Method and apparatus for determining the position of a vehicle
AssigneeRobert Bosch GmbH
InventorsOliver Pink, Jan Sparbert
Life of this patent
Estimating the term…
Abstract
A method for determining the position of a vehicle, including sensing of multiple objects in a surround field of the vehicle, detecting a sequence of the multiple sensed objects in a digital map and determining a position of the vehicle in the digital map based on a position of the detected sequence in the digital map. An apparatus for determining the position of a vehicle, as well as to a computer program are also described.
Claims23
A method for determining the position of a vehicle, comprising:
- sensing, using a sensor of the vehicle, multiple objects in a surround field of the vehicle, the objects including at least one of:
- a lane marking, an interrupted lane marking, an interruption of an interrupted lane marking, a reflector post, a bridge pile, a post of a toll bridge, or a post of a guardrail;
- counting, using a processor, identical sensed objects of the multiple sensed objects to determine a quantity of the identical sensed objects, wherein sizes of the identical sensed objects are determined, the sizes in each case being compared to a reference size, and the counting includes in the determined quantity only the identical sensed objects whose determined sizes correspond to the reference size;
- detecting, using the processor, a sequence of objects corresponding to the multiple sensed objects in a digital map, the sequence including the determined quantity of the corresponding objects;
- and
- determining, using the processor, a position of the vehicle in the digital map based on a position of the detected sequence in the digital map.
An apparatus for determining the position of a vehicle, comprising:
- a sensing device for sensing multiple objects in a surround field of the vehicle, the objects including at least one of:
- a lane marking, an interrupted lane marking, an interruption of an interrupted lane marking, a reflector post, a bridge pile, a post of a toll bridge, or a post of a guardrail;
- a counting device for counting identical sensed objects of the multiple sensed objects to determine a quantity of the identical sensed objects, wherein sizes of the identical sensed objects are determined, the sizes in each case being compared to a reference size, and the counting includes in the determined quantity only the identical sensed objects whose determined sizes correspond to the reference size;
- a detection device for detecting a sequence of objects corresponding to the multiple sensed objects in a digital map, the sequence including the determined quantity of the corresponding objects;
- and
- a determination device for determining a position of the vehicle in the digital map based on a position of the detected sequence in the digital map.
A non-transitory computer readable storage medium storing a computer program for determining the position of a vehicle, the computer program, when executed by a computer, causing the computer to perform:
- causing a sensing, using a sensor of the vehicle, multiple objects in a surround field of the vehicle, the objects including at least one of:
- a lane marking, an interrupted lane marking, an interruption of an interrupted lane marking, a reflector post, a bridge pile, a post of a toll bridge, or a post of a guardrail;
- counting identical sensed objects of the multiple sensed objects to determine a quantity of the identical sensed objects, wherein sizes of the identical sensed objects are determined, the sizes in each case being compared to a reference size, and the counting includes in the determined quantity only the identical sensed objects whose determined sizes correspond to the reference size;
- detecting a sequence of objects corresponding to the multiple sensed objects in a digital map, the sequence including the determined quantity of the corresponding objects;
- and
- determining a position of the vehicle in the digital map based on a position of the detected sequence in the digital map.
Dependencies are inferred from the claim text.