This offers advantageous usability, especially from the point of view of unified interfaces, since the original.
- the integrity area provided can also be used independently of the validity indicator, which means that its possible application can be advantageously increased.
- an integrity range is determined for the parameter estimate, the integrity range describing the range in which an estimated parameter (value) lies with a minimum probability (actual).
- the estimated parameter (value) basically describes a (single, in particular instantaneous) estimation result of the parameter estimation. In other words, this means in particular that the integrity range describes the range in which a real or actual value of an estimated parameter lies with a minimum probability.
- Such an integrity area can also be referred to as a so-called “protection level”.
- the minimum probability is usually a predefined minimum probability.
- the minimum probability is preferably 90%, particularly preferably 95% or even 99%.
- the integrity area is preferably a protection level.
- the protection level generally describes the (spatial, in particular two- or three-dimensional) area in which an estimated parameter (value) lies with a minimum probability (actual).
- the estimated parameter (value) basically describes a (single, in particular instantaneous) estimation result of the parameter estimation. In other words, this means in particular that the protection level describes the range in which a real or actual value of an estimated parameter lies with a minimum probability.
- a protection level describes in particular a confidence interval or a (spatial) confidence range in which the true value of an estimated parameter is located with a minimum probability.
- the estimated value of the parameter is usually in the middle or the center of the confidence interval or confidence range.
- the minimum probability with which a real or actual value of an estimated parameter actually lies in a protection level is much higher than with "usual" integrity ranges.
- the minimum probability here is usually over 99.99%, particularly preferably over 99.999% or even over 99.9999%.
- the minimum probability cannot be expressed as a percentage but in possible errors in a specific time interval.
- a protection level can, for example, be defined in such a way that the parameter in question lies outside the protection level at most once in 10 years.
- the protection level can be expressed either as a unitless probability or as a rate, ie as the probability of an error occurring over a time interval.
- the parameter estimation can comprise one or more methods for estimating one (the same) parameter. At least one method for estimating the parameter is preferably used, which can also provide and/or determine integrity information about the integrity of the estimation or confidence information about the confidence of the estimation result.
- the parameters can be estimated using a Kalman filter. In addition to the (actual) estimation result, this usually also provides confidence information (e.g. covariance matrix) about the parameter estimation, which can be used here to determine the integrity range.
- a validity indicator is determined, which describes the validity of the integrity range determined in step a).
- the validity indicator can be binary (valid / not valid) or can include various "intermediate digital states". The possible "intermediate states" could indicate, for example, that a certain integrity risk number is applicable at the moment (eg le-3 in urban scenarios and le-5 on highways).
- the validity indicator can also include, for example, a (numerical) value that describes the validity or reliability of the determined integrity area.
- the determination can, for example, include a combination of different (input) information, in particular different sensor information and/or status information (eg via safety-related systems of the vehicle and/or from diagnostic devices of the vehicle).
- the validity indicator can be determined, for example, as a function of, in particular, vehicle-side conditions or information and/or vehicle-external conditions or information and/or information about the integrity area.
- vehicle-side conditions and/or vehicle-external conditions can contribute to the fact that the determined integrity area can be trusted to a greater or lesser extent.
- the vehicle-side conditions or information can, for example, be about certain driving situations, such as longitudinal and/or lateral acceleration outside of defined limits, and/or about certain (safety-relevant) vehicle states and/or system states of vehicle systems, such as at least partial system failures and/or sensor failures.
- the vehicle-external conditions or information can be, for example, environmental influences such as weather conditions and/or sensor shadowing.
- (numerical) values can be assigned to corresponding conditions or information, which can be included in the determination of the validity indicator if the corresponding condition is present. If several of the conditions or items of information are present, they can, for example, be multiplied and/or added together or logically linked with one another in order to calculate the validity indicator.
- step c) the integrity range determined in step a) and the validity indicator determined in step b) are provided.
- the ascertained integrity range and the ascertained integrity range can preferably be provided together.
- these two items of information can be provided, for example, in the form of a pair of values.
- This information can, for example, be made available to a system in the vehicle, which is set up for the vehicle's own localization.
- An example of such a system can be a movement and position sensor of the vehicle and/or a control device for the at least partially automated or autonomous driving of the vehicle.
- the integrity area is determined according to step a) and/or the validity indicator is determined according to step b) on the basis of sensor data from at least one sensor of the vehicle.
- the at least one sensor can include a GNSS sensor, for example, which usually receives GNSS (Global Navigation Satellite System) data (such as GNSS correction data and/or GNSS position data) and can provide it (pre-)processed if necessary .
- GNSS Global Navigation Satellite System
- the at least one sensor can alternatively or additionally include at least one surroundings sensor.
- the at least one environment sensor can be a camera, a RADAR sensor, a LIDAR sensor and/or an ultrasonic sensor, for example.
- further (or alternative) sensor data and/or input data can also be taken into account when determining the integrity area according to step a) and/or determining the validity indicator according to step b), such as sensor data about vehicle parameters (e.g. speed, acceleration , steering angle, etc.) and/or input data describing a vehicle condition, for example whether additional components are connected to the vehicle, such as a trailer, bicycle rack or the like.
- the integrity range is determined in step a) on the basis of statistical confidence information about the parameter estimation.
- the statistical confidence information can be, for example, a variance and/or a residue of the parameter estimate.
- the confidence information can (alternatively) also be information that is determined as a function of a variance and/or a residue and/or a (other) indicator for the trustworthiness of the estimation.
- residuals, variances, covariances or the like come into consideration as confidence information.
- the confidence information can be provided in the form of or from a covariance matrix.
- the integrity range can be a confidence interval, for example.
- a confidence interval also called confidence interval or confidence interval and expectation range
- a confidence interval is specifies the range that includes the true position of the parameter with a certain probability (the confidence level) if a random experiment is repeated indefinitely.
- the validity indicator be determined using at least one piece of environmental information about the environment around the vehicle.
- the environment information can be provided in particular in the form of data from an environment sensor of the vehicle.
- the environment sensor can be, for example, a camera, a RADAR sensor, a LIDAR sensor and/or an ultrasonic sensor.
- the validity indicator be determined using at least one item of status information about the status of the vehicle or a component thereof.
- the status information can include, for example, information about the presence of certain driving situations, such as longitudinal and/or lateral accelerations, in particular outside of defined limits.
- the status information can, for example, include information about the presence of specific (safety-relevant) vehicle statuses and/or system statuses of vehicle systems, such as at least partial system failures and/or sensor failures.
- the validity indicator be determined using the integrity range determined in step a).
- the integrity area can therefore also have an influence on the validity indicator, for example.
- the validity indicator be provided as a value from a predetermined set of values.
- specific validity levels can be specified and it can be determined which of the validity levels is present at the moment or in the associated integrity area.
- the set of values can be two, so the validity indicator is binary. in other words, in particular a computer program (product), comprising instructions which, when the program is executed by a computer, cause the latter to execute a method described here.
- a machine-readable storage medium is also proposed, on which the computer program described here is stored.
- the machine-readable storage medium is usually a computer-readable data carrier.
- a control unit for a (motor) vehicle is also proposed, the control unit being set up to carry out a method described here.
- the control device can be, for example, a device (or a computer) for self-localization of the vehicle.
- the control unit can, for example, include an integrity module for determining the integrity area and a validity module for determining the validity indicator.
- the modules can be implemented as physical components of the control device or as parts of a computer program.
- the integrity module can be set up, for example, to determine the integrity range as a function of at least one item of confidence information.
- the confidence information can result from a Kalman filter estimation, for example.
- the validity module can be set up, for example, to determine the validity indicator as a function of, in particular, vehicle-side conditions or information and/or vehicle-external conditions or information and/or the integrity area.
- the validity module can include a combiner, for example, with which various information, such as vehicle-side conditions or information and/or vehicle-external conditions or information and/or information about the integrity area to form the validity indicator, is combined or (pre-)processed and then the processed Information on the validity indicator can be combined.
- the various pieces of information can be, for example, sensor data, at least one piece of environmental information and/or at least one piece of status information and/or at least one piece of information
- a motor vehicle can also be specified which has a control unit as described here.
- the motor vehicle is basically an automobile, preferably an at least partially automated and/or autonomously operating automobile, in particular an autonomous automobile.
- Fig. 1 an exemplary sequence of a method described here
- Fig. 2 an exemplary structure of the control unit described here, and
- FIG. 1 schematically shows an exemplary sequence of a method described here.
- the method is used to provide information 1, 2 about the reliability of a parameter estimation of a parameter for the operation of a vehicle 3.
- the sequence of method steps a), b) and c) shown in blocks 110, 120 and 130 is usually the case during regular operations. In particular, steps a) and b) can be carried out at least partially in parallel or even simultaneously.
- an integrity range 1 is determined for the parameter estimate, with the integrity range 1 describing the range in which an estimated parameter lies with a minimum probability.
- a validity indicator 2 is determined, which describes the validity of the integrity range 1 determined in step a).
- the integrity area 1 determined in step a) and the validity indicator 2 determined in step b) are provided.
- Control unit 8 is set up to carry out the method described here.
- the control unit 8 includes, for example, an integrity module 9 for determining the integrity area 1 (here a protection level) and a validity module 10 for determining the validity indicator 2.
- the modules can basically be implemented as physical components of the control unit 8 or as parts of a computer program.
- the integrity module 9 is set up, for example, to determine the integrity range 1 as a function of at least one item of confidence information 5 .
- the confidence information 5 can result from a Kalman filter estimate, for example.
- the confidence information 5 can be provided, for example, in the form of or from a covariance matrix.
- the Kalman filter estimation may be based on sensor data from vehicle sensors.
- FIG. 2 also illustrates an example for the fact that and possibly how the integrity range 1 can be determined in step a) on the basis of statistical confidence information 5 via the parameter estimation.
- the validity module 10 is set up, for example, to determine the validity indicator as a function of, in particular, vehicle-side conditions or information and/or vehicle-external conditions or information and/or information about the integrity area 1 .
- the validity module 10 includes, for example, a combiner 11 with which various information, such as on-board conditions or information and/or on-board conditions or information and/or information about the integrity area 1 to form the validity indicator 2, is combined or (pre-)processed and then the processed ones include environmental information 6 and/or at least one item of status information 7 .
- the information can be provided by sensors 12 (see FIG. 3) and/or the integrity module 9 .
- FIG. 2 also illustrates an example of how the validity indicator 2 can be determined using at least one piece of environmental information 6 about the environment around the vehicle 3 and, if applicable, how. Furthermore, FIG. 2 thus also illustrates an example of how the validity indicator 2 can be determined using at least one item of status information 7 about the status of the vehicle 3 or a component thereof. In addition, FIG. 2 thus also illustrates an example of how the validity indicator 2 can be determined using the integrity range 1 determined in step a), and if so how.
- Fig. 3 schematically shows an example of a vehicle 3 with the control unit 8 described here.
- the vehicle 3 also includes, by way of example, a plurality of sensors 12 which send data or signals to the control unit 8.
- FIG. 3 also illustrates an example of how the integrity area 1 is determined according to step a) and/or the validity indicator 2 is determined according to step b) on the basis of sensor data 4 of at least one sensor 12 of the vehicle 3 and, if applicable, how this is done can.
- the validity indicator 2 can be provided as one value from a predetermined set of values.
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202180064556.5A CN116209878A (zh) | 2020-09-24 | 2021-09-20 | 提供关于车辆运行参数的参数估计的可靠性的信息的方法 |
US18/044,828 US20230382421A1 (en) | 2020-09-24 | 2021-09-20 | Method for Providing Information on the Reliability of a Parametric Estimation of a Parameter for the Operation of a Vehicle |
KR1020237013280A KR20230073272A (ko) | 2020-09-24 | 2021-09-20 | 차량 작동을 위한 파라미터의 추정의 신뢰도에 대한 정보를 제공하는 방법 |
JP2023518808A JP2023542385A (ja) | 2020-09-24 | 2021-09-20 | 車両の動作のためのパラメータのパラメータ推定の信頼性に関する情報を提供する方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102020212042.0 | 2020-09-24 | ||
DE102020212042.0A DE102020212042A1 (de) | 2020-09-24 | 2020-09-24 | Verfahren zum Bereitstellen von Informationen über die Verlässlichkeit einer Parameterschätzung eines Parameters für den Betrieb eines Fahrzeugs |
Publications (1)
Publication Number | Publication Date |
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WO2022063713A1 true WO2022063713A1 (de) | 2022-03-31 |
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PCT/EP2021/075748 WO2022063713A1 (de) | 2020-09-24 | 2021-09-20 | Verfahren zum bereitstellen von informationen über die verlässlichkeit einer parameterschätzung eines parameters für den betrieb eines fahrzeugs |
Country Status (6)
Country | Link |
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US (1) | US20230382421A1 (de) |
JP (1) | JP2023542385A (de) |
KR (1) | KR20230073272A (de) |
CN (1) | CN116209878A (de) |
DE (1) | DE102020212042A1 (de) |
WO (1) | WO2022063713A1 (de) |
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DE102019200423A1 (de) * | 2019-01-16 | 2020-07-16 | Robert Bosch Gmbh | Verfahren zum Bereitstellen eines Integritätsbereichs einer Parameterschätzung |
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2020
- 2020-09-24 DE DE102020212042.0A patent/DE102020212042A1/de active Pending
-
2021
- 2021-09-20 KR KR1020237013280A patent/KR20230073272A/ko unknown
- 2021-09-20 CN CN202180064556.5A patent/CN116209878A/zh active Pending
- 2021-09-20 JP JP2023518808A patent/JP2023542385A/ja active Pending
- 2021-09-20 WO PCT/EP2021/075748 patent/WO2022063713A1/de active Application Filing
- 2021-09-20 US US18/044,828 patent/US20230382421A1/en active Pending
Patent Citations (5)
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DE102014111127A1 (de) * | 2014-08-05 | 2016-02-11 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erzeugen einer Umgebungskarte sowie Fahrerassistenzsystem |
DE102018117830A1 (de) * | 2018-07-24 | 2020-01-30 | Valeo Schalter Und Sensoren Gmbh | Digitale Umfeldkarte mit Sensorreichweiten |
DE102018222166A1 (de) * | 2018-12-18 | 2020-06-18 | Robert Bosch Gmbh | Verfahren zum Ermitteln eines Integritätsbereichs |
DE102018222663A1 (de) * | 2018-12-20 | 2020-06-25 | Robert Bosch Gmbh | Verfahren zum adaptiven Ermitteln eines Integritätsbereichs einer Parameterschätzung |
DE102019200423A1 (de) * | 2019-01-16 | 2020-07-16 | Robert Bosch Gmbh | Verfahren zum Bereitstellen eines Integritätsbereichs einer Parameterschätzung |
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DE102020212042A1 (de) | 2022-03-24 |
CN116209878A (zh) | 2023-06-02 |
KR20230073272A (ko) | 2023-05-25 |
JP2023542385A (ja) | 2023-10-06 |
US20230382421A1 (en) | 2023-11-30 |
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