# US 10,481,277 B2 · Position correction of a vehicle by referencing to objects in the surroundings > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,277 B2 - Document ID: US10481277B2 - Status: Granted - Kind: B2 - Application number: 15/303,137 - Filed: 2015-04-09 - Published: 2017-02-09 - Granted: 2019-11-19 - Earliest claimed: 2014-04-09 - Assignees: Continental Automotive GmbH - Applicants: Continental Automotive GmbH - Inventors: Bernhard Schmid - Web page: https://patentgrep.com/patent/US10481277B2 ## CPC - G01S 19/51: Relative positioning - G01C 21/30: Map- or contour-matching - G01S 19/48: by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system - 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 - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract The invention relates to a method for correcting a position of a vehicle using a global satellite navigation system (GNSS) for determining the own position, comprising the following steps: establishing a first position of the with the GNSS, establishing a second position of the vehicle by fitting the first position into a street of a digital map, identifying at least one object in the surroundings of the vehicle, the position of which is referenceable in the digital map, establishing a real distance between the vehicle and the respective object by means of a sensor of the vehicle, calculating a calculated distance between the second position and the respective object, wherein a corrected position of the vehicle is established by minimizing the deviation of the calculated distance from the real distance. ## Claims ### Claim 1 A method for correcting a position of a vehicle with a global satellite navigation system (GNSS) for determining the actual position, comprising: determining a first position of the vehicle with the GNSS; determining a second position of the vehicle by adjusting the first position into a road of a digital map; identifying at least one object in the surroundings of the vehicle, the position of which can be referenced in the digital map; determining a real distance between the vehicle and the respective object with a sensor of the vehicle; calculating a computed distance between the second position and the respective object; and wherein a corrected position of the vehicle is determined by minimizing the deviation of the computed distance from the real distance. ### Claim 2 (depends on 1) The method of claim 1, wherein the digital map is shifted iteratively so that the deviation of the calculated distance from the real distance is minimized. ### Claim 3 (depends on 2) The method of claim 2, wherein a displacement of the digital map comprises at least one translational and one rotational displacement. ### Claim 4 (depends on 1) The method of claim 1, wherein the minimization of the deviation is determined according to the method of least squares. ### Claim 5 (depends on 1) The method of claim 1, wherein a plurality of objects, in particular two to three, are detected. ### Claim 6 (depends on 1) The method of claim 1, further comprising performing a second correction on the corrected position by fitting the corrected position into a plausible lane of the road. ### Claim 7 (depends on 1) The method as claimed of claim 1, further comprising: determining the shortest distance from the first position to a point on the road, in particular a plausible lane of the road, in the digital map; and fitting the first position in at said point to determine the second position. ### Claim 8 (depends on 1) The method as of claim 1, wherein the determination of the real distance is carried out by at least one of an environment sensor system, a camera sensor system, a radar sensor system, a lidar sensor system, an ultrasonic sensor system, a temperature sensor system, a rain sensor system, a road condition sensor system, and a chassis sensor system. ### Claim 9 (depends on 1) The method as of claim 1, wherein the determination of the first position is further carried out by the plurality of vehicle sensors. ### Claim 10 (depends on 1) The method of claim 1, wherein the determination of the first position is further carried out by a sensor fusion unit for merging and plausibility checking the sensor data. ### Claim 11 (depends on 1) The method of claim 1, wherein the position of the object is transmitted by a vehicle-2-X message. ### Claim 12 (depends on 1) The method of claim 1, comprising determining a corrected position of the respective object and transmitting the corrected position of the respective object to a map server. ### Claim 13 (depends on 1) The method of claim 1, wherein the digital map is obtained from a map server. ### Claim 14 (depends on 1) The method of claim 1, further comprising checking a time stamp of the digital map, comparing the time stamp of the digital map with a second digital map having a second time stamp and discarding the digital map if the second digital map is has a more recent second time stamp. ### Claim 15 A system for correcting a position of a vehicle with a global satellite navigation system (GNSS) for determining the actual position comprising: a first position of the vehicle determined with the GNSS; a digital map and a computing unit, wherein the computing unit determines a second position of the vehicle by adjusting the first position into a road in the digital map; a device for identifying at least one object in the surroundings of the vehicle, the position of which can be referenced in the digital map; at least one sensor for determining a real distance between the vehicle and the respective object; wherein the computing unit is further designed for the calculation of a computed distance between the second position and the respective object; and wherein a corrected position of the vehicle can be determined by minimizing the deviation of the computed distance from the real distance. ### Claim 16 (depends on 15) The system of claim 15, wherein the computing unit determines the second position by determining the shortest distance from the first position to a point on the road or a plausible lane of the road.