Method for localizing a more highly automated vehicle (HAF), in particular a highly automated vehicle, and a vehicle system

A vehicle system for controlling a highly automated vehicle (HAF), comprising:

• at least one sensor configured to detect landmark properties in a surroundings of the HAF;
• a control device to localize the HAF in a digital map, by performing the following:
• S1) ascertaining a global pose estimation for the HAF by performing a localization, in which the global pose estimation includes a position of the HAF and an orientation of the HAF;
• S2) transmitting at least one landmark position and at least one associated landmark property to the vehicle system;
• S3) ascertaining a relative position of the landmark position concerning the HAF at least partially based on the pose estimation and the landmark position;
• S4) performing at least one sensor measurement and check that the at least one landmark property is detectable at the relative position;
• and
• S5) outputting an error indicator as the result of the check in S4;
• wherein the pose estimation performed in step S1 is performed using a dense occupancy grid transmitted from a back end server, and
• wherein in the occupancy grid, the surroundings of the HAF are subdivided into cells, and a classification as “drivable” or “occupied” is stored for each cell, and at least another classification based on at least another characteristic is also stored, including a reflected radar energy.

A non-transitory computer-readable medium, on which is stored a computer program, which is executable by a processor, comprising:

• a program code arrangement having program code for localizing a highly automated vehicle (HAF) in a digital map, by performing the following:
• S1) ascertaining a global pose estimation for the HAF by performing a localization, in which the global pose estimation includes a position of the HAF and an orientation of the HAF;
• S2) transmitting at least one landmark position and at least one associated landmark property to the vehicle system;
• S3) ascertaining a relative position of the landmark position concerning the HAF at least partially based on the pose estimation and the landmark position;
• S4) performing at least one sensor measurement and checking that the at least one landmark property is detectable at the relative position;
• and
• S5) outputting an error indicator as the result of the check performed in step S4;
• wherein the pose estimation performed in step S1 is performed using a dense occupancy grid transmitted from a back end server, and
• wherein in the occupancy grid, the surroundings of the HAF are subdivided into cells, and a classification as “drivable” or “occupied” is stored for each cell, and at least another classification based on at least another characteristic is also stored, including a reflected radar energy.