# US 11,077,867 B2 · Method for determining a pose of a vehicle driving in an at least partially automated manner, using different landmark types > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,867 B2 - Document ID: US11077867B2 - Status: Granted - Kind: B2 - Application number: 16/088,361 - Filed: 2017-02-06 - Published: 2020-10-08 - Granted: 2021-08-03 - Earliest claimed: 2016-04-08 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Holger Mielenz; Jan Rohde - Web page: https://patentgrep.com/patent/US11077867B2 ## CPC - B60W 60/0025: {specially adapted for specific operations} - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot - B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G01C 21/28: with correlation of data from several navigational instruments - G01C 21/3679: {Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities (G01C21/3611 takes precedence)} - G01C 21/3691: {Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions (arrangements for giving variable traffic instructions G08G1/09)} - G05D 1/0234: {using optical markers or beacons (optical beacons per se G01S1/70)} - B60W 2050/0088: {Adaptive recalibration} - B60W 2552/00: Input parameters relating to infrastructure - B60W 2554/20: Static objects - B60W 2555/20: Ambient conditions, e.g. wind or rain - 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 - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method is described for determining a pose of a vehicle that is driving in an at least partially automated manner, with the aid of different landmark types, and in order to determine the pose of the vehicle, a vehicle control system processes landmark data of the detected landmark types with the aid of at least one detector algorithm. At least one detection algorithms is selected and used for processing the landmark data of certain landmark types as a function of environmental influences. ## Claims ### Claim 1 A method for determining a pose of a vehicle, having a vehicle control system, that is driving in an at least partially automated manner, using different landmark types, the method comprising: performing a relevance assessment, including an assessment of environmental influences; determining a quality of the different landmark types; supplying the relevance assessment to a control module, for a detector switchover via switches, a decision as to which detectors are to be used for detecting allocated ones of the different landmark types; processing, via a vehicle control system, landmark data of the detected landmark types with at least two detection algorithms to determine the pose of the vehicle; selecting at least one of the detection algorithms; and using the selected detection algorithm for processing the landmark data of certain landmark types as a function of environmental influences; wherein if at least one of the detectors is activated, then an environment model is ascertained, so that a function is provided after a situation analysis, by which an action for controlling the vehicle is output with an actuator system, wherein sensable environmental influences on the selection of the landmark types are incorporated for a corresponding selection of allocated detection algorithms, so that only a detection algorithm that is required for controlling the vehicle is processed in the vehicle control system, and wherein landmark types that are detectable with an insufficient quality under existing environmental influences are not considered. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the environmental influences include at least one of weather, traffic, visibility, a light condition, and wetness. ### Claim 3 (depends on 1) The method as recited in claim 1, further comprising: detecting the environmental influences with the aid of environmental sensors of the vehicle; and transmitting the environmental influences to the vehicle control system. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein: each kind of landmark type is allocated a dedicated detection algorithm, one of the detection algorithms, which is of a number of detection algorithms supplying a greatest information content as a function of the environmental influences, is activated by the vehicle control system. ### Claim 5 (depends on 1) The method as recited in claim 1, further comprising: autonomously training the vehicle control system using landmark types as a function of the environmental influences. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein the selecting of the detection algorithm for processing the landmark data of certain landmark types is carried out as a function of a localization scenario. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein, while determining the pose of the vehicle, the vehicle control system at least one of: (i) switches between different detection algorithms, and (ii) one of activates and deactivates different detection algorithms. ### Claim 8 A vehicle control system for determining a pose of a vehicle that is driving in an at least partially automated manner, using different landmark types, comprising: a vehicle control device configured to perform the following: performing a relevance assessment, including an assessment of environmental influences; determining a quality of the different landmark types; supplying the relevance assessment to a control module, for a detector switchover via switches, a decision as to which detectors are to be used for detecting allocated ones of the different landmark types; wherein the vehicle control device is configured to process landmark data of the detected landmark types with at least one detector algorithm to determine the pose of the vehicle, and configured to perform the following: selecting at least one of the detection algorithms; and using the selected detection algorithm for processing the landmark data of certain landmark types as a function of environmental influences; wherein if at least one of the detectors is activated, then an environment model is ascertained, so that a function is provided after a situation analysis, by which an action for controlling the vehicle is output with an actuator system, wherein sensable environmental influences on the selection of the landmark types are incorporated for a corresponding selection of allocated detection algorithms, so that only a detection algorithm that is required for controlling the vehicle is processed in the vehicle control system, and wherein landmark types that are detectable with an insufficient quality under existing environmental influences are not considered.